SSL Vision NodeJS Client

Read RoboCup SSL Vision from NodeJS

Installation

$ npm install ssl-vision

Why

This library was created for three main reasons:

1. Because it should be simple to read from SSL Vision in all languages
2. Encourage new teams to adopt new languages
3. Because we wanted to

Usage

const SSLVision = require('ssl-vision')

let client = new SSLVision(<Optional IP>, <Optional PORT>)

// Start listening to UDP Multicast packets and parsing
client.connect()

// Reads all data comming from the SSL Vision parsed as JSON Objects
client.on('data', (data) => {
  console.log(data)
  // Outputs: { detection: <DetectionData>, geometry: <GeometryData> }
})

// Listens only to geometry data
client.on('geometry', (geometry) => {
  // Outputs <GeometryData>  
})

// Listens only to detection data
client.on('detection', (detection) => {
  // Outputs <DetectionData>  
})

Connection Callback

// Will run once connection is made
client.connect(() => {
  console.log('connected!')
})

// Will wait until connected
async function start() {
  await client.connect()
  console.log('connected!')
}

// Will run once connection is made
client.on('connect', () => {
  console.log('connected!')
})

DetectionData Format

{
  "detection": {
    "frame_number": 377308,
    "t_capture": 13977.820277,
    "t_sent": 1505683703.172275,
    "camera_id": 1,
    "balls": [
      {
        "confidence": 0.930344820022583,
        "area": 78,
        "x": -14.979391098022461,
        "y": -12.432811737060547,
        "z": 0,
        "pixel_x": 276.5769348144531,
        "pixel_y": 225.73077392578125
      }
    ],
    "robots_yellow": [],
    "robots_blue": []
  },
  "geometry": null
}

GeometryData Format

{
  "field": {
    "field_length": 1500,
    "field_width": 1300,
    "goal_width": 100,
    "goal_depth": 40,
    "boundary_width": 3,
    "field_lines": [
      {
        "name": "TopTouchLine",
        "p1": {
          "x": -750,
          "y": 650
        },
        "p2": {
          "x": 750,
          "y": 650
        },
        "thickness": 10
      },
      "{... other field lines ...}"
    ],
    "field_arcs": [
      {
        "name": "CenterCircle",
        "center": {
          "x": 0,
          "y": 0
        },
        "radius": 150,
        "a1": 10,
        "a2": 0,
        "thickness": 10
      },
      "{... other field arcs ...}"
    ]
  },
  "calib": [
    {
      "camera_id": 0,
      "focal_length": 2.1379730701446533,
      "principal_point_x": 390,
      "principal_point_y": 290,
      "distortion": 0,
      "q0": -0.0780009999871254,
      "q1": -0.9969499707221985,
      "q2": 0.0014819999923929572,
      "q3": 0.0017130000051110983,
      "tx": -621141.125,
      "ty": -459652.8125,
      "tz": 3500,
      "derived_camera_world_tx": -542101.5625,
      "derived_camera_world_ty": 550669.6875,
      "derived_camera_world_tz": -0.6016282439231873
    },
    "{... other cameras ...}"
  ]
}

Creator

Ivan Seidel Gomes João Pedro Vilas Boas