void
SSLRealVision::printBallInfo (const SSL_DetectionBall& ball)
{
printf ("-Ball : CONF=%4.2f POS=<%9.2f,%9.2f> ", ball.confidence (), ball.x (), ball.y ());
if (ball.has_z ())
{
printf ("Z=%7.2f ", ball.z ());
}
else
{
printf ("Z=N/A ");
}
printf ("RAW=<%8.2f,%8.2f>\n", ball.pixel_x (), ball.pixel_y ());
}
void
SSLRealVision::cvtToBallState(ssl_msgs::BallState& ball_state, const SSL_DetectionBall& ball)
{
if(ball.has_area())
ball_state.area = ball.area();
if(ball.has_confidence())
ball_state.confidence = ball.confidence();
if(ball.has_pixel_x())
ball_state.pix_coord.x = ball.pixel_x();
if(ball.has_pixel_y())
ball_state.pix_coord.y = ball.pixel_y();
if(ball.has_x())
ball_state.position.x = ball.x();
if (ball.has_y())
ball_state.position.y = ball.y();
if (ball.has_z())
ball_state.position.z = ball.z();
}
UpdateBall::UpdateBall(const SSL_DetectionBall& p, double t1, double t2, int camId)
: Update(t1, t2, camId),
Point(p.x(), p.y()),
pimpl(new UpdateBallImpl(p.has_z() ? p.z() : 0.0)) {}