void SSLVision::parse(SSL_DetectionFrame &pck)
{
// update camera fps
int cid = pck.camera_id();
if(cid == 0) _fpscam0.Pulse();
if(cid == 1) _fpscam1.Pulse();
switch(_camera)
{
case CAMERA_BOTH:
break;
case CAMERA_0:
if (cid==1) return;
break;
case CAMERA_1:
if (cid==0) return;
break;
case CAMERA_NONE:
default:
return;
}
// update vision frame
//_vframe[cid].frame_number = pck.frame_number();
vector<Position> pt;
// Team side Coefficient
float ourSide = (_side == SIDE_RIGHT)? -1.0f : 1.0f;
double time = _time.elapsed(); //pck.t_capture();
// insert balls
int max_balls=min(VOBJ_MAX_NUM, pck.balls_size());
for(int i=0; i<max_balls; ++i)
{
auto b = pck.balls(i);
if(b.has_confidence() && b.has_x() && b.has_y())
if(b.confidence() > MIN_CONF && fabs(b.x()) < FIELD_MAX_X && fabs(b.y()) < FIELD_MAX_Y)
{
Position tp;
tp.loc = Vector2D(b.x()*ourSide, b.y()*ourSide);
pt.push_back(tp);
}
}
_wm->ball.seenAt(pt, time, cid);
if(_color == COLOR_BLUE)
{
APPEND_ROBOTS(blue, our);
APPEND_ROBOTS(yellow, opp);
}
else // _color == COLOR_YELLOW
{
APPEND_ROBOTS(yellow, our);
APPEND_ROBOTS(blue, opp);
}
}
bool calculable() const {
return !has_x() && !has_z();
}
