ssl_detection.h

#pragma once
 
#include <limits>
#include <memory>
 
#include "proto/ssl_vision_detection.pb.h"
#include "software/sensor_fusion/filter/vision_detection.h"
#include "software/time/timestamp.h"
#include "software/world/ball_state.h"
#include "software/world/robot_state.h"
 
std::unique_ptr<SSLProto::SSL_DetectionBall> createSSLDetectionBall(
    const BallState& ball);
 
std::unique_ptr<SSLProto::SSL_DetectionRobot> createSSLDetectionRobot(
    const RobotStateWithId& robot);
 
std::unique_ptr<SSLProto::SSL_DetectionFrame> createSSLDetectionFrame(
    uint32_t camera_id, const Timestamp& t_capture, uint32_t frame_number,
    const std::vector<BallState>& balls,
    const std::vector<RobotStateWithId>& yellow_robots,
    const std::vector<RobotStateWithId>& blue_robots);
 
std::vector<BallDetection> createBallDetections(
    const std::vector<SSLProto::SSL_DetectionFrame>& detections,
    double min_valid_x              = std::numeric_limits<double>::min(),
    double max_valid_x              = std::numeric_limits<double>::max(),
    bool ignore_invalid_camera_data = false);
 
std::vector<RobotDetection> createTeamDetection(
    const std::vector<SSLProto::SSL_DetectionFrame>& detections, TeamColour team_colour,
    double min_valid_x              = std::numeric_limits<double>::min(),
    double max_valid_x              = std::numeric_limits<double>::max(),
    bool ignore_invalid_camera_data = false);