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128 changes: 0 additions & 128 deletions
128
consai_ros2/robocup_ssl_msgs/proto/messages_robocup_ssl_geometry.proto
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8 changes: 0 additions & 8 deletions
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consai_ros2/robocup_ssl_msgs/proto/messages_robocup_ssl_wrapper.proto
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...roto/messages_robocup_ssl_detection.proto → ...ssl_msgs/proto/ssl_vision_detection.proto
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137 changes: 137 additions & 0 deletions
137
consai_ros2/robocup_ssl_msgs/proto/ssl_vision_geometry.proto
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,137 @@ | ||
| syntax = "proto2"; | ||
|
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| option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"; | ||
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| // A 2D float vector. | ||
| message Vector2f { | ||
| required float x = 1; | ||
| required float y = 2; | ||
| } | ||
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| // Represents a field marking as a line segment represented by a start point p1, | ||
| // and end point p2, and a line thickness. The start and end points are along | ||
| // the center of the line, so the thickness of the line extends by thickness / 2 | ||
| // on either side of the line. | ||
| message SSL_FieldLineSegment { | ||
| // Name of this field marking. | ||
| required string name = 1; | ||
| // Start point of the line segment. | ||
| required Vector2f p1 = 2; | ||
| // End point of the line segment. | ||
| required Vector2f p2 = 3; | ||
| // Thickness of the line segment. | ||
| required float thickness = 4; | ||
| // The type of this shape | ||
| optional SSL_FieldShapeType type = 5; | ||
| } | ||
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| // Represents a field marking as a circular arc segment represented by center point, a | ||
| // start angle, an end angle, and an arc thickness. | ||
| message SSL_FieldCircularArc { | ||
| // Name of this field marking. | ||
| required string name = 1; | ||
| // Center point of the circular arc. | ||
| required Vector2f center = 2; | ||
| // Radius of the arc. | ||
| required float radius = 3; | ||
| // Start angle in counter-clockwise order. | ||
| required float a1 = 4; | ||
| // End angle in counter-clockwise order. | ||
| required float a2 = 5; | ||
| // Thickness of the arc. | ||
| required float thickness = 6; | ||
| // The type of this shape | ||
| optional SSL_FieldShapeType type = 7; | ||
| } | ||
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| message SSL_GeometryFieldSize { | ||
| required int32 field_length = 1; | ||
| required int32 field_width = 2; | ||
| required int32 goal_width = 3; | ||
| required int32 goal_depth = 4; | ||
| required int32 boundary_width = 5; | ||
| repeated SSL_FieldLineSegment field_lines = 6; | ||
| repeated SSL_FieldCircularArc field_arcs = 7; | ||
| optional int32 penalty_area_depth = 8; | ||
| optional int32 penalty_area_width = 9; | ||
| optional int32 center_circle_radius = 10; | ||
| optional int32 line_thickness = 11; | ||
| optional int32 goal_center_to_penalty_mark = 12; | ||
| optional int32 goal_height = 13; | ||
| optional float ball_radius = 14; | ||
| optional float max_robot_radius = 15; | ||
| } | ||
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| message SSL_GeometryCameraCalibration { | ||
| required uint32 camera_id = 1; | ||
| required float focal_length = 2; | ||
| required float principal_point_x = 3; | ||
| required float principal_point_y = 4; | ||
| required float distortion = 5; | ||
| required float q0 = 6; | ||
| required float q1 = 7; | ||
| required float q2 = 8; | ||
| required float q3 = 9; | ||
| required float tx = 10; | ||
| required float ty = 11; | ||
| required float tz = 12; | ||
| optional float derived_camera_world_tx = 13; | ||
| optional float derived_camera_world_ty = 14; | ||
| optional float derived_camera_world_tz = 15; | ||
| optional uint32 pixel_image_width = 16; | ||
| optional uint32 pixel_image_height = 17; | ||
| } | ||
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| // Two-Phase model for straight-kicked balls. | ||
| // There are two phases with different accelerations during the ball kicks: | ||
| // 1. Sliding | ||
| // 2. Rolling | ||
| // The full model is described in the TDP of ER-Force from 2016, which can be found here: | ||
| // https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf | ||
| message SSL_BallModelStraightTwoPhase { | ||
| // Ball sliding acceleration [m/s^2] (should be negative) | ||
| required double acc_slide = 1; | ||
| // Ball rolling acceleration [m/s^2] (should be negative) | ||
| required double acc_roll = 2; | ||
| // Fraction of the initial velocity where the ball starts to roll | ||
| required double k_switch = 3; | ||
| } | ||
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| // Fixed-Loss model for chipped balls. | ||
| // Uses fixed damping factors for xy and z direction per hop. | ||
| message SSL_BallModelChipFixedLoss { | ||
| // Chip kick velocity damping factor in XY direction for the first hop | ||
| required double damping_xy_first_hop = 1; | ||
| // Chip kick velocity damping factor in XY direction for all following hops | ||
| required double damping_xy_other_hops = 2; | ||
| // Chip kick velocity damping factor in Z direction for all hops | ||
| required double damping_z = 3; | ||
| } | ||
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| message SSL_GeometryModels { | ||
| optional SSL_BallModelStraightTwoPhase straight_two_phase = 1; | ||
| optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2; | ||
| } | ||
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| message SSL_GeometryData { | ||
| required SSL_GeometryFieldSize field = 1; | ||
| repeated SSL_GeometryCameraCalibration calib = 2; | ||
| optional SSL_GeometryModels models = 3; | ||
| } | ||
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| enum SSL_FieldShapeType { | ||
| Undefined = 0; | ||
| CenterCircle = 1; | ||
| TopTouchLine = 2; | ||
| BottomTouchLine = 3; | ||
| LeftGoalLine = 4; | ||
| RightGoalLine = 5; | ||
| HalfwayLine = 6; | ||
| CenterLine = 7; | ||
| LeftPenaltyStretch = 8; | ||
| RightPenaltyStretch = 9; | ||
| LeftFieldLeftPenaltyStretch = 10; | ||
| LeftFieldRightPenaltyStretch = 11; | ||
| RightFieldLeftPenaltyStretch = 12; | ||
| RightFieldRightPenaltyStretch = 13; | ||
| } |
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11
consai_ros2/robocup_ssl_msgs/proto/ssl_vision_wrapper.proto
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| Original file line number | Diff line number | Diff line change |
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| syntax = "proto2"; | ||
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| option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"; | ||
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| import "ssl_vision_detection.proto"; | ||
| import "ssl_vision_geometry.proto"; | ||
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| message SSL_WrapperPacket { | ||
| optional SSL_DetectionFrame detection = 1; | ||
| optional SSL_GeometryData geometry = 2; | ||
| } |
5 changes: 4 additions & 1 deletion
5
...essages_robocup_ssl_wrapper_tracked.proto → ...gs/proto/ssl_vision_wrapper_tracked.proto
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