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messages_robocup_ssl_detection.proto
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messages_robocup_ssl_detection.proto
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syntax = "proto2";
message SSL_DetectionBall {
// Confidence in [0-1] of the detection
required float confidence = 1;
optional uint32 area = 2;
// X-coordinate in [mm] in global ssl-vision coordinate system
required float x = 3;
// Y-coordinate in [mm] in global ssl-vision coordinate system
required float y = 4;
// Z-coordinate in [mm] in global ssl-vision coordinate system
// Not supported by ssl-vision, but might be set by simulators
optional float z = 5;
// X-coordinate in [pixel] in the image
required float pixel_x = 6;
// Y-coordinate in [pixel] in the image
required float pixel_y = 7;
}
message SSL_DetectionRobot {
// Confidence in [0-1] of the detection
required float confidence = 1;
// Id of the robot
optional uint32 robot_id = 2;
// X-coordinate in [mm] in global ssl-vision coordinate system
required float x = 3;
// Y-coordinate in [mm] in global ssl-vision coordinate system
required float y = 4;
// Orientation in [rad]
optional float orientation = 5;
// X-coordinate in [pixel] in the image
required float pixel_x = 6;
// Y-coordinate in [pixel] in the image
required float pixel_y = 7;
// Height, as configured in ssl-vision for the respective team
optional float height = 8;
}
message SSL_DetectionFrame {
// monotonously increasing frame number
required uint32 frame_number = 1;
// Unix timestamp in [seconds] at which the image has been received by ssl-vision
required double t_capture = 2;
// Unix timestamp in [seconds] at which this message has been sent to the network
required double t_sent = 3;
// Camera timestamp in [seconds] as reported by the camera, if supported
// This is not necessarily a unix timestamp
optional double t_capture_camera = 8;
// Identifier of the camera
required uint32 camera_id = 4;
// Detected balls
repeated SSL_DetectionBall balls = 5;
// Detected yellow robots
repeated SSL_DetectionRobot robots_yellow = 6;
// Detected blue robots
repeated SSL_DetectionRobot robots_blue = 7;
}