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messages_robocup_ssl_geometry.proto
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messages_robocup_ssl_geometry.proto
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message SSL_GeometryFieldSize {
required int32 line_width = 1;
required int32 field_length = 2;
required int32 field_width = 3;
required int32 boundary_width = 4;
required int32 referee_width = 5;
required int32 goal_width = 6;
required int32 goal_depth = 7;
required int32 goal_wall_width = 8;
required int32 center_circle_radius = 9;
required int32 defense_radius = 10;
required int32 defense_stretch = 11;
required int32 free_kick_from_defense_dist = 12;
required int32 penalty_spot_from_field_line_dist = 13;
required int32 penalty_line_from_spot_dist = 14;
}
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;
}
message SSL_GeometryData {
required SSL_GeometryFieldSize field = 1;
repeated SSL_GeometryCameraCalibration calib = 2;
}