ssl_vision_geometry.proto

syntax = "proto2";
option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";

// A 2D float vector.
message Vector2f {
  required float x = 1;
  required float y = 2;
}

// 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;
}

// 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;
}

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;
}

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;
}

// 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;
}

// 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;
}

message SSL_GeometryModels {
  optional SSL_BallModelStraightTwoPhase straight_two_phase = 1;
  optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2;
}

message SSL_GeometryData {
  required SSL_GeometryFieldSize field = 1;
  repeated SSL_GeometryCameraCalibration calib = 2;
  optional SSL_GeometryModels models = 3;
}

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;
}