ssl_vision_detection_tracked.proto

syntax = "proto2";

option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker";

import "ssl_gc_common.proto";
import "ssl_gc_geometry.proto";

// Default network address: 224.5.23.2:10010

// Capabilities that a source implementation can have
enum Capability {
    CAPABILITY_UNKNOWN = 0;
    CAPABILITY_DETECT_FLYING_BALLS = 1;
    CAPABILITY_DETECT_MULTIPLE_BALLS = 2;
    CAPABILITY_DETECT_KICKED_BALLS = 3;
}

// A single tracked ball
message TrackedBall {
    // The position (x, y, height) [m] in the ssl-vision coordinate system
    required Vector3 pos = 1;

    // The velocity [m/s] in the ssl-vision coordinate system
    optional Vector3 vel = 2;

    // The visibility of the ball
    // A value between 0 (not visible) and 1 (visible)
    // The exact implementation depends on the source software
    optional float visibility = 3;
}

// A ball kicked by a robot, including predictions when the ball will come to a stop
message KickedBall {
    // The initial position [m] from which the ball was kicked
    required Vector2 pos = 1;
    // The initial velocity [m/s] with which the ball was kicked
    required Vector3 vel = 2;
    // The unix timestamp [s] when the kick was performed
    required double start_timestamp = 3;

    // The predicted unix timestamp [s] when the ball comes to a stop
    optional double stop_timestamp = 4;
    // The predicted position [m] at which the ball will come to a stop
    optional Vector2 stop_pos = 5;

    // The robot that kicked the ball
    optional RobotId robot_id = 6;
}

// A single tracked robot
message TrackedRobot {
    required RobotId robot_id = 1;

    // The position [m] in the ssl-vision coordinate system
    required Vector2 pos = 2;
    // The orientation [rad] in the ssl-vision coordinate system
    required float orientation = 3;

    // The velocity [m/s] in the ssl-vision coordinate system
    optional Vector2 vel = 4;
    // The angular velocity [rad/s] in the ssl-vision coordinate system
    optional float vel_angular = 5;

    // The visibility of the robot
    // A value between 0 (not visible) and 1 (visible)
    // The exact implementation depends on the source software
    optional float visibility = 6;
}

// A frame that contains all currently tracked objects on the field on all cameras
message TrackedFrame {
    // A monotonous increasing frame counter
    required uint32 frame_number = 1;
    // The unix timestamp in [s] of the data
    // If timestamp is larger than timestamp_captured, the source has applied a prediction already
    required double timestamp = 2;

    // The list of detected balls
    // The first ball is the primary one
    // Sources may add additional balls based on their capabilities
    repeated TrackedBall balls = 3;
    // The list of detected robots of both teams
    repeated TrackedRobot robots = 4;

    // Information about a kicked ball, if the ball was kicked by a robot and is still moving
    // Note: This field is optional. Some source implementations might not set this at any time
    optional KickedBall kicked_ball = 5;

    // List of capabilities of the source implementation
    repeated Capability capabilities = 6;
}