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Capabilities that a source implementation can have

Used in: TrackedFrame

• CAPABILITY_UNKNOWN = 0

• CAPABILITY_DETECT_FLYING_BALLS = 1

• CAPABILITY_DETECT_MULTIPLE_BALLS = 2

• CAPABILITY_DETECT_KICKED_BALLS = 3

A ball kicked by a robot, including predictions when the ball will come to a stop

Used in: TrackedFrame

• required Vector2 pos = 1

  The initial position [m] from which the ball was kicked

• required Vector3 vel = 2

  The initial velocity [m/s] with which the ball was kicked

• required double start_timestamp = 3

  The unix timestamp [s] when the kick was performed

• optional double stop_timestamp = 4

  The predicted unix timestamp [s] when the ball comes to a stop

• optional Vector2 stop_pos = 5

  The predicted position [m] at which the ball will come to a stop

• optional RobotId robot_id = 6

  The robot that kicked the ball

A unique robot id with team information

Used in: KickedBall, TrackedRobot

• required uint32 id = 1

  The robot number

• required TeamColor team_color = 2

  The team color

Fixed-Loss model for chipped balls. Uses fixed damping factors for xy and z direction per hop.

Used in: SSL_GeometryModels

• required double damping_xy_first_hop = 1

  Chip kick velocity damping factor in XY direction for the first hop

• required double damping_xy_other_hops = 2

  Chip kick velocity damping factor in XY direction for all following hops

• required double damping_z = 3

  Chip kick velocity damping factor in Z direction for all hops

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

Used in: SSL_GeometryModels

• required double acc_slide = 1

  Ball sliding acceleration [m/s^2] (should be negative)

• required double acc_roll = 2

  Ball rolling acceleration [m/s^2] (should be negative)

• required double k_switch = 3

  Fraction of the initial velocity where the ball starts to roll

Used in: SSL_DetectionFrame

• required float confidence = 1

  Confidence in [0-1] of the detection

• optional uint32 area = 2

• required float x = 3

  X-coordinate in [mm] in global ssl-vision coordinate system

• required float y = 4

  Y-coordinate in [mm] in global ssl-vision coordinate system

• optional float z = 5

  Z-coordinate in [mm] in global ssl-vision coordinate system Not supported by ssl-vision, but might be set by simulators

• required float pixel_x = 6

  X-coordinate in [pixel] in the image

• required float pixel_y = 7

  Y-coordinate in [pixel] in the image

Used in: RoboCup2014Legacy.Wrapper.SSL_WrapperPacket, SSL_WrapperPacket

• required uint32 frame_number = 1

  monotonously increasing frame number

• required double t_capture = 2

  Unix timestamp in [seconds] at which the image has been received by ssl-vision

• required double t_sent = 3

  Unix timestamp in [seconds] at which this message has been sent to the network

• optional double t_capture_camera = 8

  Camera timestamp in [seconds] as reported by the camera, if supported This is not necessarily a unix timestamp

• required uint32 camera_id = 4

  Identifier of the camera

• repeated SSL_DetectionBall balls = 5

  Detected balls

• repeated SSL_DetectionRobot robots_yellow = 6

  Detected yellow robots

• repeated SSL_DetectionRobot robots_blue = 7

  Detected blue robots

Used in: SSL_DetectionFrame

• required float confidence = 1

  Confidence in [0-1] of the detection

• optional uint32 robot_id = 2

  Id of the robot

• required float x = 3

  X-coordinate in [mm] in global ssl-vision coordinate system

• required float y = 4

  Y-coordinate in [mm] in global ssl-vision coordinate system

• optional float orientation = 5

  Orientation in [rad]

• required float pixel_x = 6

  X-coordinate in [pixel] in the image

• required float pixel_y = 7

  Y-coordinate in [pixel] in the image

• optional float height = 8

  Height, as configured in ssl-vision for the respective team

Represents a field marking as a circular arc segment represented by center point, a start angle, an end angle, and an arc thickness.

Used in: SSL_GeometryFieldSize

• required string name = 1

  Name of this field marking.

• required Vector2f center = 2

  Center point of the circular arc.

• required float radius = 3

  Radius of the arc.

• required float a1 = 4

  Start angle in counter-clockwise order.

• required float a2 = 5

  End angle in counter-clockwise order.

• required float thickness = 6

  Thickness of the arc.

• optional SSL_FieldShapeType type = 7

  The type of this shape

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.

Used in: SSL_GeometryFieldSize

• required string name = 1

  Name of this field marking.

• required Vector2f p1 = 2

  Start point of the line segment.

• required Vector2f p2 = 3

  End point of the line segment.

• required float thickness = 4

  Thickness of the line segment.

• optional SSL_FieldShapeType type = 5

  The type of this shape

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• 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

Used in: RoboCup2014Legacy.Geometry.SSL_GeometryData, SSL_GeometryData

• 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

Used in: SSL_WrapperPacket

• required SSL_GeometryFieldSize field = 1

• repeated SSL_GeometryCameraCalibration calib = 2

• optional SSL_GeometryModels models = 3

Used in: SSL_GeometryData

• required int32 field_length = 1

  Field length (distance between goal lines) in mm

• required int32 field_width = 2

  Field width (distance between touch lines) in mm

• required int32 goal_width = 3

  Goal width (distance between inner edges of goal posts) in mm

• required int32 goal_depth = 4

  Goal depth (distance from outer goal line edge to inner goal back) in mm

• required int32 boundary_width = 5

  Boundary width (distance from touch line centers to boundary walls) in mm

• optional int32 boundary_width_goal_line = 16

  Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm

• repeated SSL_FieldLineSegment field_lines = 6

  Generated line segments based on the other parameters

• repeated SSL_FieldCircularArc field_arcs = 7

  Generated circular arcs based on the other parameters

• optional int32 penalty_area_depth = 8

  Depth of the penalty/defense area (measured between line centers) in mm

• optional int32 penalty_area_width = 9

  Width of the penalty/defense area (measured between line centers) in mm

• optional int32 center_circle_radius = 10

  Radius of the center circle (measured between line centers) in mm

• optional int32 line_thickness = 11

  Thickness/width of the lines on the field in mm

• optional int32 goal_center_to_penalty_mark = 12

  Distance between the goal center and the center of the penalty mark in mm

• optional int32 goal_height = 13

  Goal height in mm

• optional float ball_radius = 14

  Ball radius in mm (note that this is a float type to represent sub-mm precision)

• optional float max_robot_radius = 15

  Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)

• optional int32 goal_substitution_area_width = 17

  Width of the goal substitution area (distance from boundary walls that count as "inside the substitution area") in mm

Used in: SSL_GeometryData

• optional SSL_BallModelStraightTwoPhase straight_two_phase = 1

• optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2

Used in: SSL_WrapperPacket

• SSL_SOURCE_UNKNOWN = 0

• SSL_SOURCE_OTHER = 1

• SSL_SOURCE_SSL_VISION = 2

• SSL_SOURCE_VISION_PROCESSOR = 3

• SSL_SOURCE_GRSIM = 4

• SSL_SOURCE_ERFORCE_SIM = 5

• optional SSL_DetectionFrame detection = 1

• optional SSL_GeometryData geometry = 2

• optional SSL_Source source = 3

The team color of the robot

Used in: RobotId

• TEAM_COLOR_UNKNOWN = 0

  team not set

• TEAM_COLOR_YELLOW = 1

  yellow team

• TEAM_COLOR_BLUE = 2

  blue team

A single tracked ball

Used in: TrackedFrame

• required Vector3 pos = 1

  The position (x, y, height) [m] in the ssl-vision coordinate system

• optional Vector3 vel = 2

  The velocity [m/s] in the ssl-vision coordinate system

• optional float visibility = 3

  The visibility of the ball A value between 0 (not visible) and 1 (visible) The exact implementation depends on the source software

A frame that contains all currently tracked objects on the field on all cameras

Used in: TrackerWrapperPacket

• required uint32 frame_number = 1

  A monotonous increasing frame counter

• required double timestamp = 2

  The unix timestamp in [s] of the data

• repeated TrackedBall balls = 3

  The list of detected balls The first ball is the primary one Sources may add additional balls based on their capabilities

• repeated TrackedRobot robots = 4

  The list of detected robots of both teams

• optional KickedBall kicked_ball = 5

  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

• repeated Capability capabilities = 6

  List of capabilities of the source implementation

A single tracked robot

Used in: TrackedFrame

• required RobotId robot_id = 1

• required Vector2 pos = 2

  The position [m] in the ssl-vision coordinate system

• required float orientation = 3

  The orientation [rad] in the ssl-vision coordinate system

• optional Vector2 vel = 4

  The velocity [m/s] in the ssl-vision coordinate system

• optional float vel_angular = 5

  The angular velocity [rad/s] in the ssl-vision coordinate system

• optional float visibility = 6

  The visibility of the robot A value between 0 (not visible) and 1 (visible) The exact implementation depends on the source software

A wrapper packet containing meta data of the source Also serves for the possibility to extend the protocol later

• required string uuid = 1

  A random UUID of the source that is kept constant at the source while running If multiple sources are broadcasting to the same network, this id can be used to identify individual sources

• optional string source_name = 2

  The name of the source software that is producing this messages.

• optional TrackedFrame tracked_frame = 3

  The tracked frame

A vector with two dimensions

Used in: KickedBall, TrackedRobot

• required float x = 1

• required float y = 2

A 2D float vector.

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• required float x = 1

  X-coordinate in mm

• required float y = 2

  Y-coordinate in mm

A vector with three dimensions

Used in: KickedBall, TrackedBall

• required float x = 1

• required float y = 2

• required float z = 3