Update ssl_vision_detection.proto with new t_capture_camera

Author: g3force

internal/vision/ssl_vision_detection.pb.go

@@ -1,32 +1,57 @@
 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 {
-  required uint32             frame_number  = 1;
-  required double             t_capture     = 2;
-  required double             t_sent        = 3;
-  required uint32             camera_id     = 4;
-  repeated SSL_DetectionBall  balls         = 5;
-  repeated SSL_DetectionRobot robots_yellow = 6;
-  repeated SSL_DetectionRobot robots_blue   = 7;
+    // 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;
 }