RoboCup 2014 Hybrid Field Setup

There will be four double-size fields set up at the venue. Each field will have white lines provided for the double-size specification. There will also be lines for single-size fields on both halves; when the field is not in use for a game, practice can happen on both halves, but only one half has a regulation-size border, walking area, and wall, so when a game is taking place on the primary half, the secondary half will be unavailable.

Each field will have one vision computer running the 4-cam branch of SSL-Vision with 4 cameras. An explanation of the camera layout is shown in the following figure:

The source code for the 4-cam branch is available for checkout from the Google Code repository:

svn checkout https://ssl-vision.googlecode.com/svn/branches/4cam_experimental/

For details on how to run the 4-cam branch, please refer to the 4-cam setup documentation of SSL-Vision:

https://code.google.com/p/ssl-vision/wiki/4CameraSetup

The 4-cam branch of SSL-Vision will send out four separate data streams onto the network:

Multicast stream #1: 224.5.23.2, UDP port 10002

This stream describes the primary single-size field in the same format as was used at RoboCup 2013. Physical cameras 1 and 2 are reported as indices 0 and 1 in the detection packets. The origin is the centre of the primary single-size field, with primary single-size goals at positive and negative X. Existing code should handle this stream without any changes.

Multicast stream #3: 224.5.23.2, UDP port 10004

This stream describes the secondary single-size field in the same format as was used at RoboCup 2013. Physical cameras 0 and 3 are reported as indices 0 and 1 in the detection packets. The origin is the centre of the secondary single-size field, with secondary single-size goals at positive and negative X. Existing code should handle this stream with only a change of port number.

Multicast stream #4: 224.5.23.2, UDP port 10005

This stream describes the double-size field in the same format as was used at RoboCup 2013, except that camera indices in detection packets range from 0 to 3 and the geometric values are, obviously, larger. The origin is at the centre of the double-size field, with double-size goals at positive and negative X.

Multicast stream #2: 224.5.23.2, UDP port 10006

This stream describes the double-size field. Wrapper packets that contain geometry data use the geometry message in new_geometry.proto, an experimental geometry format, rather than the usual geometry message from prior years. Detection packets report camera indices 0 through 3.

The full field, comprising the double-size field or both single-size field halves, will have one referee box which, except for bug fixes, is identical to the one used at RoboCup 2013.

Teams have a choice about which size of field they play their games on. To make your choice, please send an e-mail to both rc-ssl-tc@lists.robocup.org and rc-ssl-oc@lists.robocup.org at least two hours before the venue closes the day before your game. You can make a separate choice for each game. If we don’t receive any request, we will assume you want the double-size field.

If both teams ask for the same field size, that size will be used. In the event of a disagreement, the single-size field will be used.