Use aprilrobotics for target mapping
And delete april detection from charuco lib.
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I98e6b84d99b23683f0c77c959b8bcc9af9ebc5d4
diff --git a/frc971/vision/target_map.fbs b/frc971/vision/target_map.fbs
index 37260a6..57627e8 100644
--- a/frc971/vision/target_map.fbs
+++ b/frc971/vision/target_map.fbs
@@ -5,8 +5,8 @@
// AprilTag ID of this target
id:uint64 (id: 0);
- // Pose of target relative to field origin.
- // To get the pose of the target in the field frame, do:
+ // Pose of target relative to either the field origin or robot.
+ // To get the pose of the target, do:
// Translation3d(x, y, z) *
// (AngleAxisd(yaw) * AngleAxisd(pitch) * AngleAxisd(roll))
x:double (id: 1);
@@ -20,12 +20,18 @@
}
// Map of all target poses on a field.
-// This would be solved for by TargetMapper
+// There are two possible uses for this:
+// 1. Static april tag poses on the field solved for by TargetMapper.
+// 2. List of detected april poses relative to the robot.
table TargetMap {
target_poses:[TargetPoseFbs] (id: 0);
- // Unique name of the field
+ // Unique name of the field (for use case 1.)
field_name:string (id: 1);
+
+ // End-of-frame timestamp for the frame with tag detections.
+ // (for use case 2.).
+ monotonic_timestamp_ns:int64 (id: 2);
}
root_type TargetMap;