y2020/vision/sift/sift_training.fbs

include "y2020/vision/sift/sift.fbs";

namespace frc971.vision.sift;

// Represents a single image we train against.
table TrainingImage {
  features:[Feature] (id: 0);

  // Field coordinates of the target, represented as a transformation matrix
  // from the target to the field. See CameraPose in :sift_fbs for details of
  // the conventions of this.
  field_to_target:TransformationMatrix (id: 1);

  // 2D image coordinate representing target location on the training image
  target_point_x:float (id: 2);
  target_point_y:float (id: 3);
  // Radius of target circle
  target_point_radius:float (id: 4);
}

// Represents the information used to match incoming images against.
table TrainingData {
  images:[TrainingImage] (id: 0);

  // Calibration information for all the cameras we know about.
  camera_calibrations:[CameraCalibration] (id: 1);
}

root_type TrainingData;