Add confidence to TargetPose flatbuffer
Will be used for further filtering in the localizer.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Idf9781cfda424a0e43a341c0da93c4d895439da1
diff --git a/frc971/vision/target_map.fbs b/frc971/vision/target_map.fbs
index ed87895..b3fd6e9 100644
--- a/frc971/vision/target_map.fbs
+++ b/frc971/vision/target_map.fbs
@@ -24,6 +24,13 @@
// Quaterniond(orientation.w(), orientation.x(), orientation.y(), orientation.z())
position:Position (id: 1);
orientation:Quaternion (id: 2);
+
+ // Minimum decision margin (confidence) for this april tag detection.
+ // Only filled out if this pose represents a live detection.
+ // NOTE: Detections with a decision margin less than
+ // FLAGS_min_decision_margin in aprilrobotics.cc are already filtered
+ // out before sending.
+ confidence:double (id: 3);
}
// Map of all target poses on a field.