Write april tag image coordinates to flatbuffer
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I073e362b58dc05fb917d9ed5ad0d923cbdf7da6e
diff --git a/y2023/vision/april_debug.fbs b/y2023/vision/april_debug.fbs
new file mode 100644
index 0000000..4442448
--- /dev/null
+++ b/y2023/vision/april_debug.fbs
@@ -0,0 +1,21 @@
+namespace y2023.vision;
+
+// Stores image xy pixel coordinates of apriltag corners
+struct Point {
+ x:double (id: 0);
+ y:double (id: 1);
+}
+
+// Corner locations for each apriltag
+table AprilCorners {
+ id:uint64 (id: 0);
+ // Will always have 4 values, one for each corner
+ points: [Point] (id: 1);
+}
+
+// List of positions of all apriltags detected in current frame
+table AprilDebug {
+ corners: [AprilCorners] (id: 0);
+}
+
+root_type AprilDebug;