include "y2022/vision/calibration.fbs";

namespace y2022.vision;

struct Point {
  x:int (id: 0);
  y:int (id: 1);
}

struct Size {
  width:int (id: 0);
  height:int (id: 1);
}

table Blob  {
  points:[Point] (id: 0);
}

// Statistics for each blob used for filtering
table BlobStatsFbs {
  centroid:Point (id: 0);
  size:Size (id: 4);
  aspect_ratio:double (id: 1);
  area:double (id: 2);
  num_points:uint64 (id: 3);
}

// Information for debugging blob detection
table BlobResultFbs {
  // Blobs that passed the filtering step
  filtered_blobs:[Blob] (id: 0);
  // All detected blobs
  unfiltered_blobs:[Blob] (id: 1);
  // Stats on the blobs
  blob_stats:[BlobStatsFbs] (id: 2);
  // Stats of filtered blobs
  filtered_stats:[BlobStatsFbs] (id: 4);
  // Average centroid of the filtered blobs
  centroid:Point (id: 3);
}

// Euler angles rotation
struct Rotation {
  roll:double (id: 0);
  pitch:double (id: 1);
  yaw:double (id: 2);
}

// Contains the information the EKF wants from blobs from a single image.
table TargetEstimate {
  // Horizontal distance from the camera to the center of the upper hub
  distance:double (id: 0);
  // Angle from the camera to the target (horizontal angle in rad).
  // Positive means left of center, negative means right.
  angle_to_target:double (id: 1);
  // Polar angle from target to camera (not rotation).
  // Currently being frozen at 0
  angle_to_camera:double (id: 3);
  // Rotation of the camera in the hub's reference frame
  rotation_camera_hub:Rotation (id: 4);
  // Confidence in the estimate from 0 to 1,
  // based on the final deviation between projected points and actual blobs.
  // Good estimates currently have confidences of around 0.9 or greater.
  confidence:double (id: 7);

  blob_result:BlobResultFbs (id: 2);

  // Contains the duration between the epoch and the nearest point
  // in time from when it was called.
  image_monotonic_timestamp_ns:int64 (id: 5);

  // Information about the camera which took this image.
  camera_calibration:frc971.vision.calibration.CameraCalibration (id: 6);
}

root_type TargetEstimate;