Store target map in a flatbuffer
Mapping process takes input json with initial guesses for target poses,
and outputs a json with the solved poses.
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I29b82aacd37758e7dc8d8cd383821899182a1950
diff --git a/frc971/vision/target_map.fbs b/frc971/vision/target_map.fbs
new file mode 100644
index 0000000..8adaaaa
--- /dev/null
+++ b/frc971/vision/target_map.fbs
@@ -0,0 +1,24 @@
+namespace frc971.vision;
+
+// Represents 3d pose of an april tag on the field.
+table TargetPoseFbs {
+ // AprilTag ID of this target
+ id:uint64 (id: 0);
+
+ // Pose of target relative to field origin.
+ // NOTE: As of now, we only solve for the 2d pose (x, y, yaw)
+ // and all other values will be 0.
+ x:double (id: 1);
+ y:double (id: 2);
+ z:double (id: 3);
+
+ roll:double (id: 4);
+ pitch:double (id: 5);
+ yaw:double (id: 6);
+}
+
+// Map of all target poses on a field.
+// This would be solved for by TargetMapper
+table TargetMap {
+ target_poses:[TargetPoseFbs] (id: 0);
+}
\ No newline at end of file