syntax = "proto2";

package y2016.vision;

// Stores configuration information for a given set of hardware.
message Calibration {
  // The focal length of the camera divided by the width of images.
  optional double focal_length = 1;
  // Physical distance between the two cameras in meters.
  optional double center_center_dist = 2;

  // Rotational misalignment in x direction in pixels.
  optional double center_center_skew = 3;
  // Rotational misalignment in x direction in pixels.
  optional double camera_y_skew = 4;
  // The number of meters from the physical point measured on the robot to the
  // camera. This is added into the result of translating camera coordinates to
  // real-world coordinates to get the correct values.
  optional double measure_camera_offset = 5;

  // Image width to read from camera.
  optional int32 camera_image_width = 6;
  // Image height to read from camera.
  optional int32 camera_image_height = 7;

  // Device name of the left camera.
  optional string left_camera_name = 8;
  // Device name of the right camera.
  optional string right_camera_name = 9;

  // roboRIO IP address.
  optional string roborio_ip_addr = 10;
  // Jetson board IP address.
  optional string jetson_ip_addr = 11;

  // Exposure to set the camera to (V4L2_CID_EXPOSURE_ABSOLUTE value).
  optional int32 camera_exposure = 12;
  // Brightness to set the camera to (V4L2_CID_BRIGHTNESS value).
  optional int32 camera_brightness = 13;
  // Gain to set the camera to (V4L2_CID_GAIN value).
  optional int32 camera_gain = 14;

  // Number of frames per second to try for. V4L2/the camera/etc decide on the
  // actual value to use.
  optional int32 camera_fps = 15;
}

// Matches a robot identifer and its calibration information.
message RobotCalibration {
  // Identifier for which robot this applies to.
  optional string robot = 1;
  // The calibration for this robot.
  optional Calibration calibration = 2;
}

// Top-level message for a file of calibration information.
message CalibrationFile {
  repeated RobotCalibration calibration = 1;
}