namespace frc971.vision.calibration;

table TransformationMatrix {
  // The matrix data for a row-major 4x4 homogeneous transformation matrix.
  // This implies the bottom row is (0, 0, 0, 1).
  data:[float] (id: 0);
}

// Calibration information for a given camera on a given robot.
table CameraCalibration {
  // The name of the camera node which this calibration data applies to.
  node_name:string (id: 0);
  // The team number of the robot which this calibration data applies to.
  team_number:int (id: 1);

  // Intrinsics for the camera.
  //
  // This is the standard OpenCV intrinsics matrix in row major order (3x3).
  intrinsics:[float] (id: 2);

  // Fixed extrinsics for the camera. This transforms from camera coordinates to
  // robot coordinates. For example: multiplying (0, 0, 0, 1) by this results in
  // the position of the camera aperture in robot coordinates.
  fixed_extrinsics:TransformationMatrix (id: 3);

  // Extrinsics for a camera on a turret. This will only be filled out for
  // applicable cameras. For turret-mounted cameras, fixed_extrinsics defines
  // a position for the center of rotation of the turret, and this field defines
  // a position for the camera on the turret.
  //
  // The combination of the two transformations is underdefined, so nothing can
  // distinguish between the two parts of the final extrinsics for a given
  // turret position.
  //
  // To get the final extrinsics for a camera using this transformation,
  // multiply (in order):
  //   fixed_extrinsics
  //   rotation around the Z axis by the turret angle
  //   turret_extrinsics
  turret_extrinsics:TransformationMatrix (id: 4);

  // This is the standard OpenCV 5 parameter distortion coefficients
  dist_coeffs:[float] (id: 5);

  // Timestamp for when the calibration was taken on the realtime clock.
  calibration_timestamp:int64 (id: 6);
}

// Calibration information for all the cameras we know about.
table CalibrationData {
  camera_calibrations:[CameraCalibration] (id: 0);
}


root_type CalibrationData;