y2022/vision/target_estimate.fbs

include "y2022/vision/calibration.fbs";

namespace y2022.vision;

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

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

// Statistics for each blob used for filtering
table BlobStatsFbs {
  centroid:Point (id: 0);
  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);
  // Average centroid of the filtered blobs
  centroid:Point (id: 3);
}

// 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 right of center, negative means left.
  angle_to_target:double (id: 1);

  blob_result:BlobResultFbs (id: 2);

  // Information about the camera which took this image.
  camera_calibration:frc971.vision.calibration.CameraCalibration (id: 3);
}

root_type TargetEstimate;