frc971/vision/target_map.fbs

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);

  // Unique name of the field
  field_name:string (id: 1);
}