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photon.proto
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photon.proto
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
syntax = "proto3";
package photonvision.proto;
import "geometry3d.proto";
option java_package = "org.photonvision.proto";
message ProtobufTargetCorner {
double x = 1;
double y = 2;
}
message ProtobufPNPResult {
bool is_present = 1;
wpi.proto.ProtobufTransform3d best = 2;
double best_reproj_err = 3;
optional wpi.proto.ProtobufTransform3d alt = 4;
optional double alt_reproj_err = 5;
double ambiguity = 6;
}
message ProtobufMultiTargetPNPResult {
ProtobufPNPResult estimated_pose = 1;
repeated int32 fiducial_ids_used = 2;
}
message ProtobufPhotonTrackedTarget {
double yaw = 1;
double pitch = 2;
double area = 3;
double skew = 4;
int32 fiducial_id = 5;
wpi.proto.ProtobufTransform3d best_camera_to_target = 6;
wpi.proto.ProtobufTransform3d alt_camera_to_target = 7;
double pose_ambiguity = 8;
repeated ProtobufTargetCorner min_area_rect_corners = 9;
repeated ProtobufTargetCorner detected_corners = 10;
}
message ProtobufPhotonPipelineResult {
double latency_ms = 1;
repeated ProtobufPhotonTrackedTarget targets = 2;
ProtobufMultiTargetPNPResult multi_target_result = 3;
}