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Fix vision messages #35

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merged 4 commits into from
Feb 12, 2025
Merged

Fix vision messages #35

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3475b17
Fix vision messages
Gold872 Jan 24, 2025
f81ec4d
Merge branch 'main' into fix-vision-messages
Gold872 Feb 9, 2025
e895072
Fix generation errors
Gold872 Feb 9, 2025
8c0b920
Merge branch 'main' of https://github.com/BinghamtonRover/Protobuf in…
Gold872 Feb 11, 2025
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17 changes: 10 additions & 7 deletions vision.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@ enum DetectedObjectType {
}

message PnpResult {
Pose3d pose = 1;
double error = 2;
Pose3d cameraToTarget = 1;
double reprojectionError = 2;
}

message DetectedObject {
Expand All @@ -25,11 +25,14 @@ message DetectedObject {
float xPosition = 4; // -1 to +1 (left to right)
float relativeSize = 5; // 0 to 1 (percent of frame)

// Experimental: Use pinhole model to find the object's position
float yaw = 6;
float pitch = 7;
int32 centerX = 6;
int32 centerY = 7;

// Experimental: Use pinhole camera model to find the object's position
float yaw = 8;
float pitch = 9;

// Experimental: Use PnP to determine the 3D pose
PnpResult bestPnpResult = 8;
PnpResult alternatePnpResult = 9;
PnpResult bestPnpResult = 10;
PnpResult alternatePnpResult = 11;
}