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Add protobuf publish setting slider (#1075)

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Allows logging software and live data view to see results. Also removes the requirement for AScope to keep up with the packet serde schema and instead just use the Protobuf descriptor.
This commit is contained in:
Sriman Achanta
2023-12-31 00:14:21 -05:00
committed by GitHub
parent e3eff8731f
commit 2ecd988628
41 changed files with 1630 additions and 41 deletions
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63
photon-targeting/src/main/proto/photon.proto Normal file
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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;
}