From 3475b17ce9f48ccacc561cfd915bcebb4612e5aa Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Fri, 24 Jan 2025 10:39:17 -0500
Subject: [PATCH] Fix vision messages

---
 vision.proto | 25 +++++++++++++++++--------
 1 file changed, 17 insertions(+), 8 deletions(-)

diff --git a/vision.proto b/vision.proto
index d114494..1776159 100644
--- a/vision.proto
+++ b/vision.proto
@@ -4,6 +4,7 @@ syntax = "proto3";
 
 import "geometry.proto";
 import "video.proto";
+import "version.proto";
 
 enum DetectedObjectType {
 	DETECTION_TYPE_UNDEFINED = 0;
@@ -13,25 +14,33 @@ enum DetectedObjectType {
 }
 
 message PnpResult {
-  Pose3d pose = 1;
-  double error = 2;
+  Pose3d cameraToTarget = 1;
+  double reprojectionError = 2;
 }
 
 message DetectedObject {
   // What was detected
   DetectedObjectType objectType = 1;
   int32 arucoTagId = 2;
-  CameraName camera = 3;
 
   // Where it was detected
   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;
+}
+
+message VisionResult {
+  Version version = 1;
+  CameraName name = 2;
+  repeated DetectedObject objects = 3;
 }