Merge branch 'main' into science-sar

core.proto

@@ -27,4 +27,6 @@ enum Device {
 	RELAY = 10;
 	BASE_STATION = 11;
 	ANTENNA = 12;
+	VISION = 13;
+	LIDAR = 14;
 }

lidar.proto

@@ -0,0 +1,19 @@
+// Version 1.0
+syntax = "proto3";
+import "version.proto";
+
+message LidarCartesianPoint {
+    float x = 1;
+    float y = 2;
+}
+
+message LidarPolarPoint {
+    float angle = 1;
+    float distance = 2;
+}
+
+message LidarPointCloud {
+    repeated LidarCartesianPoint cartesian = 1;
+    repeated LidarPolarPoint polar = 2;
+    Version version = 3;
+}

video.proto

@@ -1,7 +1,8 @@
-// Version: 1.1
+// Version: 1.2
 
 syntax = "proto3";
 import "version.proto";
+import "vision.proto";
 
 enum CameraStatus {
 	CAMERA_STATUS_UNDEFINED = 0;
@@ -78,9 +79,14 @@ message VideoData {
 	/// The latest frame from this camera.
 	bytes frame = 3;
 
+	/// The version of this video data.
 	Version version = 4;
 
+	/// The path that a high-quality screenshot was saved to.
 	string imagePath = 5;
+
+	/// Any objects that were detected in the frame.
+	repeated DetectedObject detectedObjects = 6;
 }
 
 /// Make changes to a camera feed.

vision.proto

@@ -1,9 +1,8 @@
-// Version: 1.0
+// Version: 2.0
 
 syntax = "proto3";
 
 import "geometry.proto";
-import "video.proto";
 
 enum DetectedObjectType {
 	DETECTION_TYPE_UNDEFINED = 0;
@@ -13,25 +12,27 @@ 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;
 }