photonvision-2025.0.0-beta-6/photon-serde/messages.yaml

---
- name: PhotonPipelineMetadata
  fields:
  - name: sequenceID
    type: int64
  - name: captureTimestampMicros
    type: int64
  - name: publishTimestampMicros
    type: int64
  - name: timeSinceLastPong
    type: int64

- name: Transform3d
  shimmed: True
  java_decode_shim: PacketUtils.unpackTransform3d
  java_encode_shim: PacketUtils.packTransform3d
  cpp_type: frc::Transform3d
  cpp_include: "<frc/geometry/Transform3d.h>"
  python_decode_shim: decodeTransform
  python_encode_shim: encodeTransform
  java_import: edu.wpi.first.math.geometry.Transform3d
  # shim since we expect fields to at least exist
  fields: []


- name: TargetCorner
  fields:
  - name: x
    type: float64
  - name: y
    type: float64

- name: PhotonTrackedTarget
  fields:
  - name: yaw
    type: float64
  - name: pitch
    type: float64
  - name: area
    type: float64
  - name: skew
    type: float64
  - name: fiducialId
    type: int32
  - name: objDetectId
    type: int32
  - name: objDetectConf
    type: float32
  - name: bestCameraToTarget
    type: Transform3d
  - name: altCameraToTarget
    type: Transform3d
  - name: poseAmbiguity
    type: float64
  - name: minAreaRectCorners
    type: TargetCorner
    vla: True
  - name: detectedCorners
    type: TargetCorner
    vla: True

- name: PnpResult
  fields:
  - name: best
    type: Transform3d
    comment: "This is a comment"
  - name: alt
    type: Transform3d
  - name: bestReprojErr
    type: float64
  - name: altReprojErr
    type: float64
  - name: ambiguity
    type: float64

- name: MultiTargetPNPResult
  fields:
  - name: estimatedPose
    type: PnpResult
  - name: fiducialIDsUsed
    type: int16
    vla: True


- name: PhotonPipelineResult
  fields:
  - name: metadata
    type: PhotonPipelineMetadata
  - name: targets
    type: PhotonTrackedTarget
    vla: True
  - name: multitagResult
    type: MultiTargetPNPResult
    optional: True