From 6ccf2871b959aa39eb6bc40c9f536f6461272152 Mon Sep 17 00:00:00 2001
From: edgar <edgar.riba@gmail.com>
Date: Wed, 24 Jan 2024 11:23:25 +0100
Subject: [PATCH] add OakTrackedFeaturePacket and OakTrackedFeaturePackets

---
 protos/farm_ng/oak/oak.proto | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/protos/farm_ng/oak/oak.proto b/protos/farm_ng/oak/oak.proto
index 8c9a68ac..74eaded2 100644
--- a/protos/farm_ng/oak/oak.proto
+++ b/protos/farm_ng/oak/oak.proto
@@ -67,6 +67,25 @@ message OakImuPackets {
   repeated OakImuPacket packets = 1;
 }
 
+// Message for a single tracked feature
+message OakTrackedFeaturePacket {
+  farm_ng.core.proto.Vec2F32 xy = 1;
+  int32 id = 2;
+  int32 age = 3;
+  float harrisScore = 4;
+  float trackingError = 5;
+}
+
+// Message for sending tracked features from the device to the host
+// Reference: https://docs.luxonis.com/projects/api/en/latest/components/nodes/feature_tracker/
+message OakTrackedFeaturePackets {
+  repeated OakTrackedFeaturePacket packets = 1;
+  int64 sequence_num = 2;
+  double timestamp = 3;        // See OakImageMeta
+  double timestamp_device = 4; // See OakImageMeta
+  double timestamp_recv = 5;   // See OakImageMeta
+}
+
 message OakDeviceInfo {
   string name = 1;
   string mxid = 2;