photonlibpy 2024.3.1__tar.gz → 2025.0.0b1__tar.gz

{photonlibpy-2024.3.1 → photonlibpy-2025.0.0b1}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.1
 Name: photonlibpy
-Version: 2024.3.1
-Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors.
+Version: 2025.0.0b1
+Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors. Implemented with PhotonVision version v2025.0.0-beta-1 .
 Home-page: https://photonvision.org
 Author: Photonvision Development Team
 Description-Content-Type: text/markdown

photonlibpy-2025.0.0b1/photonlibpy/__init__.py

@@ -0,0 +1,21 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+from .packet import Packet  # noqa
+from .estimatedRobotPose import EstimatedRobotPose  # noqa
+from .photonPoseEstimator import PhotonPoseEstimator, PoseStrategy  # noqa
+from .photonCamera import PhotonCamera  # noqa

photonlibpy-2025.0.0b1/photonlibpy/estimatedRobotPose.py

@@ -0,0 +1,43 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+from dataclasses import dataclass
+from typing import TYPE_CHECKING
+
+from wpimath.geometry import Pose3d
+
+from .targeting.photonTrackedTarget import PhotonTrackedTarget
+
+if TYPE_CHECKING:
+    from .photonPoseEstimator import PoseStrategy
+
+
+@dataclass
+class EstimatedRobotPose:
+    """An estimated pose based on pipeline result"""
+
+    estimatedPose: Pose3d
+    """The estimated pose"""
+
+    timestampSeconds: float
+    """The estimated time the frame used to derive the robot pose was taken"""
+
+    targetsUsed: list[PhotonTrackedTarget]
+    """A list of the targets used to compute this pose"""
+
+    strategy: "PoseStrategy"
+    """The strategy actually used to produce this pose"""

photonlibpy-2025.0.0b1/photonlibpy/generated/MultiTargetPNPResultSerde.py

@@ -0,0 +1,57 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+from ..packet import Packet
+
+
+class MultiTargetPNPResultSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "541096947e9f3ca2d3f425ff7b04aa7b"
+    MESSAGE_FORMAT = "PnpResult:ae4d655c0a3104d88df4f5db144c1e86 estimatedPose;int16 fiducialIDsUsed[?];"
+
+    @staticmethod
+    def pack(value: "MultiTargetPNPResult") -> "Packet":
+        ret = Packet()
+
+        # estimatedPose is of non-intrinsic type PnpResult
+        ret.encodeBytes(PnpResult.photonStruct.pack(value.estimatedPose).getData())
+
+        # fiducialIDsUsed is a custom VLA!
+        ret.encodeShortList(value.fiducialIDsUsed)
+        return ret
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "MultiTargetPNPResult":
+        ret = MultiTargetPNPResult()
+
+        # estimatedPose is of non-intrinsic type PnpResult
+        ret.estimatedPose = PnpResult.photonStruct.unpack(packet)
+
+        # fiducialIDsUsed is a custom VLA!
+        ret.fiducialIDsUsed = packet.decodeShortList()
+
+        return ret
+
+
+# Hack ourselves into the base class
+MultiTargetPNPResult.photonStruct = MultiTargetPNPResultSerde()

photonlibpy-2025.0.0b1/photonlibpy/generated/PhotonPipelineMetadataSerde.py

@@ -0,0 +1,69 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+from ..packet import Packet
+
+
+class PhotonPipelineMetadataSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "ac0a45f686457856fb30af77699ea356"
+    MESSAGE_FORMAT = "int64 sequenceID;int64 captureTimestampMicros;int64 publishTimestampMicros;int64 timeSinceLastPong;"
+
+    @staticmethod
+    def pack(value: "PhotonPipelineMetadata") -> "Packet":
+        ret = Packet()
+
+        # sequenceID is of intrinsic type int64
+        ret.encodeLong(value.sequenceID)
+
+        # captureTimestampMicros is of intrinsic type int64
+        ret.encodeLong(value.captureTimestampMicros)
+
+        # publishTimestampMicros is of intrinsic type int64
+        ret.encodeLong(value.publishTimestampMicros)
+
+        # timeSinceLastPong is of intrinsic type int64
+        ret.encodeLong(value.timeSinceLastPong)
+        return ret
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonPipelineMetadata":
+        ret = PhotonPipelineMetadata()
+
+        # sequenceID is of intrinsic type int64
+        ret.sequenceID = packet.decodeLong()
+
+        # captureTimestampMicros is of intrinsic type int64
+        ret.captureTimestampMicros = packet.decodeLong()
+
+        # publishTimestampMicros is of intrinsic type int64
+        ret.publishTimestampMicros = packet.decodeLong()
+
+        # timeSinceLastPong is of intrinsic type int64
+        ret.timeSinceLastPong = packet.decodeLong()
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonPipelineMetadata.photonStruct = PhotonPipelineMetadataSerde()

photonlibpy-2025.0.0b1/photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -0,0 +1,65 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+from ..packet import Packet
+
+
+class PhotonPipelineResultSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "4b2ff16a964b5e2bf04be0c1454d91c4"
+    MESSAGE_FORMAT = "PhotonPipelineMetadata:ac0a45f686457856fb30af77699ea356 metadata;PhotonTrackedTarget:cc6dbb5c5c1e0fa808108019b20863f1 targets[?];optional MultiTargetPNPResult:541096947e9f3ca2d3f425ff7b04aa7b multitagResult;"
+
+    @staticmethod
+    def pack(value: "PhotonPipelineResult") -> "Packet":
+        ret = Packet()
+
+        # metadata is of non-intrinsic type PhotonPipelineMetadata
+        ret.encodeBytes(
+            PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData()
+        )
+
+        # targets is a custom VLA!
+        ret.encodeList(value.targets, PhotonTrackedTarget.photonStruct)
+
+        # multitagResult is optional! it better not be a VLA too
+        ret.encodeOptional(value.multitagResult, MultiTargetPNPResult.photonStruct)
+        return ret
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonPipelineResult":
+        ret = PhotonPipelineResult()
+
+        # metadata is of non-intrinsic type PhotonPipelineMetadata
+        ret.metadata = PhotonPipelineMetadata.photonStruct.unpack(packet)
+
+        # targets is a custom VLA!
+        ret.targets = packet.decodeList(PhotonTrackedTarget.photonStruct)
+
+        # multitagResult is optional! it better not be a VLA too
+        ret.multitagResult = packet.decodeOptional(MultiTargetPNPResult.photonStruct)
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonPipelineResult.photonStruct = PhotonPipelineResultSerde()

photonlibpy-2025.0.0b1/photonlibpy/generated/PhotonTrackedTargetSerde.py

@@ -0,0 +1,113 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+from ..packet import Packet
+
+
+class PhotonTrackedTargetSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "cc6dbb5c5c1e0fa808108019b20863f1"
+    MESSAGE_FORMAT = "float64 yaw;float64 pitch;float64 area;float64 skew;int32 fiducialId;int32 objDetectId;float32 objDetectConf;Transform3d bestCameraToTarget;Transform3d altCameraToTarget;float64 poseAmbiguity;TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 minAreaRectCorners[?];TargetCorner:16f6ac0dedc8eaccb951f4895d9e18b6 detectedCorners[?];"
+
+    @staticmethod
+    def pack(value: "PhotonTrackedTarget") -> "Packet":
+        ret = Packet()
+
+        # yaw is of intrinsic type float64
+        ret.encodeDouble(value.yaw)
+
+        # pitch is of intrinsic type float64
+        ret.encodeDouble(value.pitch)
+
+        # area is of intrinsic type float64
+        ret.encodeDouble(value.area)
+
+        # skew is of intrinsic type float64
+        ret.encodeDouble(value.skew)
+
+        # fiducialId is of intrinsic type int32
+        ret.encodeInt(value.fiducialId)
+
+        # objDetectId is of intrinsic type int32
+        ret.encodeInt(value.objDetectId)
+
+        # objDetectConf is of intrinsic type float32
+        ret.encodeFloat(value.objDetectConf)
+
+        ret.encodeTransform(value.bestCameraToTarget)
+
+        ret.encodeTransform(value.altCameraToTarget)
+
+        # poseAmbiguity is of intrinsic type float64
+        ret.encodeDouble(value.poseAmbiguity)
+
+        # minAreaRectCorners is a custom VLA!
+        ret.encodeList(value.minAreaRectCorners, TargetCorner.photonStruct)
+
+        # detectedCorners is a custom VLA!
+        ret.encodeList(value.detectedCorners, TargetCorner.photonStruct)
+        return ret
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PhotonTrackedTarget":
+        ret = PhotonTrackedTarget()
+
+        # yaw is of intrinsic type float64
+        ret.yaw = packet.decodeDouble()
+
+        # pitch is of intrinsic type float64
+        ret.pitch = packet.decodeDouble()
+
+        # area is of intrinsic type float64
+        ret.area = packet.decodeDouble()
+
+        # skew is of intrinsic type float64
+        ret.skew = packet.decodeDouble()
+
+        # fiducialId is of intrinsic type int32
+        ret.fiducialId = packet.decodeInt()
+
+        # objDetectId is of intrinsic type int32
+        ret.objDetectId = packet.decodeInt()
+
+        # objDetectConf is of intrinsic type float32
+        ret.objDetectConf = packet.decodeFloat()
+
+        ret.bestCameraToTarget = packet.decodeTransform()
+
+        ret.altCameraToTarget = packet.decodeTransform()
+
+        # poseAmbiguity is of intrinsic type float64
+        ret.poseAmbiguity = packet.decodeDouble()
+
+        # minAreaRectCorners is a custom VLA!
+        ret.minAreaRectCorners = packet.decodeList(TargetCorner.photonStruct)
+
+        # detectedCorners is a custom VLA!
+        ret.detectedCorners = packet.decodeList(TargetCorner.photonStruct)
+
+        return ret
+
+
+# Hack ourselves into the base class
+PhotonTrackedTarget.photonStruct = PhotonTrackedTargetSerde()

photonlibpy-2025.0.0b1/photonlibpy/generated/PnpResultSerde.py

@@ -0,0 +1,71 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+from ..packet import Packet
+
+
+class PnpResultSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "ae4d655c0a3104d88df4f5db144c1e86"
+    MESSAGE_FORMAT = "Transform3d best;Transform3d alt;float64 bestReprojErr;float64 altReprojErr;float64 ambiguity;"
+
+    @staticmethod
+    def pack(value: "PnpResult") -> "Packet":
+        ret = Packet()
+
+        ret.encodeTransform(value.best)
+
+        ret.encodeTransform(value.alt)
+
+        # bestReprojErr is of intrinsic type float64
+        ret.encodeDouble(value.bestReprojErr)
+
+        # altReprojErr is of intrinsic type float64
+        ret.encodeDouble(value.altReprojErr)
+
+        # ambiguity is of intrinsic type float64
+        ret.encodeDouble(value.ambiguity)
+        return ret
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "PnpResult":
+        ret = PnpResult()
+
+        ret.best = packet.decodeTransform()
+
+        ret.alt = packet.decodeTransform()
+
+        # bestReprojErr is of intrinsic type float64
+        ret.bestReprojErr = packet.decodeDouble()
+
+        # altReprojErr is of intrinsic type float64
+        ret.altReprojErr = packet.decodeDouble()
+
+        # ambiguity is of intrinsic type float64
+        ret.ambiguity = packet.decodeDouble()
+
+        return ret
+
+
+# Hack ourselves into the base class
+PnpResult.photonStruct = PnpResultSerde()

photonlibpy-2025.0.0b1/photonlibpy/generated/TargetCornerSerde.py

@@ -0,0 +1,57 @@
+###############################################################################
+## 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/>.
+###############################################################################
+
+###############################################################################
+## THIS FILE WAS AUTO-GENERATED BY ./photon-serde/generate_messages.py.
+##                        --> DO NOT MODIFY <--
+###############################################################################
+
+from ..targeting import *
+from ..packet import Packet
+
+
+class TargetCornerSerde:
+    # Message definition md5sum. See photon_packet.adoc for details
+    MESSAGE_VERSION = "16f6ac0dedc8eaccb951f4895d9e18b6"
+    MESSAGE_FORMAT = "float64 x;float64 y;"
+
+    @staticmethod
+    def pack(value: "TargetCorner") -> "Packet":
+        ret = Packet()
+
+        # x is of intrinsic type float64
+        ret.encodeDouble(value.x)
+
+        # y is of intrinsic type float64
+        ret.encodeDouble(value.y)
+        return ret
+
+    @staticmethod
+    def unpack(packet: "Packet") -> "TargetCorner":
+        ret = TargetCorner()
+
+        # x is of intrinsic type float64
+        ret.x = packet.decodeDouble()
+
+        # y is of intrinsic type float64
+        ret.y = packet.decodeDouble()
+
+        return ret
+
+
+# Hack ourselves into the base class
+TargetCorner.photonStruct = TargetCornerSerde()

photonlibpy-2025.0.0b1/photonlibpy/generated/__init__.py

@@ -0,0 +1,9 @@
+# no one but us chickens
+
+from .MultiTargetPNPResultSerde import MultiTargetPNPResultSerde  # noqa
+from .PhotonPipelineMetadataSerde import PhotonPipelineMetadataSerde  # noqa
+from .PhotonPipelineMetadataSerde import PhotonPipelineMetadataSerde  # noqa
+from .PhotonPipelineResultSerde import PhotonPipelineResultSerde  # noqa
+from .PhotonTrackedTargetSerde import PhotonTrackedTargetSerde  # noqa
+from .PnpResultSerde import PnpResultSerde  # noqa
+from .TargetCornerSerde import TargetCornerSerde  # noqa