photonlibpy 2025.0.0b4__py3-none-any.whl → 2025.0.0b5__py3-none-any.whl

photonlibpy/estimation/openCVHelp.py

@@ -1,3 +1,4 @@
+import logging
 import math
 from typing import Any
 
@@ -11,6 +12,8 @@ from .rotTrlTransform3d import RotTrlTransform3d
 NWU_TO_EDN = Rotation3d(np.array([[0, -1, 0], [0, 0, -1], [1, 0, 0]]))
 EDN_TO_NWU = Rotation3d(np.array([[0, 0, 1], [-1, 0, 0], [0, -1, 0]]))
 
+logger = logging.getLogger(__name__)
+
 
 class OpenCVHelp:
     @staticmethod
@@ -243,7 +246,7 @@ class OpenCVHelp:
 
         # solvePnP failed
         if reprojectionError is None or math.isnan(reprojectionError[0, 0]):
-            print("SolvePNP_Square failed!")
+            logger.error("SolvePNP_Square failed!")
             return None
 
         if alt:
@@ -303,6 +306,7 @@ class OpenCVHelp:
         )
 
         if math.isnan(error):
+            logger.error("SolvePNP_SQPNP failed!")
             return None
 
         # We have no alternative so set it to best as well

photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -42,9 +42,7 @@ class PhotonPipelineResultSerde:
         ret = Packet()
 
         # metadata is of non-intrinsic type PhotonPipelineMetadata
-        ret.encodeBytes(
-            PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData()
-        )
+        ret.encodeBytes(PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData())
 
         # targets is a custom VLA!
         ret.encodeList(value.targets, PhotonTrackedTarget.photonStruct)

photonlibpy/photonCamera.py

@@ -298,43 +298,42 @@ class PhotonCamera:
 
         # Check mdef UUID
         localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
-        remoteUUID = str(self._rawBytesEntry.getTopic().getProperty("message_uuid"))
+        remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
 
-        if not remoteUUID:
+        if remoteUUID is None:
             wpilib.reportWarning(
                 f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
                 True,
             )
-
-        assert isinstance(remoteUUID, str)
-        # ntcore hands us a JSON string with leading/trailing quotes - remove those
-        remoteUUID = remoteUUID.replace('"', "")
-
-        if localUUID != remoteUUID:
-            # Verified version mismatch
-
-            bfw = """
-            \n\n\n
-            >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
-            >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-            >>>
-            >>> You are running an incompatible version
-            >>> of PhotonVision on your coprocessor!
-            >>>
-            >>> This is neither tested nor supported.
-            >>> You MUST update PhotonVision,
-            >>> PhotonLib, or both.
-            >>>
-            >>> Your code will now crash.
-            >>> We hope your day gets better.
-            >>>
-            >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-            >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
-            \n\n
-            """
-
-            wpilib.reportWarning(bfw)
-
-            errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
-            wpilib.reportError(errText, True)
-            raise Exception(errText)
+        else:
+            # ntcore hands us a JSON string with leading/trailing quotes - remove those
+            remoteUUID = str(remoteUUID).replace('"', "")
+
+            if localUUID != remoteUUID:
+                # Verified version mismatch
+
+                bfw = """
+                \n\n\n
+                >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+                >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+                >>>
+                >>> You are running an incompatible version
+                >>> of PhotonVision on your coprocessor!
+                >>>
+                >>> This is neither tested nor supported.
+                >>> You MUST update PhotonVision,
+                >>> PhotonLib, or both.
+                >>>
+                >>> Your code will now crash.
+                >>> We hope your day gets better.
+                >>>
+                >>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+                >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+                \n\n
+                """
+
+                wpilib.reportWarning(bfw)
+
+                errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
+                wpilib.reportError(errText, True)
+                raise Exception(errText)

photonlibpy/py.typed

@@ -0,0 +1 @@
+

photonlibpy/simulation/simCameraProperties.py

@@ -9,6 +9,8 @@ from wpimath.units import hertz, seconds
 
 from ..estimation import RotTrlTransform3d
 
+logger = logging.getLogger(__name__)
+
 
 class SimCameraProperties:
     """Calibration and performance values for this camera.
@@ -46,7 +48,7 @@ class SimCameraProperties:
     ) -> None:
         if fovDiag.degrees() < 1.0 or fovDiag.degrees() > 179.0:
             fovDiag = Rotation2d.fromDegrees(max(min(fovDiag.degrees(), 179.0), 1.0))
-            logging.error("Requested invalid FOV! Clamping between (1, 179) degrees...")
+            logger.error("Requested invalid FOV! Clamping between (1, 179) degrees...")
 
         resDiag = math.sqrt(width * width + height * height)
         diagRatio = math.tan(fovDiag.radians() / 2.0)

photonlibpy/version.py

@@ -1,2 +1,2 @@
-PHOTONLIB_VERSION="v2025.0.0.beta.4"
-PHOTONVISION_VERSION="v2025.0.0-beta-4"
+PHOTONLIB_VERSION="v2025.0.0.beta.5"
+PHOTONVISION_VERSION="v2025.0.0-beta-5"

{photonlibpy-2025.0.0b4.dist-info → photonlibpy-2025.0.0b5.dist-info}/METADATA

@@ -1,7 +1,7 @@
 Metadata-Version: 2.1
 Name: photonlibpy
-Version: 2025.0.0b4
-Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors. Implemented with PhotonVision version v2025.0.0-beta-4 .
+Version: 2025.0.0b5
+Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors. Implemented with PhotonVision version v2025.0.0-beta-5 .
 Home-page: https://photonvision.org
 Author: Photonvision Development Team
 Description-Content-Type: text/markdown

{photonlibpy-2025.0.0b4.dist-info → photonlibpy-2025.0.0b5.dist-info}/RECORD

@@ -1,18 +1,19 @@
 photonlibpy/__init__.py,sha256=WW1OGrrcNXwwxaHSZlkxmhH2GYiQIHHxSxGVTJZhZbY,1136
 photonlibpy/estimatedRobotPose.py,sha256=X7wF9xdPXGKSVy0MY0qrWZJOEbuZPd721lYp0KXKlP0,1603
 photonlibpy/packet.py,sha256=5YomViVFwOljL2FGOetWM9FbPc_yCQ15ylzkYlgLIs8,9724
-photonlibpy/photonCamera.py,sha256=80-UKakvcgJ79vw80e2yUqZZfoQtpC1_lopnXpfgvOY,12823
+photonlibpy/photonCamera.py,sha256=ENBHp959it4aLnFtV66rHoAIYCvK4bTflZMrGSCwnZ8,12905
 photonlibpy/photonPoseEstimator.py,sha256=2iMqxPFsQHTsq95yv-WCSv1a6wXNcHPqOyMc4Bu6IG0,12584
-photonlibpy/version.py,sha256=Ew1xD5CpZetX_p3ReR01MPCVsroMfk2ZpgH42q0Fubg,77
+photonlibpy/py.typed,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+photonlibpy/version.py,sha256=6IuHSryBtyyUy01tGUnTVp4WTudFZoF1qjXkZI10_s8,77
 photonlibpy/estimation/__init__.py,sha256=pZ-d6fN1DJvT-lRl4FfIos5HAvlzmetIOrGIinrdv7k,223
 photonlibpy/estimation/cameraTargetRelation.py,sha256=i7DPBXtkZve4ToXQscEIe-5F1oGQ1Qmf5QBaE__EeMQ,1158
-photonlibpy/estimation/openCVHelp.py,sha256=h36tOunGaDfs1yp1kAyK-BX0DqdNXZSN8T8ms-ReQas,12277
+photonlibpy/estimation/openCVHelp.py,sha256=O1dV7v7RHSyw7l5L0QXbal6t9K7iyvEG76tG-t4AFVg,12388
 photonlibpy/estimation/rotTrlTransform3d.py,sha256=oRYk4V1XF7guNxefJsCPcBWPIkKZl0HYD_Gs86wwToE,2671
 photonlibpy/estimation/targetModel.py,sha256=fIhkf0-_Sfv-KhYEBnhFWMF4Xu84FfF6B-KUEsuuGjQ,6459
 photonlibpy/estimation/visionEstimation.py,sha256=Q4KWdLCV1H0wJUJCzG7OYNhVmk2jR1iPUmX_PFylLdA,4174
 photonlibpy/generated/MultiTargetPNPResultSerde.py,sha256=CzsCosHUnzxAoSC_sSAqpsXsDp54KW-BClnIXdzfMPc,2506
 photonlibpy/generated/PhotonPipelineMetadataSerde.py,sha256=9pq5XUEDEoRowCd7sRnuGV7xtugu5HZCRrnwqZG2xXc,2887
-photonlibpy/generated/PhotonPipelineResultSerde.py,sha256=jTf1obU2jPNDsxvt-tl9Ty_qzJws9Wqron3C1QiHkP8,3137
+photonlibpy/generated/PhotonPipelineResultSerde.py,sha256=8_YhW1icdhPOx5eAqwKadvnR29NABmhHr6ERAWK8wEo,3115
 photonlibpy/generated/PhotonTrackedTargetSerde.py,sha256=-6vKir_ABDVBGbg8ktM48IKm_nBMFBbiyuZLiO_fP9U,4437
 photonlibpy/generated/PnpResultSerde.py,sha256=YoTKdQ51oSdxC-7Poy6hunL0-zkMKvP5uedqaHWPudY,2693
 photonlibpy/generated/TargetCornerSerde.py,sha256=kziD_rQIwyhzPfgOaDgn-3d87tvtXiAYbBjzu76biYU,2190
@@ -21,7 +22,7 @@ photonlibpy/networktables/NTTopicSet.py,sha256=TXJyVg6S8gONeuRqX_NI0FdxYw51bNLlF
 photonlibpy/networktables/__init__.py,sha256=o_LxTdyIylAszMy_zhUtTkXHyu6jqxccccj78d44OrI,35
 photonlibpy/simulation/__init__.py,sha256=HKJV02of5d8bOnuI7syLzSYtOYge7XUrHSaLvawh99M,227
 photonlibpy/simulation/photonCameraSim.py,sha256=5GTPdU7SRAahhtXYHcbm0GJEzARWA7lyBG3v279pqGk,19891
-photonlibpy/simulation/simCameraProperties.py,sha256=bJ6Xvos2glO0-R_a0Wv4eKESnQD13GSYqhwPQdVr1eQ,27082
+photonlibpy/simulation/simCameraProperties.py,sha256=zh6dZ5SeVvW6qxLDhlMm09o-uScQf-20b_r4K3lutjs,27119
 photonlibpy/simulation/videoSimUtil.py,sha256=xMuTvJ2Jx9IoQqmAJi_zUm06MdEwhVpIz9OyzYQp0k4,29
 photonlibpy/simulation/visionSystemSim.py,sha256=ln1TYVMXUreg6nxrVZJ7lw8puvgLbBBde_ciM2CH5G4,13788
 photonlibpy/simulation/visionTargetSim.py,sha256=FH85fKE4NntowUvssfgZ1KlE-I_3Z-QuAgb2bFqvfdY,2219
@@ -30,7 +31,7 @@ photonlibpy/targeting/__init__.py,sha256=YzINSpq6A0cjr-yAQcFqHoiYdLGKPFXThlVYlMj
 photonlibpy/targeting/multiTargetPNPResult.py,sha256=Y9rweHtMzoCZ6mv6F8CutQi2Thq5pHN0ydBWvTCsOwY,806
 photonlibpy/targeting/photonPipelineResult.py,sha256=MbaSyHZTJpoKTtLOZztpSGSt9xWWFqhzgwj8medObVA,2732
 photonlibpy/targeting/photonTrackedTarget.py,sha256=zCoFp32hX-3GmBYEmsYBQieBoMzXtP2F_55_q0zPOXA,1956
-photonlibpy-2025.0.0b4.dist-info/METADATA,sha256=zybpLt0J7EMylub2yKyAugXJ-lt7-uwrAhFV7KGv51U,689
-photonlibpy-2025.0.0b4.dist-info/WHEEL,sha256=bFJAMchF8aTQGUgMZzHJyDDMPTO3ToJ7x23SLJa1SVo,92
-photonlibpy-2025.0.0b4.dist-info/top_level.txt,sha256=T8Xc6U6he2VjKUAca6zawSkHdUZuLanxYIc4nxw2ctc,12
-photonlibpy-2025.0.0b4.dist-info/RECORD,,
+photonlibpy-2025.0.0b5.dist-info/METADATA,sha256=4ZsDeto_2wGBLbC11F4UxpFEQu2OE6F1DRhfssRZK9w,689
+photonlibpy-2025.0.0b5.dist-info/WHEEL,sha256=bFJAMchF8aTQGUgMZzHJyDDMPTO3ToJ7x23SLJa1SVo,92
+photonlibpy-2025.0.0b5.dist-info/top_level.txt,sha256=T8Xc6U6he2VjKUAca6zawSkHdUZuLanxYIc4nxw2ctc,12
+photonlibpy-2025.0.0b5.dist-info/RECORD,,