photonlibpy 2025.0.0b5__py3-none-any.whl → 2025.0.0b7__py3-none-any.whl

photonlibpy/networktables/NTTopicSet.py

@@ -17,10 +17,11 @@ class NTTopicSet:
     different for sim vs. real camera
     """
 
-    def __init__(self, tableName: str, cameraName: str) -> None:
-        instance = nt.NetworkTableInstance.getDefault()
-        photonvision_root_table = instance.getTable(tableName)
-        self.subTable = photonvision_root_table.getSubTable(cameraName)
+    def __init__(
+        self,
+        ntSubTable: nt.NetworkTable,
+    ) -> None:
+        self.subTable = ntSubTable
 
     def updateEntries(self) -> None:
         options = nt.PubSubOptions()

photonlibpy/simulation/photonCameraSim.py

@@ -60,11 +60,10 @@ class PhotonCameraSim:
         self.videoSimRawEnabled: bool = False
         self.videoSimWireframeEnabled: bool = False
         self.videoSimWireframeResolution: float = 0.1
-        self.videoSimProcEnabled: bool = (
-            False  # TODO switch this back to default True when the functionality is enabled
-        )
+        # TODO switch this back to default True when the functionality is enabled
+        self.videoSimProcEnabled: bool = False
         self.heartbeatCounter: int = 0
-        self.nextNtEntryTime = int(wpilib.Timer.getFPGATimestamp() * 1e6)
+        self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
         self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo)
 
         self.cam = camera
@@ -95,7 +94,7 @@ class PhotonCameraSim:
             (self.prop.getResWidth(), self.prop.getResHeight())
         )
 
-        self.ts = NTTopicSet("photonvision", self.cam.getName())
+        self.ts = NTTopicSet(self.cam._cameraTable)
         self.ts.updateEntries()
 
         # Handle this last explicitly for this function signature because the other constructor is called in the initialiser list
@@ -173,20 +172,20 @@ class PhotonCameraSim:
     def consumeNextEntryTime(self) -> float | None:
         """Determine if this camera should process a new frame based on performance metrics and the time
         since the last update. This returns an Optional which is either empty if no update should occur
-        or a Long of the timestamp in microseconds of when the frame which should be received by NT. If
+        or a float of the timestamp in seconds of when the frame which should be received by NT. If
         a timestamp is returned, the last frame update time becomes that timestamp.
 
-        :returns: Optional long which is empty while blocked or the NT entry timestamp in microseconds if
+        :returns: Optional float which is empty while blocked or the NT entry timestamp in seconds if
                   ready
         """
         # check if this camera is ready for another frame update
-        now = int(wpilib.Timer.getFPGATimestamp() * 1e6)
-        timestamp = 0
+        now = wpilib.Timer.getFPGATimestamp()
+        timestamp = 0.0
         iter = 0
         # prepare next latest update
         while now >= self.nextNtEntryTime:
-            timestamp = int(self.nextNtEntryTime)
-            frameTime = int(self.prop.estSecUntilNextFrame() * 1e6)
+            timestamp = self.nextNtEntryTime
+            frameTime = self.prop.estSecUntilNextFrame()
             self.nextNtEntryTime += frameTime
 
             # if frame time is very small, avoid blocking
@@ -432,7 +431,9 @@ class PhotonCameraSim:
         )
 
     def submitProcessedFrame(
-        self, result: PhotonPipelineResult, receiveTimestamp: float | None
+        self,
+        result: PhotonPipelineResult,
+        receiveTimestamp_us: float | None = None,
     ):
         """Simulate one processed frame of vision data, putting one result to NT. Image capture timestamp
         overrides :meth:`.PhotonPipelineResult.getTimestampSeconds` for more
@@ -441,44 +442,45 @@ class PhotonCameraSim:
         :param result:           The pipeline result to submit
         :param receiveTimestamp: The (sim) timestamp when this result was read by NT in microseconds. If not passed image capture time is assumed be (current time - latency)
         """
-        if receiveTimestamp is None:
-            receiveTimestamp = wpilib.Timer.getFPGATimestamp() * 1e6
-        receiveTimestamp = int(receiveTimestamp)
+        if receiveTimestamp_us is None:
+            receiveTimestamp_us = wpilib.Timer.getFPGATimestamp() * 1e6
+        receiveTimestamp_us = int(receiveTimestamp_us)
 
-        self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp)
+        self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp_us)
 
         newPacket = PhotonPipelineResult.photonStruct.pack(result)
-        self.ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp)
+        self.ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp_us)
 
         hasTargets = result.hasTargets()
-        self.ts.hasTargetEntry.set(hasTargets, receiveTimestamp)
+        self.ts.hasTargetEntry.set(hasTargets, receiveTimestamp_us)
         if not hasTargets:
-            self.ts.targetPitchEntry.set(0.0, receiveTimestamp)
-            self.ts.targetYawEntry.set(0.0, receiveTimestamp)
-            self.ts.targetAreaEntry.set(0.0, receiveTimestamp)
-            self.ts.targetPoseEntry.set(Transform3d(), receiveTimestamp)
-            self.ts.targetSkewEntry.set(0.0, receiveTimestamp)
+            self.ts.targetPitchEntry.set(0.0, receiveTimestamp_us)
+            self.ts.targetYawEntry.set(0.0, receiveTimestamp_us)
+            self.ts.targetAreaEntry.set(0.0, receiveTimestamp_us)
+            self.ts.targetPoseEntry.set(Transform3d(), receiveTimestamp_us)
+            self.ts.targetSkewEntry.set(0.0, receiveTimestamp_us)
         else:
             bestTarget = result.getBestTarget()
             assert bestTarget
 
-            self.ts.targetPitchEntry.set(bestTarget.getPitch(), receiveTimestamp)
-            self.ts.targetYawEntry.set(bestTarget.getYaw(), receiveTimestamp)
-            self.ts.targetAreaEntry.set(bestTarget.getArea(), receiveTimestamp)
-            self.ts.targetSkewEntry.set(bestTarget.getSkew(), receiveTimestamp)
+            self.ts.targetPitchEntry.set(bestTarget.getPitch(), receiveTimestamp_us)
+            self.ts.targetYawEntry.set(bestTarget.getYaw(), receiveTimestamp_us)
+            self.ts.targetAreaEntry.set(bestTarget.getArea(), receiveTimestamp_us)
+            self.ts.targetSkewEntry.set(bestTarget.getSkew(), receiveTimestamp_us)
 
             self.ts.targetPoseEntry.set(
-                bestTarget.getBestCameraToTarget(), receiveTimestamp
+                bestTarget.getBestCameraToTarget(), receiveTimestamp_us
             )
 
-            intrinsics = self.prop.getIntrinsics()
-            intrinsicsView = intrinsics.flatten().tolist()
-            self.ts.cameraIntrinsicsPublisher.set(intrinsicsView, receiveTimestamp)
+        intrinsics = self.prop.getIntrinsics()
+        intrinsicsView = intrinsics.flatten().tolist()
+        self.ts.cameraIntrinsicsPublisher.set(intrinsicsView, receiveTimestamp_us)
 
-            distortion = self.prop.getDistCoeffs()
-            distortionView = distortion.flatten().tolist()
-            self.ts.cameraDistortionPublisher.set(distortionView, receiveTimestamp)
+        distortion = self.prop.getDistCoeffs()
+        distortionView = distortion.flatten().tolist()
+        self.ts.cameraDistortionPublisher.set(distortionView, receiveTimestamp_us)
 
-            self.ts.heartbeatPublisher.set(self.heartbeatCounter, receiveTimestamp)
+        self.ts.heartbeatPublisher.set(self.heartbeatCounter, receiveTimestamp_us)
+        self.heartbeatCounter += 1
 
-            self.ts.subTable.getInstance().flush()
+        self.ts.subTable.getInstance().flush()

photonlibpy/simulation/simCameraProperties.py

@@ -4,6 +4,7 @@ import typing
 
 import cv2 as cv
 import numpy as np
+import numpy.typing as npt
 from wpimath.geometry import Rotation2d, Rotation3d, Translation3d
 from wpimath.units import hertz, seconds
 
@@ -31,8 +32,8 @@ class SimCameraProperties:
         """Default constructor which is the same as {@link #PERFECT_90DEG}"""
         self.resWidth: int = -1
         self.resHeight: int = -1
-        self.camIntrinsics: np.ndarray = np.zeros((3, 3))  # [3,3]
-        self.distCoeffs: np.ndarray = np.zeros((8, 1))  # [8,1]
+        self.camIntrinsics: npt.NDArray[np.floating] = np.zeros((3, 3))  # [3,3]
+        self.distCoeffs: npt.NDArray[np.floating] = np.zeros((8, 1))  # [8,1]
         self.avgErrorPx: float = 0.0
         self.errorStdDevPx: float = 0.0
         self.frameSpeed: seconds = 0.0
@@ -80,7 +81,6 @@ class SimCameraProperties:
         newCamIntrinsics: np.ndarray,
         newDistCoeffs: np.ndarray,
     ) -> None:
-
         self.resWidth = width
         self.resHeight = height
         self.camIntrinsics = newCamIntrinsics
@@ -173,10 +173,10 @@ class SimCameraProperties:
     def getAspectRatio(self) -> float:
         return 1.0 * self.resWidth / self.resHeight
 
-    def getIntrinsics(self) -> np.ndarray:
+    def getIntrinsics(self) -> npt.NDArray[np.floating]:
         return self.camIntrinsics
 
-    def getDistCoeffs(self) -> np.ndarray:
+    def getDistCoeffs(self) -> npt.NDArray[np.floating]:
         return self.distCoeffs
 
     def getFPS(self) -> hertz:
@@ -355,7 +355,6 @@ class SimCameraProperties:
 
         # find intersections
         for i, normal in enumerate(self.viewplanes):
-
             # // we want to know the value of t when the line intercepts this plane
             # // parametrized: v = t * ab + a, where v lies on the plane
             # // we can find the projection of a onto the plane normal
@@ -467,7 +466,7 @@ class SimCameraProperties:
 
     def estSecUntilNextFrame(self) -> seconds:
         """
-        :returns: Estimate how long until the next frame should be processed in milliseconds
+        :returns: Estimate how long until the next frame should be processed in seconds
         """
         # // exceptional processing latency blocks the next frame
         return self.frameSpeed + max(0.0, self.estLatency() - self.frameSpeed)

photonlibpy/simulation/visionSystemSim.py

@@ -305,7 +305,7 @@ class VisionSystemSim:
             timestampNt = optTimestamp
             latency = camSim.prop.estLatency()
             # the image capture timestamp in seconds of this result
-            timestampCapture = timestampNt * 1.0e-6 - latency
+            timestampCapture = timestampNt - latency
 
             # use camera pose from the image capture timestamp
             lateRobotPose = self.getRobotPose(timestampCapture)
@@ -318,7 +318,8 @@ class VisionSystemSim:
             # process a PhotonPipelineResult with visible targets
             camResult = camSim.process(latency, lateCameraPose, allTargets)
             # publish this info to NT at estimated timestamp of receive
-            camSim.submitProcessedFrame(camResult, timestampNt)
+            # needs a timestamp in microseconds
+            camSim.submitProcessedFrame(camResult, timestampNt * 1.0e6)
             # display debug results
             for tgt in camResult.getTargets():
                 trf = tgt.getBestCameraToTarget()

photonlibpy/version.py

@@ -1,2 +1,2 @@
-PHOTONLIB_VERSION="v2025.0.0.beta.5"
-PHOTONVISION_VERSION="v2025.0.0-beta-5"
+PHOTONLIB_VERSION="v2025.0.0.beta.7"
+PHOTONVISION_VERSION="v2025.0.0-beta-7"

{photonlibpy-2025.0.0b5.dist-info → photonlibpy-2025.0.0b7.dist-info}/METADATA

@@ -1,7 +1,7 @@
 Metadata-Version: 2.1
 Name: photonlibpy
-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 .
+Version: 2025.0.0b7
+Summary: Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors. Implemented with PhotonVision version v2025.0.0-beta-7 .
 Home-page: https://photonvision.org
 Author: Photonvision Development Team
 Description-Content-Type: text/markdown

{photonlibpy-2025.0.0b5.dist-info → photonlibpy-2025.0.0b7.dist-info}/RECORD

@@ -4,7 +4,7 @@ photonlibpy/packet.py,sha256=5YomViVFwOljL2FGOetWM9FbPc_yCQ15ylzkYlgLIs8,9724
 photonlibpy/photonCamera.py,sha256=ENBHp959it4aLnFtV66rHoAIYCvK4bTflZMrGSCwnZ8,12905
 photonlibpy/photonPoseEstimator.py,sha256=2iMqxPFsQHTsq95yv-WCSv1a6wXNcHPqOyMc4Bu6IG0,12584
 photonlibpy/py.typed,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-photonlibpy/version.py,sha256=6IuHSryBtyyUy01tGUnTVp4WTudFZoF1qjXkZI10_s8,77
+photonlibpy/version.py,sha256=BYilKcVVr0-QNCDokqtB4odE1QfHYAG5R7_A_PA2O-I,77
 photonlibpy/estimation/__init__.py,sha256=pZ-d6fN1DJvT-lRl4FfIos5HAvlzmetIOrGIinrdv7k,223
 photonlibpy/estimation/cameraTargetRelation.py,sha256=i7DPBXtkZve4ToXQscEIe-5F1oGQ1Qmf5QBaE__EeMQ,1158
 photonlibpy/estimation/openCVHelp.py,sha256=O1dV7v7RHSyw7l5L0QXbal6t9K7iyvEG76tG-t4AFVg,12388
@@ -18,20 +18,20 @@ photonlibpy/generated/PhotonTrackedTargetSerde.py,sha256=-6vKir_ABDVBGbg8ktM48IK
 photonlibpy/generated/PnpResultSerde.py,sha256=YoTKdQ51oSdxC-7Poy6hunL0-zkMKvP5uedqaHWPudY,2693
 photonlibpy/generated/TargetCornerSerde.py,sha256=kziD_rQIwyhzPfgOaDgn-3d87tvtXiAYbBjzu76biYU,2190
 photonlibpy/generated/__init__.py,sha256=mElM8M88---wxTWO-SRqIJ4EfxN0fdIUwZBZ-UIGuRw,428
-photonlibpy/networktables/NTTopicSet.py,sha256=TXJyVg6S8gONeuRqX_NI0FdxYw51bNLlFIAQ4Y2wyVg,3104
+photonlibpy/networktables/NTTopicSet.py,sha256=29wPgXcuqT-u72-YXwSjRHWhECNzU8eDsexcqlA8KQ0,2967
 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=zh6dZ5SeVvW6qxLDhlMm09o-uScQf-20b_r4K3lutjs,27119
+photonlibpy/simulation/photonCameraSim.py,sha256=8ELLcOXUtDftV_OYzGG03wigANimJs2SehV-fluWy3k,19907
+photonlibpy/simulation/simCameraProperties.py,sha256=ODVxnylF8zw9HZSbw0PzG_OEtUo9ChRo-G_iEgADOCg,27195
 photonlibpy/simulation/videoSimUtil.py,sha256=xMuTvJ2Jx9IoQqmAJi_zUm06MdEwhVpIz9OyzYQp0k4,29
-photonlibpy/simulation/visionSystemSim.py,sha256=ln1TYVMXUreg6nxrVZJ7lw8puvgLbBBde_ciM2CH5G4,13788
+photonlibpy/simulation/visionSystemSim.py,sha256=GmKs0d32WE8B020YEWnj-0dQuCnVv1ScGdcFl1fOsKo,13835
 photonlibpy/simulation/visionTargetSim.py,sha256=FH85fKE4NntowUvssfgZ1KlE-I_3Z-QuAgb2bFqvfdY,2219
 photonlibpy/targeting/TargetCorner.py,sha256=ouKj3E5uD76OZSNHHuSDzKOY65a8HqtcOsuejH-MVsU,276
 photonlibpy/targeting/__init__.py,sha256=YzINSpq6A0cjr-yAQcFqHoiYdLGKPFXThlVYlMjY11w,295
 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-2025.0.0b5.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,,
+photonlibpy-2025.0.0b7.dist-info/METADATA,sha256=1_kdzX3qorgdxPyPEFtZa2ZbKddOjmQbCC4A91OKNes,689
+photonlibpy-2025.0.0b7.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+photonlibpy-2025.0.0b7.dist-info/top_level.txt,sha256=T8Xc6U6he2VjKUAca6zawSkHdUZuLanxYIc4nxw2ctc,12
+photonlibpy-2025.0.0b7.dist-info/RECORD,,

{photonlibpy-2025.0.0b5.dist-info → photonlibpy-2025.0.0b7.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.45.0)
+Generator: bdist_wheel (0.45.1)
 Root-Is-Purelib: true
 Tag: py3-none-any