photonlibpy 2025.0.0b5__tar.gz → 2025.0.0b7__tar.gz

{photonlibpy-2025.0.0b5 → photonlibpy-2025.0.0b7}/PKG-INFO

@@ -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 → photonlibpy-2025.0.0b7}/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-2025.0.0b5 → photonlibpy-2025.0.0b7}/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-2025.0.0b5 → photonlibpy-2025.0.0b7}/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-2025.0.0b5 → photonlibpy-2025.0.0b7}/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-2025.0.0b7/photonlibpy/version.py

@@ -0,0 +1,2 @@
+PHOTONLIB_VERSION="v2025.0.0.beta.7"
+PHOTONVISION_VERSION="v2025.0.0-beta-7"

{photonlibpy-2025.0.0b5 → photonlibpy-2025.0.0b7}/photonlibpy.egg-info/PKG-INFO

@@ -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/photonlibpy/version.py

@@ -1,2 +0,0 @@
-PHOTONLIB_VERSION="v2025.0.0.beta.5"
-PHOTONVISION_VERSION="v2025.0.0-beta-5"