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[python] Correct time units (#1605)

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This commit is contained in:
James Ward
2024-11-29 03:12:52 +11:00
committed by GitHub
parent 7e9da4133d
commit 1dbd2e5990
5 changed files with 74 additions and 49 deletions
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5
photon-lib/py/photonlibpy/simulation/visionSystemSim.py
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@@ -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()