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Expose NT entry change time in PhotonLib (#562)

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Adds target change timestamp to PhotonPipelineResult

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Noah
2022-11-07 11:09:55 -07:00
committed by GitHub
parent b408a58e9e
commit 7dd1719fbd
5 changed files with 49 additions and 2 deletions
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3
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
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@@ -34,7 +34,6 @@ import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.numbers.N5;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Timer;
import org.photonvision.PhotonCamera;
/**
@@ -84,7 +83,7 @@ public class DrivetrainPoseEstimator {
var res = cam.getLatestResult();
if (res.hasTargets()) {
var imageCaptureTime = Timer.getFPGATimestamp() - res.getLatencyMillis() / 1000.0;
var imageCaptureTime = res.getTimestampSeconds();
var camToTargetTrans = res.getBestTarget().getBestCameraToTarget();
var camPose = Constants.kFarTargetPose.transformBy(camToTargetTrans.inverse());
m_poseEstimator.addVisionMeasurement(