From a113bd4192070dceac8479fd885d1b7fefea52ea Mon Sep 17 00:00:00 2001
From: Banks T <btrout.dhrs@gmail.com>
Date: Sun, 17 Jan 2021 23:28:00 -0500
Subject: [PATCH] Fix processing timings in CVPipelineResult (#236)

---
 .../org/photonvision/common/util/math/MathUtils.java   |  4 ++++
 .../vision/pipeline/result/CVPipelineResult.java       | 10 +++++++---
 .../java/org/photonvision/common/BenchmarkTest.java    |  4 ++--
 .../org/photonvision/common/ShapeBenchmarkTest.java    |  2 +-
 4 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index dc925afde..9b9fb02c0 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -44,6 +44,10 @@ public class MathUtils {
         return nanos / 1000000.0;
     }
 
+    public static double nanosToMillis(double nanos) {
+        return nanos / 1000000.0;
+    }
+
     public static long millisToNanos(long millis) {
         return millis * 1000000;
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
index 13c3098ca..4f902ab00 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
@@ -26,19 +26,19 @@ import org.photonvision.vision.target.TrackedTarget;
 
 public class CVPipelineResult implements Releasable {
     private long imageCaptureTimestampNanos;
-    public final double processingMillis;
+    public final double processingNanos;
     public final double fps;
     public final List<TrackedTarget> targets;
     public final Frame outputFrame;
     public final Frame inputFrame;
 
     public CVPipelineResult(
-            double processingMillis,
+            double processingNanos,
             double fps,
             List<TrackedTarget> targets,
             Frame outputFrame,
             Frame inputFrame) {
-        this.processingMillis = processingMillis;
+        this.processingNanos = processingNanos;
         this.fps = fps;
         this.targets = targets != null ? targets : Collections.emptyList();
 
@@ -73,6 +73,10 @@ public class CVPipelineResult implements Releasable {
         return MathUtils.nanosToMillis(now - imageCaptureTimestampNanos);
     }
 
+    public double getProcessingMillis() {
+        return MathUtils.nanosToMillis(processingNanos);
+    }
+
     public long getImageCaptureTimestampNanos() {
         return imageCaptureTimestampNanos;
     }
diff --git a/photon-core/src/test/java/org/photonvision/common/BenchmarkTest.java b/photon-core/src/test/java/org/photonvision/common/BenchmarkTest.java
index 81ebd1402..bbf83c6e6 100644
--- a/photon-core/src/test/java/org/photonvision/common/BenchmarkTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/BenchmarkTest.java
@@ -144,9 +144,9 @@ public class BenchmarkTest {
             CVPipelineResult pipelineResult =
                     pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
             pipelineResult.release();
-            processingTimes.add(pipelineResult.processingMillis);
+            processingTimes.add(pipelineResult.getProcessingMillis());
             latencyTimes.add(pipelineResult.getLatencyMillis());
-        } while (System.currentTimeMillis() - benchmarkStartMillis < secondsToRun * 1000);
+        } while (System.currentTimeMillis() - benchmarkStartMillis < secondsToRun * 1000.0);
         System.out.println("Benchmark complete.");
 
         var processingMin = Collections.min(processingTimes);
diff --git a/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java b/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
index daca840a0..7f4174eda 100644
--- a/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
@@ -172,7 +172,7 @@ public class ShapeBenchmarkTest {
             CVPipelineResult pipelineResult =
                     pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
             pipelineResult.release();
-            processingTimes.add(pipelineResult.processingMillis);
+            processingTimes.add(pipelineResult.getProcessingMillis());
             latencyTimes.add(pipelineResult.getLatencyMillis());
         } while (System.currentTimeMillis() - benchmarkStartMillis < secondsToRun * 1000L);
         System.out.println("Benchmark complete.");