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Correct image capture time (#501)

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* Correct image capture time

`Timer.getFPGATimesptamp()` returns the current time in _seconds_, but `res.getLatencyMillis()` is in _miliseconds_.

* Correct image capture time (correctly)

* Change double literal to not use suffix

Co-authored-by: shueja-personal <32416547+shueja-personal@users.noreply.github.com>
This commit is contained in:
Andrew Gasser
2022-10-16 22:51:48 -05:00
committed by GitHub
parent 07904589df
commit d1bfb86ab4
1 changed files with 1 additions and 1 deletions
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2
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
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@@ -86,7 +86,7 @@ public class DrivetrainPoseEstimator {
var res = cam.getLatestResult();
if (res.hasTargets()) {
double imageCaptureTime = Timer.getFPGATimestamp() - res.getLatencyMillis();
double imageCaptureTime = Timer.getFPGATimestamp() - res.getLatencyMillis() / 1000.0;
Transform3d camToTargetTrans = res.getBestTarget().getCameraToTarget();
var transform =
new Transform2d(