Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-22 01:11:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Upgrade to wpilib alpha-6 (#2434)

Browse Source 
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Ryanforce08 <rradtke1208@gmail.com>
Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Sam Freund
2026-05-26 21:47:48 -04:00
committed by GitHub
parent d3de87f72b
commit e9006a2803
97 changed files with 732 additions and 1139 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
photon-lib/py/photonlibpy/simulation/photonCameraSim.py
View File

@@ -6,8 +6,9 @@ import cv2 as cv
import numpy as np
import wpilib
from robotpy_apriltag import AprilTagField, AprilTagFieldLayout
from wpimath.geometry import Pose3d, Transform3d
from wpimath import Pose3d, Transform3d
from wpimath.units import meters, seconds
from wpiutil import PixelFormat
from ..estimation import OpenCVHelp, RotTrlTransform3d, TargetModel, VisionEstimation
from ..estimation.cameraTargetRelation import CameraTargetRelation
@@ -66,7 +67,7 @@ class PhotonCameraSim:
# TODO switch this back to default True when the functionality is enabled
self.videoSimProcEnabled: bool = False
self.heartbeatCounter: int = 0
self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
self.nextNtEntryTime = wpilib.Timer.getMonotonicTimestamp()
self.tagLayout = tagLayout
self.cam = camera
@@ -76,7 +77,7 @@ class PhotonCameraSim:
# TODO Check fps is right
self.videoSimRaw = cs.CvSource(
self.cam.getName() + "-raw",
cs.VideoMode.PixelFormat.kGray,
PixelFormat.GRAY,
self.prop.getResWidth(),
self.prop.getResHeight(),
1,
@@ -88,7 +89,7 @@ class PhotonCameraSim:
# TODO Check fps is right
self.videoSimProcessed = cs.CvSource(
self.cam.getName() + "-processed",
cs.VideoMode.PixelFormat.kGray,
PixelFormat.GRAY,
self.prop.getResWidth(),
self.prop.getResHeight(),
1,
@@ -182,7 +183,7 @@ class PhotonCameraSim:
ready
"""
# check if this camera is ready for another frame update
now = wpilib.Timer.getFPGATimestamp()
now = wpilib.Timer.getMonotonicTimestamp()
timestamp = 0.0
iter = 0
# prepare next latest update
@@ -434,7 +435,7 @@ class PhotonCameraSim:
# put this simulated data to NT
self.heartbeatCounter += 1
publishTimestampMicros = wpilib.Timer.getFPGATimestamp() * 1e6
publishTimestampMicros = wpilib.Timer.getMonotonicTimestamp() * 1e6
return PhotonPipelineResult(
ntReceiveTimestampMicros=int(publishTimestampMicros + 10),
metadata=PhotonPipelineMetadata(
@@ -461,7 +462,7 @@ class PhotonCameraSim:
: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_us is None:
receiveTimestamp_us = wpilib.Timer.getFPGATimestamp() * 1e6
receiveTimestamp_us = wpilib.Timer.getMonotonicTimestamp() * 1e6
receiveTimestamp_us = int(receiveTimestamp_us)
self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp_us)