mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
47aea29b6b
* Added a pure-python implementation of photonlib, named photonlibpy and hosted on pypi --------- Co-authored-by: Matt <matthew.morley.ca@gmail.com>
39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
from dataclasses import dataclass, field
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from photonlibpy.multiTargetPNPResult import MultiTargetPNPResult
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from photonlibpy.packet import Packet
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from photonlibpy.photonTrackedTarget import PhotonTrackedTarget
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@dataclass
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class PhotonPipelineResult:
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latencyMillis: float = -1.0
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timestampSec: float = -1.0
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targets: list[PhotonTrackedTarget] = field(default_factory=list)
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multiTagResult: MultiTargetPNPResult = field(default_factory=MultiTargetPNPResult)
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def populateFromPacket(self, packet: Packet) -> Packet:
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self.targets = []
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self.latencyMillis = packet.decodeDouble()
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self.multiTagResult = MultiTargetPNPResult()
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self.multiTagResult.createFromPacket(packet)
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targetCount = packet.decode8()
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for _ in range(targetCount):
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target = PhotonTrackedTarget()
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target.createFromPacket(packet)
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self.targets.append(target)
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return packet
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def setTimestampSeconds(self, timestampSec: float) -> None:
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self.timestampSec = timestampSec
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def getLatencyMillis(self) -> float:
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return self.latencyMillis
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def getTimestamp(self) -> float:
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return self.timestampSec
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def getTargets(self) -> list[PhotonTrackedTarget]:
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return self.targets
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