Add new asignment/copy/move ctors to result

photon-lib/py/photonlibpy/photonCamera.py

@@ -126,7 +126,7 @@ def getLatestResult(self) -> PhotonPipelineResult:
             pkt = Packet(byteList)
             retVal = PhotonPipelineResult.photonStruct.unpack(pkt)
             # We don't trust NT4 time, hack around
-            retVal.ntRecieveTimestampMicros = now
+            retVal.ntReceiveTimestampMicros = now
             return retVal
 
     def getDriverMode(self) -> bool:

photon-lib/py/photonlibpy/targeting/photonPipelineResult.py

@@ -21,7 +21,7 @@ class PhotonPipelineMetadata:
 @dataclass
 class PhotonPipelineResult:
     # Since we don't trust NT time sync, keep track of when we got this packet into robot code
-    ntRecieveTimestampMicros: int = -1
+    ntReceiveTimestampMicros: int = -1
 
     targets: list[PhotonTrackedTarget] = field(default_factory=list)
     metadata: PhotonPipelineMetadata = field(default_factory=PhotonPipelineMetadata)
@@ -34,13 +34,13 @@ def getLatencyMillis(self) -> float:
 
     def getTimestampSeconds(self) -> float:
         """
-        Returns the estimated time the frame was taken, in the recieved system's time base. This is
-        calculated as (NT recieve time (robot base) - (publish timestamp, coproc timebase - capture
+        Returns the estimated time the frame was taken, in the Received system's time base. This is
+        calculated as (NT Receive time (robot base) - (publish timestamp, coproc timebase - capture
         timestamp, coproc timebase))
         """
-        # TODO - we don't trust NT4 to correctly latency-compensate ntRecieveTimestampMicros
+        # TODO - we don't trust NT4 to correctly latency-compensate ntReceiveTimestampMicros
         return (
-            self.ntRecieveTimestampMicros
+            self.ntReceiveTimestampMicros
             - (
                 self.metadata.publishTimestampMicros
                 - self.metadata.captureTimestampMicros

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -193,15 +193,15 @@ public List<PhotonPipelineResult> getAllUnreadResults() {
         // make time sync more reliable.
         for (var c : changes) {
             var result = c.value;
-            result.setRecieveTimestampMicros(c.timestamp);
+            result.setReceiveTimestampMicros(c.timestamp);
             ret.add(result);
         }
 
         return ret;
     }
 
     /**
-     * Returns the latest pipeline result. This is simply the most recent result recieved via NT.
+     * Returns the latest pipeline result. This is simply the most recent result Received via NT.
      * Calling this multiple times will always return the most recent result.
      *
      * <p>Replaced by {@link #getAllUnreadResults()} over getLatestResult, as this function can miss
@@ -221,7 +221,7 @@ public PhotonPipelineResult getLatestResult() {
         // contains a thing with time knowledge, set it here.
         // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
         // TODO: NT4 time sync is Not To Be Trusted, we should do something else?
-        result.setRecieveTimestampMicros(ret.timestamp);
+        result.setReceiveTimestampMicros(ret.timestamp);
 
         return result;
     }

photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java

@@ -554,7 +554,7 @@ public PhotonPipelineResult process(
                         now,
                         detectableTgts,
                         multitagResult);
-        ret.setRecieveTimestampMicros(now);
+        ret.setReceiveTimestampMicros(now);
         return ret;
     }
 

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -133,7 +133,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
   // Create the new result;
   PhotonPipelineResult result = packet.Unpack<PhotonPipelineResult>();
 
-  result.SetRecieveTimestamp(now);
+  result.SetReceiveTimestamp(now);
 
   return result;
 }
@@ -165,7 +165,7 @@ std::vector<PhotonPipelineResult> PhotonCamera::GetAllUnreadResults() {
 
     // TODO: NT4 timestamps are still not to be trusted. But it's the best we
     // can do until we can make time sync more reliable.
-    result.SetRecieveTimestamp(units::microsecond_t(value.time) -
+    result.SetReceiveTimestamp(units::microsecond_t(value.time) -
                                result.GetLatency());
 
     ret.push_back(result);

photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp

@@ -100,6 +100,8 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
     std::optional<PhotonCamera::DistortionMatrix> cameraDistCoeffs) {
   // Time in the past -- give up, since the following if expects times > 0
   if (result.GetTimestamp() < 0_s) {
+    FRC_ReportError(frc::warn::Warning,
+                    "Result timestamp was reported in the past!");
     return std::nullopt;
   }
 
@@ -164,7 +166,7 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
   }
 
   if (ret) {
-    lastPose = ret.value().estimatedPose;
+    lastPose = ret->estimatedPose;
   }
   return ret;
 }
@@ -197,8 +199,7 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::LowestAmbiguityStrategy(
   }
 
   return EstimatedRobotPose{
-      fiducialPose.value()
-          .TransformBy(bestTarget.GetBestCameraToTarget().Inverse())
+      fiducialPose->TransformBy(bestTarget.GetBestCameraToTarget().Inverse())
           .TransformBy(m_robotToCamera.Inverse()),
       result.GetTimestamp(), result.GetTargets(), LOWEST_AMBIGUITY};
 }
@@ -220,7 +221,7 @@ PhotonPoseEstimator::ClosestToCameraHeightStrategy(
                       target.GetFiducialId());
       continue;
     }
-    frc::Pose3d const targetPose = fiducialPose.value();
+    frc::Pose3d const targetPose = *fiducialPose;
 
     units::meter_t const alternativeDifference = units::math::abs(
         m_robotToCamera.Z() -

photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp

@@ -314,7 +314,7 @@ PhotonPipelineResult PhotonCameraSim::Process(
       VisionEstimation::GetVisibleLayoutTags(detectableTgts, tagLayout);
   if (visibleLayoutTags.size() > 1) {
     std::vector<int16_t> usedIds{};
-    usedIds.reserve(32);
+    usedIds.resize(visibleLayoutTags.size());
     std::transform(visibleLayoutTags.begin(), visibleLayoutTags.end(),
                    usedIds.begin(),
                    [](const frc::AprilTag& tag) { return tag.ID; });
@@ -337,52 +337,52 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result) {
   SubmitProcessedFrame(result, wpi::Now());
 }
 void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
-                                           uint64_t recieveTimestamp) {
+                                           uint64_t ReceiveTimestamp) {
   ts.latencyMillisEntry.Set(
       result.GetLatency().convert<units::milliseconds>().to<double>(),
-      recieveTimestamp);
+      ReceiveTimestamp);
 
   Packet newPacket{};
   newPacket.Pack(result);
 
-  ts.rawBytesEntry.Set(newPacket.GetData(), recieveTimestamp);
+  ts.rawBytesEntry.Set(newPacket.GetData(), ReceiveTimestamp);
 
   bool hasTargets = result.HasTargets();
-  ts.hasTargetEntry.Set(hasTargets, recieveTimestamp);
+  ts.hasTargetEntry.Set(hasTargets, ReceiveTimestamp);
   if (!hasTargets) {
-    ts.targetPitchEntry.Set(0.0, recieveTimestamp);
-    ts.targetYawEntry.Set(0.0, recieveTimestamp);
-    ts.targetAreaEntry.Set(0.0, recieveTimestamp);
+    ts.targetPitchEntry.Set(0.0, ReceiveTimestamp);
+    ts.targetYawEntry.Set(0.0, ReceiveTimestamp);
+    ts.targetAreaEntry.Set(0.0, ReceiveTimestamp);
     std::array<double, 3> poseData{0.0, 0.0, 0.0};
-    ts.targetPoseEntry.Set(poseData, recieveTimestamp);
-    ts.targetSkewEntry.Set(0.0, recieveTimestamp);
+    ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
+    ts.targetSkewEntry.Set(0.0, ReceiveTimestamp);
   } else {
     PhotonTrackedTarget bestTarget = result.GetBestTarget();
 
-    ts.targetPitchEntry.Set(bestTarget.GetPitch(), recieveTimestamp);
-    ts.targetYawEntry.Set(bestTarget.GetYaw(), recieveTimestamp);
-    ts.targetAreaEntry.Set(bestTarget.GetArea(), recieveTimestamp);
-    ts.targetSkewEntry.Set(bestTarget.GetSkew(), recieveTimestamp);
+    ts.targetPitchEntry.Set(bestTarget.GetPitch(), ReceiveTimestamp);
+    ts.targetYawEntry.Set(bestTarget.GetYaw(), ReceiveTimestamp);
+    ts.targetAreaEntry.Set(bestTarget.GetArea(), ReceiveTimestamp);
+    ts.targetSkewEntry.Set(bestTarget.GetSkew(), ReceiveTimestamp);
 
     frc::Transform3d transform = bestTarget.GetBestCameraToTarget();
     std::array<double, 4> poseData{
         transform.X().to<double>(), transform.Y().to<double>(),
         transform.Rotation().ToRotation2d().Degrees().to<double>()};
-    ts.targetPoseEntry.Set(poseData, recieveTimestamp);
+    ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
   }
 
   Eigen::Matrix<double, 3, 3, Eigen::RowMajor> intrinsics =
       prop.GetIntrinsics();
   std::span<double> intrinsicsView{intrinsics.data(),
                                    intrinsics.data() + intrinsics.size()};
-  ts.cameraIntrinsicsPublisher.Set(intrinsicsView, recieveTimestamp);
+  ts.cameraIntrinsicsPublisher.Set(intrinsicsView, ReceiveTimestamp);
 
   auto distortion = prop.GetDistCoeffs();
   std::vector<double> distortionView{distortion.data(),
                                      distortion.data() + distortion.size()};
-  ts.cameraDistortionPublisher.Set(distortionView, recieveTimestamp);
+  ts.cameraDistortionPublisher.Set(distortionView, ReceiveTimestamp);
 
-  ts.heartbeatPublisher.Set(heartbeatCounter, recieveTimestamp);
+  ts.heartbeatPublisher.Set(heartbeatCounter, ReceiveTimestamp);
 
   ts.subTable->GetInstance().Flush();
 }

photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h

@@ -91,7 +91,7 @@ class PhotonCameraSim {
 
   void SubmitProcessedFrame(const PhotonPipelineResult& result);
   void SubmitProcessedFrame(const PhotonPipelineResult& result,
-                            uint64_t recieveTimestamp);
+                            uint64_t ReceiveTimestamp);
 
   SimCameraProperties prop;
 

photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java

@@ -130,7 +130,7 @@ void testLowestAmbiguityStrategy() {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setRecieveTimestampMicros((long) (11 * 1e6));
+        cameraOne.result.setReceiveTimestampMicros((long) (11 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(aprilTags, PoseStrategy.LOWEST_AMBIGUITY, new Transform3d());
@@ -217,7 +217,7 @@ void testClosestToCameraHeightStrategy() {
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
 
-        cameraOne.result.setRecieveTimestampMicros((long) (4 * 1e6));
+        cameraOne.result.setReceiveTimestampMicros((long) (4 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -306,7 +306,7 @@ void closestToReferencePoseStrategy() {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setRecieveTimestampMicros((long) (17 * 1e6));
+        cameraOne.result.setReceiveTimestampMicros((long) (17 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -396,7 +396,7 @@ void closestToLastPose() {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
+        cameraOne.result.setReceiveTimestampMicros((long) (1 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -478,7 +478,7 @@ void closestToLastPose() {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setRecieveTimestampMicros((long) (7 * 1e6));
+        cameraOne.result.setReceiveTimestampMicros((long) (7 * 1e6));
 
         estimatedPose = estimator.update(cameraOne.result);
         pose = estimatedPose.get().estimatedPose;
@@ -519,7 +519,7 @@ void cacheIsInvalidated() {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        result.setRecieveTimestampMicros((long) (20 * 1e6));
+        result.setReceiveTimestampMicros((long) (20 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -529,7 +529,7 @@ void cacheIsInvalidated() {
 
         // Empty result, expect empty result
         cameraOne.result = new PhotonPipelineResult();
-        cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
+        cameraOne.result.setReceiveTimestampMicros((long) (1 * 1e6));
         Optional<EstimatedRobotPose> estimatedPose = estimator.update(cameraOne.result);
         assertFalse(estimatedPose.isPresent());
 
@@ -629,7 +629,7 @@ void averageBestPoses() {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8))))); // 3 3 3 ambig .4
-        cameraOne.result.setRecieveTimestampMicros(20 * 1000000);
+        cameraOne.result.setReceiveTimestampMicros(20 * 1000000);
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(