Aruco/Multitag 36h11 support (#981)

- Aruco pipeline now infers tag width from tag family like the AprilTag pipeline
- Removes unused Aruco and 200mm AprilTag models
- `VisionEstimation.estimateCamPosePNP()` now requires a target model instead of assuming 16h5
  - Multitarget pipeline similarly infers target model of tag family now
  - `PhotonPoseEstimator` can have target model set for on-rio multitarget

---------

Co-authored-by: amquake <noleetarrr@gmail.com>

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

@@ -41,6 +41,7 @@ import java.util.HashSet;
 import java.util.List;
 import java.util.Optional;
 import java.util.Set;
+import org.photonvision.estimation.TargetModel;
 import org.photonvision.estimation.VisionEstimation;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
@@ -82,6 +83,7 @@ public class PhotonPoseEstimator {
     }
 
     private AprilTagFieldLayout fieldTags;
+    private TargetModel tagModel = TargetModel.kAprilTag16h5;
     private PoseStrategy primaryStrategy;
     private PoseStrategy multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY;
     private final PhotonCamera camera;
@@ -155,6 +157,24 @@ public class PhotonPoseEstimator {
         this.fieldTags = fieldTags;
     }
 
+    /**
+     * Get the TargetModel representing the tags being detected. This is used for on-rio multitag.
+     *
+     * <p>By default, this is {@link TargetModel#kAprilTag16h5}.
+     */
+    public TargetModel getTagModel() {
+        return tagModel;
+    }
+
+    /**
+     * Set the TargetModel representing the tags being detected. This is used for on-rio multitag.
+     *
+     * @param tagModel E.g. {@link TargetModel#kAprilTag16h5}.
+     */
+    public void setTagModel(TargetModel tagModel) {
+        this.tagModel = tagModel;
+    }
+
     /**
      * Get the Position Estimation Strategy being used by the Position Estimator.
      *
@@ -419,7 +439,7 @@ public class PhotonPoseEstimator {
 
         var pnpResults =
                 VisionEstimation.estimateCamPosePNP(
-                        cameraMatrixOpt.get(), distCoeffsOpt.get(), result.getTargets(), fieldTags);
+                        cameraMatrixOpt.get(), distCoeffsOpt.get(), result.getTargets(), fieldTags, tagModel);
         // try fallback strategy if solvePNP fails for some reason
         if (!pnpResults.isPresent)
             return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);

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

@@ -531,7 +531,11 @@ public class PhotonCameraSim implements AutoCloseable {
                     visibleLayoutTags.stream().map(t -> t.ID).sorted().collect(Collectors.toList());
             var pnpResults =
                     VisionEstimation.estimateCamPosePNP(
-                            prop.getIntrinsics(), prop.getDistCoeffs(), detectableTgts, tagLayout);
+                            prop.getIntrinsics(),
+                            prop.getDistCoeffs(),
+                            detectableTgts,
+                            tagLayout,
+                            TargetModel.kAprilTag16h5);
             multitagResults = new MultiTargetPNPResults(pnpResults, usedIDs);
         }
 

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

@@ -257,7 +257,7 @@ public class VisionSystemSim {
                     "apriltag",
                     new VisionTargetSim(
                             tagLayout.getTagPose(tag.ID).get(), // preserve alliance rotation
-                            TargetModel.kTag16h5,
+                            TargetModel.kAprilTag16h5,
                             tag.ID));
         }
     }