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Aruco/Multitag 36h11 support (#981)

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- 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>
This commit is contained in:
Sriman Achanta
2023-10-29 23:02:16 -04:00
committed by GitHub
parent d61225eba3
commit 0898dfe2f7
19 changed files with 98 additions and 74 deletions
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22
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -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);