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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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photon-lib/src/test/java/org/photonvision/OpenCVTest.java
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@@ -137,7 +137,7 @@ public class OpenCVTest {
public void testProjection() {
var target =
new VisionTargetSim(
new Pose3d(1, 0, 0, new Rotation3d(0, 0, Math.PI)), TargetModel.kTag16h5, 0);
new Pose3d(1, 0, 0, new Rotation3d(0, 0, Math.PI)), TargetModel.kAprilTag16h5, 0);
var cameraPose = new Pose3d(0, 0, 0, new Rotation3d());
var camRt = RotTrlTransform3d.makeRelativeTo(cameraPose);
var imagePoints =
@@ -193,7 +193,7 @@ public class OpenCVTest {
// square AprilTag target
var target =
new VisionTargetSim(
new Pose3d(5, 0.5, 1, new Rotation3d(0, 0, Math.PI)), TargetModel.kTag16h5, 0);
new Pose3d(5, 0.5, 1, new Rotation3d(0, 0, Math.PI)), TargetModel.kAprilTag16h5, 0);
var cameraPose = new Pose3d(0, 0, 0, new Rotation3d());
var camRt = RotTrlTransform3d.makeRelativeTo(cameraPose);
// target relative to camera