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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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34
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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@@ -415,67 +415,67 @@ class VisionSystemSimTest {
new VisionTargetSim(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
1));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseC.transformBy(
new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
2));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseR.transformBy(
new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
3));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
4));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseC.transformBy(
new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
5));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseR.transformBy(
new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
6));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
7));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseC.transformBy(
new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
8));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
9));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseR.transformBy(
new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
10));
visionSysSim.addVisionTargets(
new VisionTargetSim(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.25), new Rotation3d())),
TargetModel.kTag16h5,
TargetModel.kAprilTag16h5,
11));
var robotPose = new Pose2d(new Translation2d(6.0, 0), Rotation2d.fromDegrees(0.25));
@@ -506,7 +506,7 @@ class VisionSystemSimTest {
Pose2d robotPose = new Pose2d(5, 1, Rotation2d.fromDegrees(5));
visionSysSim.addVisionTargets(
new VisionTargetSim(tagList.get(0).pose, TargetModel.kTag16h5, 0));
new VisionTargetSim(tagList.get(0).pose, TargetModel.kAprilTag16h5, 0));
visionSysSim.update(robotPose);
var results =
@@ -514,7 +514,8 @@ class VisionSystemSimTest {
camera.getCameraMatrix().get(),
camera.getDistCoeffs().get(),
camera.getLatestResult().getTargets(),
layout);
layout,
TargetModel.kAprilTag16h5);
Pose3d pose = new Pose3d().plus(results.best);
assertEquals(5, pose.getX(), .01);
assertEquals(1, pose.getY(), .01);
@@ -522,9 +523,9 @@ class VisionSystemSimTest {
assertEquals(Math.toRadians(5), pose.getRotation().getZ(), 0.01);
visionSysSim.addVisionTargets(
new VisionTargetSim(tagList.get(1).pose, TargetModel.kTag16h5, 1));
new VisionTargetSim(tagList.get(1).pose, TargetModel.kAprilTag16h5, 1));
visionSysSim.addVisionTargets(
new VisionTargetSim(tagList.get(2).pose, TargetModel.kTag16h5, 2));
new VisionTargetSim(tagList.get(2).pose, TargetModel.kAprilTag16h5, 2));
visionSysSim.update(robotPose);
results =
@@ -532,7 +533,8 @@ class VisionSystemSimTest {
camera.getCameraMatrix().get(),
camera.getDistCoeffs().get(),
camera.getLatestResult().getTargets(),
layout);
layout,
TargetModel.kAprilTag16h5);
pose = new Pose3d().plus(results.best);
assertEquals(5, pose.getX(), .01);
assertEquals(1, pose.getY(), .01);