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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

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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-server/src/main/java/org/photonvision/Main.java
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@@ -251,7 +251,7 @@ public class Main {
var pipeline2023 = new AprilTagPipelineSettings();
var path_split = Path.of(camConf2023.path).getFileName().toString();
pipeline2023.pipelineNickname = path_split.replace(".png", "");
pipeline2023.targetModel = TargetModel.k6in_16h5;
pipeline2023.targetModel = TargetModel.kAprilTag6in_16h5;
pipeline2023.inputShouldShow = true;
pipeline2023.solvePNPEnabled = true;