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Changes sim to use 36h11 tags (#1056)

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Fixes #1041

---------

Co-authored-by: Drew Williams <DrewW@iARx.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Drew Williams
2024-01-02 10:09:32 -05:00
committed by GitHub
parent b9c2d839f4
commit 96de176ba2
43 changed files with 116 additions and 152 deletions
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6
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -28,11 +28,11 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.cscore.VideoMode.PixelFormat;
import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.util.PixelFormat;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
@@ -464,7 +464,7 @@ public class PhotonCameraSim implements AutoCloseable {
var corn = pair.getSecond();
if (tgt.fiducialID >= 0) { // apriltags
VideoSimUtil.warp16h5TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
VideoSimUtil.warp36h11TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
} else if (!tgt.getModel().isSpherical) { // non-spherical targets
var contour = corn;
if (!tgt.getModel()
@@ -529,7 +529,7 @@ public class PhotonCameraSim implements AutoCloseable {
prop.getDistCoeffs(),
detectableTgts,
tagLayout,
TargetModel.kAprilTag16h5);
TargetModel.kAprilTag36h11);
multitagResult = new MultiTargetPNPResult(pnpResult, usedIDs);
}