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[photon-lib] Fix sim tag ambiguity (#1653)

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This commit is contained in:
Nolan Brown
2024-12-29 14:43:55 -08:00
committed by GitHub
parent d0e5e169cc
commit b7a2636e97
5 changed files with 105 additions and 46 deletions
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2
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -424,7 +424,7 @@ public class PhotonCameraSim implements AutoCloseable {
var pnpSim = new PnpResult();
if (tgt.fiducialID >= 0 && tgt.getFieldVertices().size() == 4) { // single AprilTag solvePNP
pnpSim =
OpenCVHelp.solvePNP_SQPNP(
OpenCVHelp.solvePNP_SQUARE(
prop.getIntrinsics(),
prop.getDistCoeffs(),
tgt.getModel().vertices,

2
photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
View File

@@ -203,7 +203,7 @@ PhotonPipelineResult PhotonCameraSim::Process(
std::optional<photon::PnpResult> pnpSim = std::nullopt;
if (tgt.fiducialId >= 0 && tgt.GetFieldVertices().size() == 4) {
pnpSim = OpenCVHelp::SolvePNP_SQPNP(
pnpSim = OpenCVHelp::SolvePNP_Square(
prop.GetIntrinsics(), prop.GetDistCoeffs(),
tgt.GetModel().GetVertices(), noisyTargetCorners);
}