Break up masssive python overload hacks (#1573)

What it says on the tin. This is all stuff from our initial effort to
port the sim things. Right now it is coupled to #1557 because this fixes
things up in that. Lets merge that one before dealing with this one

photon-lib/py/test/openCVHelp_test.py

@@ -150,7 +150,7 @@ def test_SolvePNP_SQPNP():
     # (for targets with arbitrary number of non-colinear points > 2)
     target = VisionTargetSim(
         Pose3d(Translation3d(5.0, 0.5, 1.0), Rotation3d(0.0, 0.0, math.pi)),
-        TargetModel(
+        TargetModel.createArbitrary(
             verts=[
                 Translation3d(0.0, 0.0, 0.0),
                 Translation3d(1.0, 0.0, 0.0),

photon-lib/py/test/simCameraProperties_test.py

@@ -10,16 +10,10 @@ from wpimath.geometry import Rotation2d, Translation3d
 @pytest.fixture(autouse=True)
 def scp() -> SimCameraProperties:
     props = SimCameraProperties()
-    props.setCalibration(1000, 1000, fovDiag=Rotation2d(math.radians(90.0)))
+    props.setCalibrationFromFOV(1000, 1000, fovDiag=Rotation2d(math.radians(90.0)))
     return props
 
 
-def test_Constructor() -> None:
-    SimCameraProperties()
-    with pytest.raises(Exception):
-        SimCameraProperties("4774")
-
-
 def test_GetPixelYaw(scp) -> None:
     rot = scp.getPixelYaw(scp.getResWidth() / 2)
     assert rot.degrees() == pytest.approx(0.0, abs=1.0)

photon-lib/py/test/visionSystemSim_test.py

@@ -32,10 +32,14 @@ def test_VisibilityCupidShuffle() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
 
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=1.0, height=1.0), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=1.0, height=1.0), 4774
+            )
+        ]
     )
 
     # To the right, to the right
@@ -89,10 +93,14 @@ def test_NotVisibleVert1() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
 
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=3.0, height=3.0), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=3.0, height=3.0), 4774
+            )
+        ]
     )
 
     robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(5.0))
@@ -120,9 +128,15 @@ def test_NotVisibleVert2() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, robotToCamera)
 
-    cameraSim.prop.setCalibration(4774, 4774, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        4774, 4774, fovDiag=Rotation2d.fromDegrees(80.0)
+    )
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=0.5, height=0.5), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
+            )
+        ]
     )
 
     robotPose = Pose2d(Translation2d(13.98, 0.0), Rotation2d.fromDegrees(5.0))
@@ -142,10 +156,14 @@ def test_NotVisibleTargetSize() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(20.0)
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=0.1, height=0.1), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=0.1, height=0.1), 4774
+            )
+        ]
     )
 
     robotPose = Pose2d(Translation2d(12.0, 0.0), Rotation2d.fromDegrees(5.0))
@@ -165,11 +183,15 @@ def test_NotVisibleTooFarLeds() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(1.0)
     cameraSim.setMaxSightRange(10.0)
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=1.0, height=1.0), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=1.0, height=1.0), 4774
+            )
+        ]
     )
 
     robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.fromDegrees(5.0))
@@ -194,10 +216,14 @@ def test_YawAngles(expected_yaw) -> None:
     cameraSim = PhotonCameraSim(camera)
 
     visionSysSim.addCamera(cameraSim, Transform3d())
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(0.0)
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=0.5, height=0.5), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
+            )
+        ]
     )
 
     robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.fromDegrees(expected_yaw))
@@ -224,10 +250,16 @@ def test_PitchAngles(expected_pitch) -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(120.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.fromDegrees(120.0)
+    )
     cameraSim.setMinTargetAreaPixels(0.0)
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=0.5, height=0.5), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
+            )
+        ]
     )
     visionSysSim.adjustCamera(
         cameraSim,
@@ -286,11 +318,17 @@ def test_distanceCalc(distParam, pitchParam, heightParam) -> None:
     cameraSim = PhotonCameraSim(camera)
 
     visionSysSim.addCamera(cameraSim, Transform3d())
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(160.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.fromDegrees(160.0)
+    )
     cameraSim.setMinTargetAreaPixels(0.0)
     visionSysSim.adjustCamera(cameraSim, robotToCamera)
     visionSysSim.addVisionTargets(
-        [VisionTargetSim(targetPose, TargetModel(width=0.5, height=0.5), 4774)]
+        [
+            VisionTargetSim(
+                targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
+            )
+        ]
     )
     visionSysSim.update(robotPose)
 
@@ -316,7 +354,7 @@ def test_MultipleTargets() -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
     cameraSim.setMinTargetAreaPixels(20.0)
 
     visionSysSim.addVisionTargets(
@@ -413,7 +451,7 @@ def test_PoseEstimation() -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
     cameraSim.setMinTargetAreaPixels(20.0)
 
     tagList: list[AprilTag] = []
@@ -487,7 +525,7 @@ def test_PoseEstimationRotated() -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, robotToCamera)
-    cameraSim.prop.setCalibration(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
+    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
     cameraSim.setMinTargetAreaPixels(20.0)
 
     tagList: list[AprilTag] = []