fix target model merge

PhotonVision · Oct 20, 2023 · 173e9ed · 173e9ed
1 parent 696581c
commit 173e9ed
Showing 1 changed file with 9 additions and 11 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java b/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
@@ -107,28 +107,26 @@ public enum TargetModel implements Releasable {
                             -Units.inchesToMeters(9.5) / 2,
                             -Units.inchesToMeters(9.5) / 2)),
             0),
-    k200mmAprilTag( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
-            // do not
+    k200mmAprilTag( // Corners of the tag's inner black square (excluding white border)
             List.of(
-                    new Point3(-Units.inchesToMeters(3.25), Units.inchesToMeters(3.25), 0),
                     new Point3(Units.inchesToMeters(3.25), Units.inchesToMeters(3.25), 0),
-                    new Point3(Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0),
-                    new Point3(-Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0)),
+                    new Point3(-Units.inchesToMeters(3.25), Units.inchesToMeters(3.25), 0),
+                    new Point3(-Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0),
+                    new Point3(Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0)),
             Units.inchesToMeters(3.25 * 2)),
-    kAruco6in_16h5( // Corners used are only the internal tag black corners, not the full tag size
-            // (which would include the white boarder)
+    kAruco6in_16h5( // Corners of the tag's inner black square (excluding white border)
             List.of(
                     new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
                     new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
                     new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
                     new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
             Units.inchesToMeters(3 * 2)),
-    k6in_16h5(
+    k6in_16h5( // Corners of the tag's inner black square (excluding white border)
             List.of(
-                    new Point3(-Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
                     new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
-                    new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
-                    new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
+                    new Point3(-Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
+                    new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
+                    new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
             Units.inchesToMeters(3 * 2)),
     // 2024 FRC tag. 6.5in inner tag, 8.125 overall
     kAruco6p5in_36h11(