From 173e9edba30a7cbf49f43c773a93f406bf5605f2 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Fri, 20 Oct 2023 09:31:22 -0400 Subject: [PATCH] fix target model merge --- .../vision/target/TargetModel.java | 20 +++++++++---------- 1 file changed, 9 insertions(+), 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 index 3091e1f2bd..d85bf295d6 100644 --- 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(