Vision distance

[linglejack06]

Summary: add distance based variance and tag based variance according to photon pose estimation GitHub

• remove filter photon pose method as it is now replaced by a variance with max values
• add a 2025 method that can be commented out and replace current way of finding new results when wpilib is upgraded

Variances:

• single tags have a standard deviance and multiple tags have another variance with lower values
• deviations are then multiplied by the average distance squared divided by 30 (this is what photon had, teams use different options throughout)
• if distance is greater than 4 AND only one tag then variances are filled with max value (rejected)

Resolves #55
Resolves #41

[aidnem]

@linglejack06 could you drive it around in sim a little bit and screen record to demonstrate it? Also that would verify if this mitigates the awful pose estimates while turning problem.

[jkleiber]

first pass feedback + concur with @aidnem that I'd like to see this drive in sim (we might need to tune some of the standard deviations a bit)

[linglejack06]

first pass feedback + concur with @aidnem that I'd like to see this drive in sim (we might need to tune some of the standard deviations a bit)

@jkleiber @aidnem ill try to test out in sim as soon as jitpack decides to work

[linglejack06]

also copied from above, im unsure why specifically x^2 / 30 is added for distance, but i assume it makes it an easy way to adjust the denominator depending on how much we trust farther measurements

[jkleiber]

@linglejack06 you could rebase onto/cherry pick my maven branch if you want to use maven local rather than Jitpack

I'm debating just getting that merged and then coming back for the maven central version

[linglejack06]

Screen.Recording.2024-12-02.at.6.39.37.PM.mov

[linglejack06]

no more drifting, looks great in sim. ready for review @jkleiber @aidnem

[linglejack06]

also turning in middle of field is fxed with no loss of pose

[jkleiber]

Verification LGTM, Approved

[linglejack06]

@aidenm can you review this, its waiting on you?

[aidnem]

@linglejack06 sure, I thought it was stuck because of the weird review dismissing behavior.

[aidnem]

@linglejack06 It's now stuck because spotless is causing build to fail, you could try the solution I linked under #59 . I haven't tried it so I'm not sure if it will work but it's worth a shot.

[linglejack06]

@aidenm i went ahead and just added back the build constants until we decide how to fix it definitively