[photon-core] [2024] Cleanup and document coordinate system conversion

[amquake]

Awaiting wpilibsuite/allwpilib#5532 to be merged and PV updated to wpilib 2024.

Cleans up and documents confusing coordinate system conversions from AprilTag -> OpenCV -> WPILib.

[mcm001]

Go ahead and bump wpilib in build.gradle here if you want

[amquake]

Is this supposed to use min area rect for the corner detection algo?

photonvision/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java

Lines 69 to 72 in 0244feb

	private List<Point> findBoundingBoxCorners(TrackedTarget target) {
	// extract the corners
	var points = new Point[4];
	target.m_mainContour.getMinAreaRect().points(points);

[mcm001]

I think so? That whole algorithm seems a bit sus to me though. I feel like we should have a better way of handling that in our landscape vs portrait target code

[mcm001]

findBoundingBoxCorners

Yeah, it is. Just checked what it does again. It finds the 4 approx-poly-dp vertices closest to the min-area-rect corners. See detectExtremeCornersByApproxPolyDp

[mdurrani808]

anything this is still waiting on besides a review

[amquake]

wpilib version 2024