From 154d920e671d4312dc27935408508fedf61b777f Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sat, 13 Jan 2024 23:03:58 -0800 Subject: [PATCH] [examples] Limit error bit correction in April Tag examples (#6224) Values >3 are not supported. https://github.com/wpilibsuite/apriltag/blob/64be6ab26abf5e995321997fd0752c609a7e30f4/apriltag.c#L261-L266 --- .../src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp | 4 ++-- .../edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp index 443bdd82c2..8df29339fa 100644 --- a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp @@ -37,8 +37,8 @@ class Robot : public frc::TimedRobot { private: static void VisionThread() { frc::AprilTagDetector detector; - // look for tag36h11, correct 7 error bits - detector.AddFamily("tag36h11", 7); + // look for tag36h11, correct 3 error bits + detector.AddFamily("tag36h11", 3); // Set up Pose Estimator - parameters are for a Microsoft Lifecam HD-3000 // (https://www.chiefdelphi.com/t/wpilib-apriltagdetector-sample-code/421411/21) diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java index 3d265d4d73..5a4a324562 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java @@ -39,8 +39,8 @@ public class Robot extends TimedRobot { void apriltagVisionThreadProc() { var detector = new AprilTagDetector(); - // look for tag136h11, correct 7 error bits - detector.addFamily("tag36h11", 7); + // look for tag136h11, correct 3 error bits + detector.addFamily("tag36h11", 3); // Set up Pose Estimator - parameters are for a Microsoft Lifecam HD-3000 // (https://www.chiefdelphi.com/t/wpilib-apriltagdetector-sample-code/421411/21)