From 495585b25dda77a3c8278783fb3b965bc0f5e61b Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 31 Dec 2023 22:46:31 -0800 Subject: [PATCH] [examples] Update april tag family to 36h11 (#6126) Changes size to 6.5 inches per https://www.firstinspires.org/robotics/frc/blog/2023-technology-updates-past-present-future-and-beyond Uses 7 error bit correction as recommended in PhotonVision docs. --- .../src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp | 6 +++--- .../wpi/first/wpilibj/examples/apriltagsvision/Robot.java | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp index 0ed53fd853..443bdd82c2 100644 --- a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp @@ -37,13 +37,13 @@ class Robot : public frc::TimedRobot { private: static void VisionThread() { frc::AprilTagDetector detector; - // look for tag16h5, don't correct any error bits - detector.AddFamily("tag16h5", 0); + // look for tag36h11, correct 7 error bits + detector.AddFamily("tag36h11", 7); // Set up Pose Estimator - parameters are for a Microsoft Lifecam HD-3000 // (https://www.chiefdelphi.com/t/wpilib-apriltagdetector-sample-code/421411/21) frc::AprilTagPoseEstimator::Config poseEstConfig = { - .tagSize = units::length::inch_t(6.0), + .tagSize = units::length::inch_t(6.5), .fx = 699.3778103158814, .fy = 677.7161226393544, .cx = 345.6059345433618, 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 91230c2867..3d265d4d73 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 @@ -39,14 +39,14 @@ public class Robot extends TimedRobot { void apriltagVisionThreadProc() { var detector = new AprilTagDetector(); - // look for tag16h5, don't correct any error bits - detector.addFamily("tag16h5", 0); + // look for tag136h11, correct 7 error bits + detector.addFamily("tag36h11", 7); // Set up Pose Estimator - parameters are for a Microsoft Lifecam HD-3000 // (https://www.chiefdelphi.com/t/wpilib-apriltagdetector-sample-code/421411/21) var poseEstConfig = new AprilTagPoseEstimator.Config( - 0.1524, 699.3778103158814, 677.7161226393544, 345.6059345433618, 207.12741326228522); + 0.1651, 699.3778103158814, 677.7161226393544, 345.6059345433618, 207.12741326228522); var estimator = new AprilTagPoseEstimator(poseEstConfig); // Get the UsbCamera from CameraServer