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[examples] Update april tag family to 36h11 (#6126)

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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.
This commit is contained in:
sciencewhiz
2023-12-31 22:46:31 -08:00
committed by GitHub
parent f9aabc5ab2
commit 495585b25d
2 changed files with 6 additions and 6 deletions
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6
wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
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@@ -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,