Change apriltag family based on update from First
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I7c0a785b5bbcbf1780ea558b0b7dfb80fac12324
diff --git a/frc971/vision/charuco_lib.cc b/frc971/vision/charuco_lib.cc
index 0db571f..82cf56b 100644
--- a/frc971/vision/charuco_lib.cc
+++ b/frc971/vision/charuco_lib.cc
@@ -195,11 +195,11 @@
square_length_ = 0.1651;
dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_250);
} else if (FLAGS_target_type == "april_tag") {
- // Current printout is supposed to be 200mm
- // TODO<Jim>: Verify this
- square_length_ = 0.2;
+ // Tag will be 6 in (15.24 cm) according to
+ // https://www.firstinspires.org/robotics/frc/blog/2022-2023-approved-devices-rules-preview-and-vision-target-update
+ square_length_ = 0.1524;
dictionary_ =
- cv::aruco::getPredefinedDictionary(cv::aruco::DICT_APRILTAG_36h11);
+ cv::aruco::getPredefinedDictionary(cv::aruco::DICT_APRILTAG_16h5);
} else {
// Bail out if it's not a supported target
LOG(FATAL) << "Target type undefined: " << FLAGS_target_type