Skip to content

[NFC] Invert AprilTag family default #2124

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 4 commits into
base: main
Choose a base branch
from
Open

[NFC] Invert AprilTag family default #2124

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
1ca86e6
Invert apriltag default
spacey-sooty Oct 13, 2025
c4fb37e
Fix 16h5 size
spacey-sooty Oct 14, 2025
5e4d9ee
Properly set target model
spacey-sooty Oct 14, 2025
24821b6
Delete target model it gets overriden
spacey-sooty Oct 14, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 7 additions & 7 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,13 +73,13 @@ protected void setPipeParamsImpl() {
settings.threads = Math.max(1, settings.threads);

// for now, hard code tag width based on enum value
// 2023/other: best guess is 6in
double tagWidth = Units.inchesToMeters(6);
TargetModel tagModel = TargetModel.kAprilTag16h5;
if (settings.tagFamily == AprilTagFamily.kTag36h11) {
// 2024 tag, 6.5in
tagWidth = Units.inchesToMeters(6.5);
tagModel = TargetModel.kAprilTag36h11;
// From 2024 best guess is 6.5
double tagWidth = Units.inchesToMeters(6.5);
TargetModel tagModel = TargetModel.kAprilTag36h11;
if (settings.tagFamily == AprilTagFamily.kTag16h5) {
// 2023 tag, 6in
tagWidth = Units.inchesToMeters(6);
tagModel = TargetModel.kAprilTag16h5;
}

var config = new AprilTagDetector.Config();
Expand Down
1 change: 0 additions & 1 deletion photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,6 @@ public void testApriltagDistorted() {
pipeline.getSettings().solvePNPEnabled = true;
pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
pipeline.getSettings().cornerDetectionUseConvexHulls = true;
pipeline.getSettings().targetModel = TargetModel.kAprilTag6p5in_36h11;
pipeline.getSettings().tagFamily = AprilTagFamily.kTag16h5;

var frameProvider =
Expand Down
Loading