From e34b114669b30e529a91381865853514fcc88eb1 Mon Sep 17 00:00:00 2001
From: Jade <spacey-sooty@proton.me>
Date: Fri, 31 May 2024 08:30:40 +0800
Subject: [PATCH] Change default AprilTag family to 36h11 (#1333)

Change default AprilTag family to 36h11

Resolves https://github.com/PhotonVision/photonvision/issues/1226
---
 photon-client/src/types/PipelineTypes.ts                  | 8 ++++----
 .../vision/pipe/impl/ArucoDetectionPipeParams.java        | 4 ++--
 .../vision/pipeline/AprilTagPipelineSettings.java         | 2 +-
 .../vision/pipeline/ArucoPipelineSettings.java            | 2 +-
 .../main/java/org/photonvision/PhotonPoseEstimator.java   | 4 ++--
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
index 740572a8db..6315a23e72 100644
--- a/photon-client/src/types/PipelineTypes.ts
+++ b/photon-client/src/types/PipelineTypes.ts
@@ -219,7 +219,7 @@ export type ConfigurableAprilTagPipelineSettings = Partial<
 export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   ...DefaultPipelineSettings,
   cameraGain: 75,
-  targetModel: TargetModel.AprilTag6in_16h5,
+  targetModel: TargetModel.AprilTag6p5in_36h11,
   ledMode: false,
   outputShowMultipleTargets: true,
   cameraExposure: 20,
@@ -233,7 +233,7 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   refineEdges: true,
   debug: false,
   threads: 4,
-  tagFamily: AprilTagFamily.Family16h5,
+  tagFamily: AprilTagFamily.Family36h11,
   doMultiTarget: false,
   doSingleTargetAlways: false
 };
@@ -263,13 +263,13 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   ...DefaultPipelineSettings,
   cameraGain: 75,
   outputShowMultipleTargets: true,
-  targetModel: TargetModel.AprilTag6in_16h5,
+  targetModel: TargetModel.AprilTag6p5in_36h11,
   cameraExposure: -1,
   cameraAutoExposure: true,
   ledMode: false,
   pipelineType: PipelineType.Aruco,
 
-  tagFamily: AprilTagFamily.Family16h5,
+  tagFamily: AprilTagFamily.Family36h11,
   threshWinSizes: { first: 11, second: 91 },
   threshStepSize: 40,
   threshConstant: 10,
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
index b28ae9a89f..a89d2c03c3 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
@@ -22,8 +22,8 @@
 
 /** Detector parameters. See https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html. */
 public class ArucoDetectionPipeParams {
-    /** Tag family. Default: {@link Objdetect#DICT_APRILTAG_16h5}. */
-    public int tagFamily = Objdetect.DICT_APRILTAG_16h5;
+    /** Tag family. Default: {@link Objdetect#DICT_APRILTAG_36h11}. */
+    public int tagFamily = Objdetect.DICT_APRILTAG_36h11;
 
     public int threshMinSize = 11;
     public int threshStepSize = 40;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
index 31da770127..8583cd4d5f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
@@ -41,7 +41,7 @@ public AprilTagPipelineSettings() {
         super();
         pipelineType = PipelineType.AprilTag;
         outputShowMultipleTargets = true;
-        targetModel = TargetModel.kAprilTag6in_16h5;
+        targetModel = TargetModel.kAprilTag6p5in_36h11;
         cameraExposure = 20;
         cameraAutoExposure = false;
         ledMode = false;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
index 2690034db4..972951c2a6 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java
@@ -46,7 +46,7 @@ public ArucoPipelineSettings() {
         super();
         pipelineType = PipelineType.Aruco;
         outputShowMultipleTargets = true;
-        targetModel = TargetModel.kAprilTag6in_16h5;
+        targetModel = TargetModel.kAprilTag6p5in_36h11;
         cameraExposure = -1;
         cameraAutoExposure = true;
         ledMode = false;
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 2460288d03..af93968c41 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -87,7 +87,7 @@ public enum PoseStrategy {
     }
 
     private AprilTagFieldLayout fieldTags;
-    private TargetModel tagModel = TargetModel.kAprilTag16h5;
+    private TargetModel tagModel = TargetModel.kAprilTag36h11;
     private PoseStrategy primaryStrategy;
     private PoseStrategy multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY;
     private final PhotonCamera camera;
@@ -169,7 +169,7 @@ public void setFieldTags(AprilTagFieldLayout fieldTags) {
     /**
      * Get the TargetModel representing the tags being detected. This is used for on-rio multitag.
      *
-     * <p>By default, this is {@link TargetModel#kAprilTag16h5}.
+     * <p>By default, this is {@link TargetModel#kAprilTag36h11}.
      */
     public TargetModel getTagModel() {
         return tagModel;