Apple says:
Depending on the device and orientation, the system displays either a regular or compact tab bar. Your app should include custom tab bar i
Unfortunately, the compact/regular state does not only depend from the orientation or the app window size, it also depends on the device.
You can find a regular/compact size breakdown here for different devices. You should look for the second value (for e.g. Compact width, regular height).
The change happens between the two types of icons automatically, as soon as the orientation/app window changes.