set all the things

PhotonVision · Nov 4, 2024 · 30644cd · 30644cd
1 parent 99c5d3a
commit 30644cd
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -89,7 +89,16 @@ protected void setPipeParamsImpl() {
         config.quadDecimate = settings.decimate;
 
         var quadParams = new AprilTagDetector.QuadThresholdParameters();
+        // 5 was the default minClusterPixels in WPILib prior to 2025
+        // increasing it causes detection problems when decimate > 1
         quadParams.minClusterPixels = 5;
+        // these are the same as the values in WPILib 2025
+        // setting them here to prevent upstream changes from changing behavior of the detector
+        quadParams.maxNumMaxima = 10;
+        quadParams.criticalAngle = 45 * Math.PI / 180.0;
+        quadParams.maxLineFitMSE = 10.0f;
+        quadParams.minWhiteBlackDiff = 5;
+        quadParams.deglitch = false;
 
         aprilTagDetectionPipe.setParams(
                 new AprilTagDetectionPipeParams(settings.tagFamily, config, quadParams));