[apriltag] Improve AprilTagDetector default config (#6847)

wpilibsuite · Jul 19, 2024 · 8d857cd · 8d857cd
1 parent 602325d
commit 8d857cd
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Showing 3 changed files with 12 additions and 9 deletions.
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
@@ -112,8 +112,8 @@ public boolean equals(Object obj) {
   /** Quad threshold parameters. */
   @SuppressWarnings("MemberName")
   public static class QuadThresholdParameters {
-    /** Threshold used to reject quads containing too few pixels. Default is 5 pixels. */
-    public int minClusterPixels = 5;
+    /** Threshold used to reject quads containing too few pixels. Default is 300 pixels. */
+    public int minClusterPixels = 300;
 
     /**
      * How many corner candidates to consider when segmenting a group of pixels into a quad. Default
@@ -124,9 +124,9 @@ public static class QuadThresholdParameters {
     /**
      * Critical angle, in radians. The detector will reject quads where pairs of edges have angles
      * that are close to straight or close to 180 degrees. Zero means that no quads are rejected.
-     * Default is 10 degrees.
+     * Default is 45 degrees.
      */
-    public double criticalAngle = 10 * Math.PI / 180.0;
+    public double criticalAngle = 45 * Math.PI / 180.0;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error allowed. This is useful in
@@ -203,6 +203,7 @@ public boolean equals(Object obj) {
   /** Constructs an AprilTagDetector. */
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
+    setQuadThresholdParameters(new QuadThresholdParameters());
   }
 
   @Override

diff --git a/apriltag/src/main/native/cpp/AprilTagDetector.cpp b/apriltag/src/main/native/cpp/AprilTagDetector.cpp
@@ -46,7 +46,9 @@ void AprilTagDetector::Results::Destroy() {
   }
 }
 
-AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {}
+AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {
+  SetQuadThresholdParameters({});
+}
 
 AprilTagDetector& AprilTagDetector::operator=(AprilTagDetector&& rhs) {
   Destroy();

diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h
@@ -83,10 +83,10 @@ class WPILIB_DLLEXPORT AprilTagDetector {
     bool operator==(const QuadThresholdParameters&) const = default;
 
     /**
-     * Threshold used to reject quads containing too few pixels. Default is 5
+     * Threshold used to reject quads containing too few pixels. Default is 300
      * pixels.
      */
-    int minClusterPixels = 5;
+    int minClusterPixels = 300;
 
     /**
      * How many corner candidates to consider when segmenting a group of pixels
@@ -97,9 +97,9 @@ class WPILIB_DLLEXPORT AprilTagDetector {
     /**
      * Critical angle. The detector will reject quads where pairs of edges have
      * angles that are close to straight or close to 180 degrees. Zero means
-     * that no quads are rejected. Default is 10 degrees.
+     * that no quads are rejected. Default is 45 degrees.
      */
-    units::radian_t criticalAngle = 10_deg;
+    units::radian_t criticalAngle = 45_deg;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error