From f4a3fba57c450babcd7e4929038e04aa7133c249 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Tue, 7 Nov 2023 19:15:20 -0500
Subject: [PATCH] [apriltag] Improve AprilTagDetector's default config

---
 .../java/edu/wpi/first/apriltag/AprilTagDetector.java    | 9 +++++----
 apriltag/src/main/native/cpp/AprilTagDetector.cpp        | 4 +++-
 .../main/native/include/frc/apriltag/AprilTagDetector.h  | 8 ++++----
 3 files changed, 12 insertions(+), 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
index 8b0d5ca721d..b09c973e687 100644
--- 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
index cae9c0a5e59..036dc20431f 100644
--- 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
index 59dedf1a7f1..29e5b79d4f8 100644
--- 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