Add QuadThresholdParameters to AprilTag config (#1519)

This works around a change made to the default QuadThresholdParameters in the WPILib AprilTagDetector for 2025.
wpilibsuite/allwpilib#6847

Author: crschardt

photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java

@@ -59,6 +59,7 @@ protected List<AprilTagDetection> process(CVMat in) {
     public void setParams(AprilTagDetectionPipeParams newParams) {
         if (this.params == null || !this.params.equals(newParams)) {
             m_detector.setConfig(newParams.detectorParams);
+            m_detector.setQuadThresholdParameters(newParams.quadParams);
 
             m_detector.clearFamilies();
             m_detector.addFamily(newParams.family.getNativeName());

photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java

@@ -23,10 +23,15 @@
 public class AprilTagDetectionPipeParams {
     public final AprilTagFamily family;
     public final AprilTagDetector.Config detectorParams;
+    public final AprilTagDetector.QuadThresholdParameters quadParams;
 
-    public AprilTagDetectionPipeParams(AprilTagFamily tagFamily, AprilTagDetector.Config config) {
+    public AprilTagDetectionPipeParams(
+            AprilTagFamily tagFamily,
+            AprilTagDetector.Config config,
+            AprilTagDetector.QuadThresholdParameters quadParams) {
         this.family = tagFamily;
         this.detectorParams = config;
+        this.quadParams = quadParams;
     }
 
     @Override
@@ -35,6 +40,7 @@ public int hashCode() {
         int result = 1;
         result = prime * result + ((family == null) ? 0 : family.hashCode());
         result = prime * result + ((detectorParams == null) ? 0 : detectorParams.hashCode());
+        result = prime * result + ((quadParams == null) ? 0 : quadParams.hashCode());
         return result;
     }
 
@@ -46,7 +52,11 @@ public boolean equals(Object obj) {
         AprilTagDetectionPipeParams other = (AprilTagDetectionPipeParams) obj;
         if (family != other.family) return false;
         if (detectorParams == null) {
-            return other.detectorParams == null;
-        } else return detectorParams.equals(other.detectorParams);
+            if (other.detectorParams != null) return false;
+        } else if (!detectorParams.equals(other.detectorParams)) return false;
+        if (quadParams == null) {
+            if (other.quadParams != null) return false;
+        } else if (!quadParams.equals(other.quadParams)) return false;
+        return true;
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java

@@ -87,7 +87,21 @@ protected void setPipeParamsImpl() {
         config.refineEdges = settings.refineEdges;
         config.quadSigma = (float) settings.blur;
         config.quadDecimate = settings.decimate;
-        aprilTagDetectionPipe.setParams(new AprilTagDetectionPipeParams(settings.tagFamily, config));
+
+        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));
 
         if (frameStaticProperties.cameraCalibration != null) {
             var cameraMatrix = frameStaticProperties.cameraCalibration.getCameraIntrinsicsMat();