Umich AprilTag Detector detects tags not fully in view; corners on edge of frame

[shueja]

Describe the bug

IIRC there was a sliver of the top white strip next to the top right tag corner, but I don't fully remember.

To Reproduce Steps to reproduce the behavior:

1. Umich detector, 1280x720 (resolution probably doesn't matter)
2. Position the tag as seen here
3. See the detection with the tag corner clearly wrong.

Platform:

• Hardware Platform (ex. Raspberry Pi 4, Windows x64): Orange Pi 5
• Network Configuration (Connection between the Radio and any devices in between, such as a Network Switch): Direct from Orange Pi 5 to Radio AUX1, static IP 10.69.95.13
• PhotonVision Version: 2025.1.1
• Browser (with Version) (Chrome, Edge, Firefox, etc.): Firefox, version unknown
• Camera(s) Used: Arducam OV9281

Will update with more pictures if I remember/have time. Currently hacked around this by filtering out estimates with tag corners less than 15 pixels from the border.

[samfreund]

https://discord.com/channels/725836368059826228/725846784131203222/1360824900373319711