PhotonVision
Lower AprilTagDetector's maxLineFitMSE
Description
Fixes #1817. Based on https://github.com/AprilRobotics/apriltag/issues/375#issuecomment-2795228766, I lowered it and light testing seems to indicate that this doesn't really impact range, but it does prevent cutoff tags from being detected. This value could be tuned lower to reduce bad detections even more, or higher to reduce false negatives, but this seems to be a good starting point.
Meta
Merge checklist:
- [x] Pull Request title is short, imperative summary of proposed changes
- [x] The description documents the what and why
- [ ] If this PR changes behavior or adds a feature, user documentation is updated
- [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2
- [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added
Which comment? I edited the description to be slightly more specific just in case, but still unsure.
Which comment? I edited the description to be slightly more specific just in case, but still unsure.
The WPILib 2025 defaults comment a few lines above your change. I can't leave a comment on it since you haven't modified it
