[docs] Add missing JavaDocs (#6146)

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java

@@ -57,8 +57,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     public boolean debug;
 
+    /** Default constructor. */
     public Config() {}
 
+    /**
+     * Constructs a detector configuration.
+     *
+     * @param numThreads How many threads should be used for computation.
+     * @param quadDecimate Quad decimation.
+     * @param quadSigma What Gaussian blur should be applied to the segmented image (used for quad
+     *     detection).
+     * @param refineEdges When true, the edges of the each quad are adjusted to "snap to" strong
+     *     gradients nearby.
+     * @param decodeSharpening How much sharpening should be done to decoded images.
+     * @param debug Debug mode.
+     */
     Config(
         int numThreads,
         float quadDecimate,
@@ -139,8 +152,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     public boolean deglitch;
 
+    /** Default constructor. */
     public QuadThresholdParameters() {}
 
+    /**
+     * Constructs quad threshold parameters.
+     *
+     * @param minClusterPixels Threshold used to reject quads containing too few pixels.
+     * @param maxNumMaxima How many corner candidates to consider when segmenting a group of pixels
+     *     into a quad.
+     * @param criticalAngle Critical angle, in radians.
+     * @param maxLineFitMSE When fitting lines to the contours, the maximum mean squared error
+     *     allowed.
+     * @param minWhiteBlackDiff Minimum brightness offset.
+     * @param deglitch Whether the thresholded image be should be deglitched.
+     */
     QuadThresholdParameters(
         int minClusterPixels,
         int maxNumMaxima,

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -44,8 +44,11 @@ import java.util.Optional;
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class AprilTagFieldLayout {
+  /** Common origin positions for the AprilTag coordinate system. */
   public enum OriginPosition {
+    /** Blue alliance wall, right side. */
     kBlueAllianceWallRightSide,
+    /** Red alliance wall, right side. */
     kRedAllianceWallRightSide,
   }
 

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -7,15 +7,20 @@ package edu.wpi.first.apriltag;
 import java.io.IOException;
 import java.io.UncheckedIOException;
 
+/** Loadable AprilTag field layouts. */
 public enum AprilTagFields {
+  /** 2022 Rapid React. */
   k2022RapidReact("2022-rapidreact.json"),
+  /** 2023 Charged Up. */
   k2023ChargedUp("2023-chargedup.json");
 
+  /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
   public static final AprilTagFields kDefaultField = k2023ChargedUp;
 
+  /** Resource filename. */
   public final String m_resourceFile;
 
   AprilTagFields(String resourceFile) {

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagPoseEstimator.java

@@ -29,10 +29,19 @@ public class AprilTagPoseEstimator {
       this.cy = cy;
     }
 
+    /** Tag size, in meters. */
     public double tagSize;
+
+    /** Camera horizontal focal length, in pixels. */
     public double fx;
+
+    /** Camera vertical focal length, in pixels. */
     public double fy;
+
+    /** Camera horizontal focal center, in pixels. */
     public double cx;
+
+    /** Camera vertical focal center, in pixels. */
     public double cy;
 
     @Override

apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

@@ -38,8 +38,13 @@ namespace frc {
  * towards the opposing alliance). */
 class WPILIB_DLLEXPORT AprilTagFieldLayout {
  public:
+  /**
+   * Common origin positions for the AprilTag coordinate system.
+   */
   enum class OriginPosition {
+    /// Blue alliance wall, right side.
     kBlueAllianceWallRightSide,
+    /// Red alliance wall, right side.
     kRedAllianceWallRightSide,
   };
 

apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h

@@ -12,8 +12,13 @@
 
 namespace frc {
 
+/**
+ * Loadable AprilTag field layouts.
+ */
 enum class AprilTagField {
+  /// 2022 Rapid React.
   k2022RapidReact,
+  /// 2023 Charged Up.
   k2023ChargedUp,
 
   // This is a placeholder for denoting the last supported field. This should