Crate calib_targets_charuco 

ChArUco-related utilities.

Current focus:

• chessboard detection from ChESS corners,
• per-cell marker decoding (no full-image warp by default),
• alignment to a known board definition and corner ID assignment.

Marker dictionaries and decoding live in calib-targets-aruco.

Quickstart

use calib_targets_aruco::builtins;
use calib_targets_charuco::{CharucoBoardSpec, CharucoDetector, CharucoParams, MarkerLayout};
use calib_targets_core::{Corner, GrayImageView};

let board = CharucoBoardSpec {
    rows: 5,
    cols: 7,
    cell_size: 1.0,
    marker_size_rel: 0.7,
    dictionary: builtins::DICT_4X4_50,
    marker_layout: MarkerLayout::OpenCvCharuco,
};

let params = CharucoParams::for_board(&board);
let detector = CharucoDetector::new(params)?;

let pixels = vec![0u8; 32 * 32];
let view = GrayImageView {
    width: 32,
    height: 32,
    data: &pixels,
};
let corners: Vec<Corner> = Vec::new();

let _ = detector.detect(&view, &corners)?;

Structs

BoardMatchDiagnostics

Structured diagnostics produced by the board-level matcher. Serialised per-frame by the sweep runner for Python overlays.

CellBestMatch

CellDiag

CharucoAlignment

Alignment result between detected markers and a board specification.

CharucoBoard

Precomputed board mapping helpers.

CharucoBoardSpec

Static ChArUco board specification.

CharucoDetectConfig

Configuration for the ChArUco detection example.

CharucoDetectDiagnostics

Rich per-frame diagnostics captured by CharucoDetector::detect_with_diagnostics.

CharucoDetectReport

CharucoDetectionResult

Output of a ChArUco detection run.

CharucoDetector

Grid-first ChArUco detector.

CharucoMarkerCornerLinks

Collection of reported marker-corner links plus validation mode.

CharucoParams

Configuration for the ChArUco detector.

ComponentDiagnostics

DiagHypothesis

GridAlignment

A grid alignment: dst = transform(src) + translation.

GridTransform

Integer 2D grid transform (a 2×2 matrix) for aligning detected grids to a board model.

LinkViolation

One validation error with context.

MarkerCornerLink

One reported marker-corner link.

Enums

BoardSpecLoadError

Errors from loading a board specification via load_board_spec_any.

CharucoBoardError

Board specification validation errors.

CharucoConfigError

CharucoDetectError

Errors returned by the ChArUco detector.

ComponentOutcome

LinkCheckMode

How strictly to validate marker-to-corner links.

LinkViolationKind

Specific violation encountered while validating marker-corner links.

MarkerLayout

Marker placement scheme for the board.

MatcherDiagKind

RejectReason

Constants

GRID_TRANSFORMS_D4

The 8 dihedral transforms D4 on the integer grid.

Functions

load_board_spec_any

Load a CharucoBoardSpec from JSON accepting either the flat board.json layout ({"ncols": ..., "dict": "..."}) or the nested config.json layout ({"target": {"ncols": ..., "dict": "..."}}).

resolve_dictionary

Resolve a dictionary name tolerating both the prefixed (DICT_4X4_1000) and un-prefixed (4X4_1000, APRILTAG_36h10) spellings used in different tooling JSON files.

validate_marker_corner_links

Validate marker-corner links against the board definition.

Type Aliases

CharucoIoError