Crate calib_targets_marker 

Checkerboard marker target detector (checkerboard + 3 circles in the middle).

Pipeline overview:

• Detect a chessboard grid from ChESS corners (partial boards are allowed).
• Score circular markers per-cell in image space.
• Match circle candidates to the known layout and estimate the grid offset.
• Return typed marker-board corners with optional board alignment.

Quickstart

use calib_targets_marker::{
    CellCoords, CirclePolarity, GrayImageView, MarkerBoardDetector, MarkerBoardSpec,
    MarkerBoardParams, MarkerCircleSpec,
};

let board = MarkerBoardSpec::new(
    6,
    8,
    [
        MarkerCircleSpec::new(CellCoords { i: 2, j: 2 }, CirclePolarity::White),
        MarkerCircleSpec::new(CellCoords { i: 3, j: 2 }, CirclePolarity::Black),
        MarkerCircleSpec::new(CellCoords { i: 2, j: 3 }, CirclePolarity::White),
    ],
)
.with_cell_size(1.0);

let params = MarkerBoardParams::for_board(board);
let detector = MarkerBoardDetector::new(params).expect("valid chessboard config");

let pixels = vec![0u8; 32 * 32];
let view = GrayImageView {
    width: 32,
    height: 32,
    data: &pixels,
};

// `detect` runs the ChESS corner front-end from `params.chess` itself.
// Feed a corner cloud you already have to `detect_with_corners` instead.
let _ = detector.detect(&view);

Re-exports

pub use diagnostics::MarkerBoardDiagnostics;

Modules

diagnostics

Opt-in diagnostics surface for the marker-board detector.

Structs

CellCoords

Integer coordinates for a square cell in the grid (top-left corner indices).

CellOffset

Integer translation between detected grid cells and board cells.

ChessCorner

Canonical 2D corner consumed by the chessboard detector.

CircleCandidate

One scored circular-marker candidate found in a chessboard cell.

CircleMatch

Result of matching expected circles to detected candidates.

CircleMatchParams

Circle matching settings.

CircleScoreParams

Tuning knobs for per-cell circular-marker scoring.

GrayImageView

Borrowed view over an 8-bit grayscale image.

GridTransform

An affine integer lattice-coordinate transform: destination = matrix * source + translation.

MarkerBoardCorner

A detected marker-board checkerboard corner.

MarkerBoardDetection

Marker-board detection result.

MarkerBoardDetector

Marker board detector: chessboard + three circle markers.

MarkerBoardParams

Parameters for marker-board detection.

MarkerBoardSpec

Fixed marker board layout: chessboard size plus 3 circle markers.

MarkerCircleSpec

One expected marker circle on the board.

Enums

CirclePolarity

Whether the circle marker prints as white-on-black or black-on-white.

MarkerBoardDetectError

Errors returned by the marker-board detector.

Type Aliases

GridAlignment

Semantic alias for a transform that maps detected grid coordinates into a board/model coordinate frame.