Struct apriltag::detector::Detector

#[repr(transparent)]
pub struct Detector { /* private fields */ }

The marker detector.

Implementations

impl Detector

pub fn builder() -> DetectorBuilder

pub fn detect(&mut self, image: &Image) -> Vec<Detection>

Run detection on the input image.

pub fn set_thread_number(&mut self, num_threads: u8)

Set the number of threads used for detection.

pub fn set_decimation(&mut self, decimation: f32)

Decimate the input image.

The detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.

pub fn set_sigma(&mut self, sigma: f32)

Set the standard deviation in pixels for Gaussian blur applied to the segmented image for quad detection. Very noisy images benefit from non-zero values (e.g. 0.8).

pub fn set_refine_edges(&mut self, refine_edges: bool)

Enable refinement of edges.

When enabled, the edges of the each quad are adjusted to “snap to” strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Both very computationally inexpensive and generally recommended to be enabled. The option is ignored if decimation is disabled.

pub fn set_shapening(&mut self, shapening: f64)

Set the amount of sharpening applied to the decoded images.

This can help decode small tags but may or may not help in odd lighting conditions or low light conditions. The default value is 0.25.

pub fn set_debug(&mut self, debug: bool)

Enable or disable the debugging message.

It is disabled by default.

pub fn set_thresholds(&mut self, thresholds: QuadThresholds)

Set various thresholds for detecting quads as candidates for further processing.

pub unsafe fn from_raw(ptr: *mut apriltag_detector_t) -> Self

Creates an instance from pointer.

The pointer will be managed by the type. Do not run manual deallocation on the pointer. Panics if the pointer is null.

Safety

The method is safe when the pointer was created by apriltag_detector_create.

pub fn into_raw(self) -> NonNull<apriltag_detector_t>

Returns the underlying pointer.

Trait Implementations

impl Debug for Detector

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for Detector

fn drop(&mut self)

Executes the destructor for this type.