Struct CellDetectConfig 

pub struct CellDetectConfig {
    pub cell_size: usize,
    pub threshold_cascade: Vec<f32>,
    pub target_per_cell: usize,
    pub arc_length: usize,
    pub border: usize,
}

Configuration for the cell-based adaptive-threshold FAST detector.

Mirrors the cell loop both ORB-SLAM3 and Basalt run around cv::FAST. Setting target_per_cell = 1 and a long threshold cascade reproduces Basalt’s detectKeypoints; setting target_per_cell = usize::MAX and a two-step cascade reproduces ORB-SLAM3’s ini/min-threshold pattern.

Fields

cell_size: usize

Side length of each square cell in pixels.

threshold_cascade: Vec<f32>

Ordered thresholds (u8-scale, expressed as f32 in [0, 255]) to try per cell. For each cell, the detector tries the first threshold; if fewer than target_per_cell corners emerge it falls through to the next, and so on. Must be non-empty.

target_per_cell: usize

Maximum corners kept per cell. The top-target_per_cell by response are retained. usize::MAX disables per-cell clamping (keep all).

arc_length: usize

Minimum arc length for the FAST segment test (9 or 12).

border: usize

Pixel border skipped at image edges (≥3, the Bresenham radius).

Trait Implementations

impl Clone for CellDetectConfig

fn clone(&self) -> CellDetectConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CellDetectConfig

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

Formats the value using the given formatter.

impl Default for CellDetectConfig

fn default() -> Self

Returns the “default value” for a type.