Module decoder 

Tag decoding traits and implementations. Tag decoding, homography computation, and bit sampling.

This module handles the final stage of the pipeline:

1. Homography: Computing the projection from canonical tag space to image pixels.
2. Bit Sampling: Bilinear interpolation of intensities at grid points.
3. Error Correction: Correcting bit flips using tag-family specific Hamming distances.

Structs

AprilTag16h5

Decoder for the AprilTag 16h5 family.

AprilTag36h11

Decoder for the AprilTag 36h11 family.

ArUco4x4_50

Decoder for the ArUco 4x4_50 family.

ArUco4x4_100

Decoder for the ArUco 4x4_100 family.

GenericDecoder

Generic decoder for any TagDictionary (static or custom).

Homography

A 3x3 Homography matrix.

Traits

TagDecoder

A trait for decoding binary payloads from extracted tags.

Functions

compute_otsu_threshold

Returns the threshold that maximizes inter-class variance.

family_to_decoder

Convert a TagFamily enum to a boxed decoder instance.

refine_corners_erf

Refine corners using “Erf-Fit” (Gaussian fit to intensity profile).

refine_corners_gridfit

Refine corner positions using GridFit optimization.

refine_corners_with_homography

Refine corner positions using edge-based optimization with the homography.

sample_grid

Sample the bit grid from the image (Legacy/Hard wrapper).

sample_grid_generic

Sample the bit grid from the image using the homography and decoder points.