Struct Detector 

pub struct Detector { /* private fields */ }

The main entry point for detecting AprilTags.

The detector holds reusable state (arena allocator, threshold engine) and can be configured at construction time via DetectorConfig.

Implementations

impl Detector

pub fn new() -> Self

Create a new detector instance with default configuration.

pub fn with_config(config: DetectorConfig) -> Self

Create a detector with custom pipeline configuration.

pub fn get_config(&self) -> DetectorConfig

Get the current detector configuration.

pub fn add_decoder(&mut self, decoder: Box<dyn TagDecoder + Send + Sync>)

Add a decoder to the pipeline.

pub fn set_families(&mut self, families: &[TagFamily])

Clear all decoders and set new ones based on tag families.

pub fn detect(&mut self, img: &ImageView<'_>) -> Vec<Detection>

Primary detection entry point using detector’s configured decoders.

pub fn detect_with_options( &mut self, img: &ImageView<'_>, options: &DetectOptions, ) -> Vec<Detection>

Detection with custom per-call options (e.g., specific tag families).

pub fn detect_with_stats( &mut self, img: &ImageView<'_>, ) -> (Vec<Detection>, PipelineStats)

Detection with detailed timing statistics.

pub fn detect_with_stats_and_options( &mut self, img: &ImageView<'_>, options: &DetectOptions, ) -> (Vec<Detection>, PipelineStats)

Detection with both custom options and timing statistics.

Panics

Panics if the upscaled image buffer cannot be created or viewed.

pub fn extract_candidates( &mut self, img: &ImageView<'_>, options: &DetectOptions, ) -> (Vec<Detection>, PipelineStats)

Debugging: Extract quad candidates without decoding.

This runs the pipeline up to the quad extraction stage and returns all distinct quads found. Useful for visualizing what the detector “sees” before the decoder rejects invalid tags.

pub fn detect_full( &mut self, img: &ImageView<'_>, options: &DetectOptions, ) -> FullDetectionResult

Perform full detection and return all intermediate debug data.

Trait Implementations

impl Default for Detector

fn default() -> Self

Returns the “default value” for a type.