Crate locus_core 

High-performance AprilTag and ArUco detection engine.

Locus is a research-oriented, memory-safe fiducial marker detector targeting low latency. It provides a performance-focused pipeline for robotics and computer vision, with strict zero-heap allocation in the detection hot-path.

Re-exports

pub use crate::config::CornerRefinementMode;

pub use crate::config::DecodeMode;

pub use crate::config::DetectOptions;

pub use crate::config::DetectorConfig;

pub use crate::config::PoseEstimationMode;

pub use crate::config::TagFamily;

pub use crate::detector::Detector;

pub use crate::detector::DetectorBuilder;

pub use crate::error::ConfigError;

pub use crate::error::DetectorError;

pub use crate::image::ImageView;

pub use crate::pose::CameraIntrinsics;

pub use crate::pose::Pose;

Modules

batch

Batched state container for Structure of Arrays (SoA) layout.

config

Configuration types for the detector pipeline. Configuration types for the detector pipeline.

decoder

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

detector

The primary public API for the detector.

dictionaries

Tag family dictionaries (AprilTag, ArUco). Tag family dictionaries.

error

Error types for the detection pipeline. Error types for the detection pipeline.

filter

Edge-preserving filtering for small tag detection. Edge-preserving filtering for improved small tag detection.

gradient

Gradient computation for edge refinement. Gradient computation for edge-based quad detection.

image

Image buffer abstractions. Stride-aware image view for zero-copy ingestion.

pose

3D Pose Estimation (PnP). 3D Pose Estimation (PnP) for fiducial markers.

pose_weighted

Weighted pose estimation logic.

quad

Quad extraction and geometric primitives. Quad extraction and geometric primitive fitting.

segmentation

Connected components labeling using Union-Find. Connected components labeling (CCL) using Union-Find.

simd

SIMD optimized mathematical kernels.

strategy

Decoding strategies (Hard vs Soft). Pluggable decoding strategies for different SNR conditions.

test_utils

Utilities for testing and synthetic data generation.

threshold

Adaptive thresholding implementation. Adaptive thresholding and image binarization.

Structs

Detection

A single tag detection result.

Point

A 2D point with f64 precision.

Functions

core_info

Returns version and build information for the core library.