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.

Homography

A 3x3 Homography matrix.

HomographyDda

A Digital Differential Analyzer (DDA) for incremental homography projection.

Traits

TagDecoder

A trait for decoding binary payloads from extracted tags.

Functions

compute_homographies_soa

Compute homographies for all active quads in the batch using a pure-function SoA approach.

decode_batch_soa

Decode all active candidates in the batch using the Structure of Arrays (SoA) layout.

family_to_decoder

Convert a TagFamily enum to a boxed decoder instance.

rotate90

Rotate a square bit grid 90 degrees clockwise. This is an O(1) bitwise operation but conceptually represents rotating the N x N pixel grid.

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.

sample_grid_soa

Sample the bit grid using Structure of Arrays (SoA) data.

sample_grid_soa_precomputed

Sample the bit grid using Structure of Arrays (SoA) data and a precomputed ROI cache.