Struct Detection 

pub struct Detection {
    pub id: u32,
    pub center: [f64; 2],
    pub corners: [[f64; 2]; 4],
    pub hamming: u32,
    pub rotation: u8,
    pub decision_margin: f64,
    pub bits: u64,
    pub pose: Option<Pose>,
    pub pose_covariance: Option<[[f64; 6]; 6]>,
}

A single tag detection result.

Fields

id: u32

The decoded ID of the tag.

center: [f64; 2]

The center coordinates of the tag in image pixels (x, y).

corners: [[f64; 2]; 4]

The 4 corners of the tag in image pixels.

hamming: u32

The number of hamming errors corrected during decoding.

rotation: u8

The rotation of the tag relative to its canonical orientation (0-3).

decision_margin: f64

The decision margin of the decoding (higher is more confident).

bits: u64

The extracted bits from the tag.

pose: Option<Pose>

The 3D pose of the tag relative to the camera (if requested).

pose_covariance: Option<[[f64; 6]; 6]>

The covariance of the estimated 3D pose (6x6 matrix), if computed.

Implementations

impl Detection

pub fn aabb(&self) -> (usize, usize, usize, usize)

Compute the axis-aligned bounding box (AABB) of the detection.

Returns (min_x, min_y, max_x, max_y) in integer pixel coordinates.

Trait Implementations

impl Clone for Detection

fn clone(&self) -> Detection

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Detection

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

Formats the value using the given formatter.

impl Default for Detection

fn default() -> Detection

Returns the “default value” for a type.