Struct Detector 

pub struct Detector { /* private fields */ }

Primary detection interface.

Encapsulates board layout and detection configuration. Create once, detect on many images.

Examples

use ringgrid::{BoardLayout, Detector};
use image::GrayImage;
use std::path::Path;

let board = BoardLayout::from_json_file(Path::new("target.json")).unwrap();
let detector = Detector::new(board);
let image = GrayImage::new(640, 480);
let result = detector.detect(&image);
println!("Found {} markers", result.detected_markers.len());

Implementations

impl Detector

pub fn new(board: BoardLayout) -> Self

Create a detector with a board layout and default marker-scale search prior.

pub fn with_marker_scale( board: BoardLayout, marker_scale: MarkerScalePrior, ) -> Self

Create a detector with an explicit marker-scale prior.

pub fn with_marker_diameter_hint( board: BoardLayout, marker_diameter_px: f32, ) -> Self

Create a detector with a fixed marker-diameter hint.

pub fn from_target_json_file(path: &Path) -> Result<Self, Box<dyn Error>>

Load target JSON and create a detector in one step using default marker-scale search prior.

pub fn from_target_json_file_with_scale( path: &Path, marker_scale: MarkerScalePrior, ) -> Result<Self, Box<dyn Error>>

Load target JSON and create a detector with explicit marker-scale prior.

pub fn from_target_json_file_with_marker_diameter( path: &Path, marker_diameter_px: f32, ) -> Result<Self, Box<dyn Error>>

Load target JSON and create a detector with fixed marker-diameter hint.

pub fn with_config(config: DetectConfig) -> Self

Create with full config control.

pub fn config(&self) -> &DetectConfig

Access the current configuration.

pub fn config_mut(&mut self) -> &mut DetectConfig

Mutable access to configuration for post-construction tuning.

pub fn detect(&self, image: &GrayImage) -> DetectionResult

Detect markers in a grayscale image.

When config.self_undistort.enable is false, runs single-pass detection in image coordinates.

When config.self_undistort.enable is true, runs baseline detection, estimates a self-undistort model, and optionally runs a second seeded pass with the estimated mapper.

pub fn detect_with_mapper( &self, image: &GrayImage, mapper: &dyn PixelMapper, ) -> DetectionResult

Detect with a custom pixel mapper (two-pass pipeline).

Pass-1 runs without mapper for seed generation, pass-2 runs with mapper. Marker centers in the returned result are always image-space. Mapper-frame centers are exposed via DetectedMarker.center_mapped.

This method always uses the provided mapper and does not run self-undistort estimation from config.self_undistort.