Struct IdCorrectionConfig 

pub struct IdCorrectionConfig {

    pub enable: bool,
    pub auto_search_radius_outer_muls: Vec<f64>,
    pub consistency_outer_mul: f64,
    pub consistency_min_neighbors: usize,
    pub consistency_min_support_edges: usize,
    pub consistency_max_contradiction_frac: f32,
    pub soft_lock_exact_decode: bool,
    pub min_votes: usize,
    pub min_votes_recover: usize,
    pub min_vote_weight_frac: f32,
    pub h_reproj_gate_px: f64,
    pub homography_fallback_enable: bool,
    pub homography_min_trusted: usize,
    pub homography_min_inliers: usize,
    pub max_iters: usize,
    pub remove_unverified: bool,
    pub seed_min_decode_confidence: f32,
}

Structural ID verification and correction using hex neighborhood consensus.

Runs after fit-decode and deduplication, before the global RANSAC filter. Uses the board’s hex lattice geometry to detect wrong IDs (misidentified by the codebook decoder) and recover missing ones. Each marker’s correct ID is implied by its decoded neighbors’ positions: neighbors vote on the expected board position of the query marker using a local affine transform (or scale estimate when fewer than 3 neighbors are available).

Markers that cannot be verified or corrected have their IDs cleared (id = None) or are removed entirely depending on remove_unverified. This guarantees no wrong IDs reach the global filter or completion stages.

Fields

enable: bool

Enable structural ID verification and correction.

auto_search_radius_outer_muls: Vec<f64>

Local-scale staged search multipliers (one per recovery pass, sorted ascending).

The neighbor gate for pair (i, j) in each pass is: dist_px(i,j) <= mul * 0.5 * (outer_radius_px_i + outer_radius_px_j).

Multiple multipliers produce a staged sweep from tight to loose. A single-element Vec produces one pass (equivalent to the old search_radius_outer_mul).

consistency_outer_mul: f64

Local-scale neighborhood multiplier for consistency checks.

consistency_min_neighbors: usize

Minimum number of local neighbors required to run consistency checks. Default: 1 (any single neighbor provides enough evidence).

consistency_min_support_edges: usize

Minimum number of one-hop board-neighbor support edges required for a non-soft-locked ID to remain assigned. Default: 1.

consistency_max_contradiction_frac: f32

Maximum allowed contradiction fraction in local consistency checks.

soft_lock_exact_decode: bool

When enabled, exact decodes (best_dist=0, margin>=2) are soft-locked: they are not overridden during normal recovery and only cleared on strict structural contradiction.

min_votes: usize

Minimum number of independent neighbor votes required to accept a candidate ID for a marker that already has an id. Default: 2.

min_votes_recover: usize

Minimum votes to assign an ID to a marker that currently has id = None.

A single high-confidence trusted neighbor is sufficient evidence when there is no existing wrong ID to protect. Default: 1.

min_vote_weight_frac: f32

Minimum fraction of total weighted votes the winning candidate must receive. Default: 0.55 (slight majority).

h_reproj_gate_px: f64

H-reprojection gate (pixels) used by rough-homography fallback assignments. Intentionally loose to tolerate significant distortion.

homography_fallback_enable: bool

Enable rough-homography fallback for unresolved markers.

homography_min_trusted: usize

Minimum trusted markers required before attempting homography fallback.

homography_min_inliers: usize

Minimum inliers required for fallback homography RANSAC acceptance.

max_iters: usize

Maximum number of iterative correction passes. Default: 5.

remove_unverified: bool

When true, remove markers that cannot be verified or corrected. When false (default), clear their ID (set to None) and keep the detection so its geometry is available for debugging.

seed_min_decode_confidence: f32

Minimum decode confidence for bootstrapping trusted seeds when no homography is available. Default: 0.7.

Trait Implementations

impl Clone for IdCorrectionConfig

fn clone(&self) -> IdCorrectionConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for IdCorrectionConfig

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

Formats the value using the given formatter.

impl Default for IdCorrectionConfig

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for IdCorrectionConfig

where IdCorrectionConfig: Default,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for IdCorrectionConfig

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.