Struct CornerDescriptor 

#[non_exhaustive]
pub struct CornerDescriptor {
    pub x: f32,
    pub y: f32,
    pub response: f32,
    pub contrast: f32,
    pub fit_rms: f32,
    pub axes: [AxisEstimate; 2],
}

Describes a detected chessboard corner in full-resolution image coordinates.

Axis polarity convention

Local chessboard corner intensity patterns have exact 180° symmetry, so assigning an absolute [0, 2π) direction to any single axis ray is not possible from ring-local data. Instead the two axes are reported jointly:

• axes[0].angle lies in [0, π) — the “line direction” of axis 1.
• axes[1].angle lies in (axes[0].angle, axes[0].angle + π) ⊂ [0, 2π).

Together they satisfy: rotating CCW (in the usual atan2(dy, dx) sense — note: in image pixel coordinates with y-axis pointing down, this is a clockwise visual rotation) from axes[0].angle toward axes[1].angle traverses a dark sector of the corner. The second half-turn (axes[0].angle + π → axes[1].angle + π) crosses the second dark sector; the two remaining sectors are bright.

Each axis direction is signed as a f32 in [0, 2π); the axes are not assumed orthogonal (holds up under projective warp).

All crate::orientation::OrientationMethod variants emit axes under this same convention, so consumers may compare axes[0] (e.g. for slot-parity matching between cardinal grid neighbours) across methods without method-aware translation.

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

x: f32

Subpixel position in full-resolution image pixels.

y: f32

Subpixel y position in full-resolution image pixels.

response: f32

Raw, unnormalized detector response at the detected peak. For the ChESS path this is R = SR − DR − 16·MR (see chess::response::chess_response_u8). Units are 8-bit pixel sums; data-dependent. Do not interpret it as a probability, a contrast, or a normalized strength.

contrast: f32

Bright/dark amplitude (|A|, ≥ 0) recovered by the two-axis orientation fit (see crate::orientation). Units are gray levels. Larger means a stronger bright/dark separation at the ring radius. This is an independent quantity from Self::response — they are computed by different estimators and must not be compared against each other or against the same threshold.

fit_rms: f32

RMS fit residual of the two-axis intensity model (gray levels). Smaller = tighter match to an ideal chessboard corner.

axes: [AxisEstimate; 2]

The two local grid axis directions with per-axis 1σ precision.

Implementations

impl CornerDescriptor

pub fn new( x: f32, y: f32, response: f32, contrast: f32, fit_rms: f32, axes: [AxisEstimate; 2], ) -> Self

Construct a CornerDescriptor.

Trait Implementations

impl Clone for CornerDescriptor

fn clone(&self) -> CornerDescriptor

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CornerDescriptor

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

Formats the value using the given formatter.

impl Copy for CornerDescriptor