Add Connected Components for AprilTag detection#406
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Add InvalidUnionFindSize error and len method to UnionFind. Update tests and docs to reflect new function signature.
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Pull Request Overview
This PR introduces connected component segmentation for AprilTag detection as part of the segmentation process.
- Adds a UnionFind data structure for connected component tracking.
- Implements a connected components algorithm in segmentation.rs that uses union-find.
- Updates error handling and exposes new modules from lib.rs.
Reviewed Changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/data/apriltag_pixel_representatives.txt | Adds expected pixel representative values for testing segmentation. |
| crates/kornia-apriltag/src/union_find.rs | Introduces a UnionFind implementation with union, find (with path compression), and reset functions. |
| crates/kornia-apriltag/src/segmentation.rs | Implements connected components detection over a binary image using union-find. |
| crates/kornia-apriltag/src/lib.rs | Exports the newly added segmentation and union_find modules. |
| crates/kornia-apriltag/src/errors.rs | Adds an error variant for mismatched UnionFind size. |
Comments suppressed due to low confidence (1)
crates/kornia-apriltag/src/union_find.rs:11
- Consider adding a comment explaining that 'usize::MAX' is used as a sentinel value to denote an unset parent.
parent: vec![usize::MAX; len],
edgarriba
reviewed
Jun 21, 2025
|
cjpurackal
approved these changes
Jun 21, 2025
andrew-shc
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Aug 2, 2025
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Part 1 of the Segmentation Process