# DetectedTag — single AprilTag detection result.

std_msgs/Header header

int32  tag_id            # numeric ID encoded in the tag
string family            # e.g. 'DICT_APRILTAG_36h11'

float32 decision_margin  # detector confidence (higher = more certain)

# Corner pixel coordinates [x0,y0, x1,y1, x2,y2, x3,y3] (image frame, CW from TL)
float32[8] corners

# Tag centre in image pixels
geometry_msgs/Point center

# 6-DOF pose in camera optical frame (only valid when pose_valid=true)
geometry_msgs/Pose pose
bool pose_valid          # false if camera_info not yet received
