Struct BoardEstimator 

pub struct BoardEstimator {
    pub config: Arc<AprilGridTopology>,
    pub solver: RobustPoseSolver,
    /* private fields */
}

Estimator for multi-tag AprilGrid board poses.

Bridges the [DetectionBatch] SoA layout and AprilGridTopology marker geometry with the tag-layout-agnostic RobustPoseSolver. All heavy pose mathematics lives in the solver; this struct is responsible only for constructing the flat PointCorrespondences view and retaining the pre-allocated scratch buffers needed to do so without heap allocation.

Fields

config: Arc<AprilGridTopology>

Configuration of the board layout.

solver: RobustPoseSolver

The underlying robust pose solver (contains LO-RANSAC config).

Implementations

impl BoardEstimator

pub fn new(config: Arc<AprilGridTopology>) -> Self

Creates a new BoardEstimator.

Performs a single one-time heap allocation to back the scratch buffers. Reuse the same BoardEstimator across frames to amortise this cost and guarantee zero per-estimate() allocations.

config is wrapped in Arc so multiple estimators or frames can share the same board geometry without cloning the marker table.

pub fn with_lo_ransac_config(self, cfg: LoRansacConfig) -> Self

Builder: override the LO-RANSAC configuration.

pub fn estimate( &mut self, batch: &DetectionBatchView<'_>, intrinsics: &CameraIntrinsics, ) -> Option<BoardPose>

Estimates the board pose from a batch of detections.

Returns None if fewer than 4 valid tags match the board layout or if LO-RANSAC cannot find a consensus set.