Struct PointCorrespondences 

pub struct PointCorrespondences<'a> {
    pub image_points: &'a [Point2f],
    pub object_points: &'a [[f64; 3]],
    pub information_matrices: &'a [Matrix2<f64>],
    pub group_size: usize,
    pub seed_poses: &'a [Option<Pose>],
}

A flat, contiguous view of M 2D-3D point correspondences for pose estimation.

Points are organised in contiguous groups of group_size elements. The inlier bitmask operated on by RobustPoseSolver tracks one bit per group, keeping the mask size bounded at 1 024 bits regardless of group_size.

Pipeline	group_size	Bit semantics
AprilGrid	4	1 bit = 1 tag (4 corners)
ChAruco saddles	1	1 bit = 1 saddle point

Lifetime: the slices are typically backed by pre-allocated scratch buffers owned by BoardEstimator or by arena memory, ensuring zero heap allocation on the hot path.

Fields

image_points: &'a [Point2f]

Observed 2D image points (pixels). Length = M.

object_points: &'a [[f64; 3]]

Corresponding 3D model points (board frame, metres). Length = M.

information_matrices: &'a [Matrix2<f64>]

Pre-inverted observation covariances (information matrices). Length = M. Must be positive semi-definite; use Matrix2::identity for isotropic unit weighting.

group_size: usize

Number of consecutive points forming one logical correspondence group. M must be an exact multiple of group_size.

seed_poses: &'a [Option<Pose>]

Per-group seed pose hypotheses for RANSAC initialisation. Length = M / group_size. None signals a degenerate or occluded group that RANSAC must skip as a minimal-sample candidate.

Implementations

impl PointCorrespondences<'_>

pub fn num_groups(&self) -> usize

Number of correspondence groups: M / group_size.