Struct LocusEngine 

pub struct LocusEngine { /* private fields */ }

A shared, thread-safe detection engine.

Separates the immutable pipeline configuration from mutable per-frame state, enabling one engine to be shared across many threads. Each concurrent caller either supplies its own FrameContext (explicit API) or leases one from the engine’s internal lock-free pool (implicit API via LocusEngine::detect_concurrent).

Construction

let engine = locus_core::DetectorBuilder::new()
    .with_family(TagFamily::AprilTag36h11)
    .build_engine();

Implementations

impl LocusEngine

pub fn new( config: DetectorConfig, decoders: Vec<Box<dyn TagDecoder + Send + Sync>>, pool_size: usize, ) -> Self

Create a new engine with a pre-populated context pool.

pool_size must be ≥ 1. Callers should use DetectorBuilder::build_engine rather than calling this directly.

pub fn detect_with_context<'ctx>( &self, img: &ImageView<'_>, ctx: &'ctx mut FrameContext, intrinsics: Option<&CameraIntrinsics>, tag_size: Option<f64>, pose_mode: PoseEstimationMode, debug_telemetry: bool, ) -> Result<DetectionBatchView<'ctx>, DetectorError>

Run the detection pipeline using an explicitly supplied context.

The returned [DetectionBatchView] borrows from ctx; drop the view before calling this method again on the same context or returning it to the pool.

Errors

Returns DetectorError if the input image is invalid.

pub fn detect_concurrent( &self, frames: &[ImageView<'_>], intrinsics: Option<&CameraIntrinsics>, tag_size: Option<f64>, pose_mode: PoseEstimationMode, ) -> Vec<Result<Vec<Detection>, DetectorError>>

Detect tags in multiple frames concurrently using Rayon.

Pool contexts are leased to Rayon threads; each result is assembled into an owned Vec<Detection> before the context is returned. Telemetry is unavailable in this mode (debug overhead would outlive the arena).

If the pool is exhausted (more concurrent callers than pool size), a temporary overflow context is allocated and discarded after use.

pub fn set_families(&mut self, families: &[TagFamily])

Clear all decoders and replace them with the given tag families.

pub fn config(&self) -> DetectorConfig

Get the current detector configuration.