Struct DetectionBatch 

#[repr(C, align(32))]
pub struct DetectionBatch {
    pub corners: [[Point2f; 4]; 1024],
    pub homographies: [Matrix3x3; 1024],
    pub ids: [u32; 1024],
    pub payloads: [u64; 1024],
    pub error_rates: [f32; 1024],
    pub poses: [Pose6D; 1024],
    pub status_mask: [CandidateState; 1024],
    pub funnel_status: [FunnelStatus; 1024],
    pub corner_covariances: [[f32; 16]; 1024],
}

A batched state container for fiducial marker detections using a Structure of Arrays (SoA) layout. This structure is designed for high-performance SIMD processing and zero heap allocations.

Fields

corners: [[Point2f; 4]; 1024]

Flattened array of sub-pixel quad vertices (4 corners per candidate).

homographies: [Matrix3x3; 1024]

The 3x3 projection matrices.

ids: [u32; 1024]

The decoded IDs of the tags.

payloads: [u64; 1024]

The extracted bitstrings.

error_rates: [f32; 1024]

The MSE or Log-Likelihood Ratio confidence scores.

poses: [Pose6D; 1024]

Translation vectors and unit quaternions.

status_mask: [CandidateState; 1024]

A dense byte-array tracking the lifecycle of each candidate.

funnel_status: [FunnelStatus; 1024]

Detailed status from the fast-path funnel.

corner_covariances: [[f32; 16]; 1024]

Four 2x2 corner covariance matrices per quad (16 floats). Layout: [c0_xx, c0_xy, c0_yx, c0_yy, c1_xx, …]

Implementations

impl DetectionBatch

pub fn new() -> Self

Creates a new DetectionBatch with all fields initialized to zero (Empty state).

pub fn capacity(&self) -> usize

Returns the maximum capacity of the batch.

pub fn partition(&mut self, n: usize) -> usize

Partitions the batch so that all Valid candidates are at the front [0..V]. Returns the number of valid candidates V.

pub fn reassemble(&self, v: usize) -> Vec<Detection>

Reassemble the batched SoA data into a list of discrete Detection objects.

impl DetectionBatch

pub fn view(&self, v: usize) -> DetectionBatchView<'_>

Returns a borrowed view of the first v candidates in the batch.

pub fn view_with_telemetry( &self, v: usize, n: usize, telemetry: Option<TelemetryPayload>, ) -> DetectionBatchView<'_>

Returns a borrowed view with telemetry data.

Trait Implementations

impl Default for DetectionBatch

fn default() -> Self

Returns the “default value” for a type.