Struct OdometryInputs 

pub struct OdometryInputs<'a> {

    pub f: f64,
    pub radius: i32,
    pub mask: Option<(&'a [u8], u8)>,
    pub roi: Rect,
    pub rect: Rect,
    pub region: Option<&'a Region>,
    pub image_width: f64,
    pub image_height: f64,
    pub previous: &'a [u8],
    pub current: &'a [u8],
    pub previous_gray: Gray<'a>,
    pub g: Gray<'a>,
    pub velocity: (f64, f64),
    pub previous_features: &'a [Feature],
    pub own_features: &'a [Feature],
    pub confidence: f64,
}

One region’s odometry inputs, fused into a single call: matchFeatures + translationHypotheses + the audit filter/sort + up to 6 native refinements with the velocity prior + rival detection + confidence, and — only on the fallback path — the static/lost difference sampling. previous/current are full native RGBA frames (width × height × 4); region is only read on the fallback path (track.ts::odometry’s regionContains loop) and may be omitted when the caller knows the fast path always succeeds in practice — omitting it on a frame that actually needs it just treats every sample as “contained”, matching regionContains’s own !region.mask shortcut.

Fields

f: f64

radius: i32

mask: Option<(&'a [u8], u8)>

roi: Rect

rect: Rect

region: Option<&'a Region>

image_width: f64

image_height: f64

previous: &'a [u8]

current: &'a [u8]

previous_gray: Gray<'a>

g: Gray<'a>

velocity: (f64, f64)

previous_features: &'a [Feature]

own_features: &'a [Feature]

confidence: f64

Carried in from before this call; returned unchanged on the Static/Lost branches, exactly as the TS original left the outer confidence local untouched there.