Module solve 

The solve pass as a session the host drives frame by frame: per-region tracking (odometry, anchor re-acquisition, drift control, relocalization, fragments), keyframes and revisits, fragment attachment, the pose graph’s nodes and edges, displacement-spread consistency voting, and each frame’s placements.

The session keeps what the TypeScript pass kept in memory: per-region state, the previous frame’s pixels, analysis gray and features, the previous plan’s placements, the attachments, the canvases it created, the pose graph, the keyframe index’s postings and the voting ring. Keyframes themselves are rows the host stores (keyframe/<id>) and reads back: a revisit search is declare-then-provide (Poll::NeedKeyframes → SolveSession::provide_keyframes).

One frame:

1. SolveSession::begin_frame with the frame’s scan record. A duplicate frame whose previous plan can be replayed is finished right there (Begin::Duplicate); otherwise the session asks for the pixels.
2. The host writes the RGBA frame into SolveSession::frame_mut and calls SolveSession::run_frame with the analysis gray it computed (WebGPU) or None, and the frame’s stored features or None.
3. While the result is Poll::NeedKeyframes, the host loads those rows and calls SolveSession::provide_keyframes.
4. Poll::Done carries the placements and finalised voting records. Before each poll result, and after an error, the host takes the frame’s Effects (SolveSession::take_effects) and applies them in order: they are the rows and diagnostics the pass produced, in the order it produced them.

After the last frame the host drains the voting ring (SolveSession::drain_voting) and relaxes the pose graph (SolveSession::graph_mut), a few sweeps per step.

Structs

CanvasMeta

One canvas/<id> row as the solve pass writes it; every count the render pass fills in starts at zero.

FrameDone

A solved frame.

KeyPatch

Native luma texture sampled around a keyframe feature.

Keyframe

One keyframe/<id> row.

Placement

One region’s observation in a frame (a placement of plan/<frame>).

Plane

A row-major 8-bit plane.

ScanFields

The scan record fields the pass reads.

SolveConfig

SolveRegion

One non-ignored region the pass tracks.

SolveSession

VotingRecord

One finalised frame of the voting ring (a consistency/<frame> row when it has verdicts).

VotingVerdict

One region slot’s finalised voting verdict: the analysis box it covers and its two LSB-first bitsets.

Enums

Begin

The outcome of SolveSession::begin_frame.

Effect

Something the pass did that the host must carry out, in order.

Poll

SolveError

Constants

FALLBACK_FEATURES

Features extracted from a frame whose stored features are missing.

PATCH_COUNT

Native patches a moving region’s keyframe keeps, and their side.

PATCH_SIZE

POSE_BOUND

How far a pose may reach: the compositor’s addressable range less a margin larger than any frame.

VOTING_RING_BYTES

Bytes of analysis frames the consistency voting ring keeps (docs/ARCHITECTURE.md §七).

Functions

is_valid_pose

Whether (x, y) is a pose the pass may write: finite and inside POSE_BOUND.

Type Aliases

FragmentScale

The cause a new fragment’s diagnostic names: a magnification change (scale, error), or none.