Plain-C interop input structs for tracker interfaces - #67
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Introduce LARImageInput (lar/tracking/image_input.h) and LARSpatialQuery (lar/core/spatial/spatial_query.h): plain-C POD structs that can be shared verbatim across C++, Objective-C, and Swift without dragging opencv/C++ headers across the language boundary. Add struct-taking overloads to Tracker::localize and FilteredTracker::measurementUpdate that wrap the grayscale buffer in a cv::Mat (no copy) and forward to the existing cv::InputArray methods. This moves the cv::Mat wrapping out of the Objective-C bridge and lets non-C++ callers (Obj-C/Swift) localize without touching opencv types. The cv::InputArray methods are kept for internal callers (lar_localize, colmap_refiner). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Adds two plain-C POD structs so the tracker inputs can be shared across C++, Objective-C, and Swift without dragging opencv/C++ headers across the language boundary:
LARImageInput→lar/tracking/image_input.h(grayscale buffer:data,width,height,bytesPerRow)LARSpatialQuery→lar/core/spatial/spatial_query.h(x,z,diameter)One struct per header so each can live in (and move between) the appropriate module —
LARSpatialQuerysits incore/spatialnext toregion_tree.h.Adds struct-taking overloads to
Tracker::localizeandFilteredTracker::measurementUpdatethat wrap the grayscale buffer in acv::Mat(no copy) and forward to the existingcv::InputArraymethods. This moves thecv::Matwrapping out of the consuming Obj-C bridge. Thecv::InputArraymethods are kept for internal callers (lar_localize,colmap_refiner).🤖 Generated with Claude Code