Function estimate_dense_rgbd_odometry_with_model 

pub fn estimate_dense_rgbd_odometry_with_model(
    source: DenseRgbdFrame<'_>,
    target: DenseRgbdFrame<'_>,
    camera: CameraMatrix3,
    initial: AbsolutePose,
    options: &DenseRgbdOdometryOptions,
    preprocessing: DenseRgbdPreprocessing,
    model: DenseRgbdFittingModel,
) -> VisionResult<DenseRgbdOdometryEstimate>

Estimates motion with an explicit complete model and legacy preprocessing.

Bilinear delegates to the existing estimator. RoundedSobel requires Raw, retains original raw final admission, preflights every logical buffer and executes the complete schedule. Sobel Jacobians are local surrogates for the discontinuous rounded objective. Inputs are borrowed; no device copy occurs.