Function estimate_dense_rgbd_odometry_with_preprocessing 

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

Fits with an explicit policy, retaining original raw full-resolution admission.

All additional logical planes are checked before allocation. The Gaussian3 policy uses fixed ordered row tiles and at most four private CPU workers; WASM is serial. No input mutation or device copy occurs.