diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 6140662..84fe922 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -41,6 +41,58 @@ Run the following commands in the project root:
 
 If you add a new feature, make sure to include appropriate tests in `src/**/tests.rs` or as integration tests.
 
+## Troubleshooting the build
+
+### `ffi-backend` / `--all-features` fails in `build.rs` with a bindgen panic
+
+The default build is **pure Rust and needs no C++ toolchain** — you only hit
+this when you opt into the C++ FreakMatcher via `--features ffi-backend`
+(or `--all-features`, or `dual-mode`, which implies it).
+
+**Symptom**
+
+```text
+error: failed to run custom build command for `webarkitlib-rs`
+  thread 'main' panicked at .../bindgen-0.72.1/lib.rs:917:13:
+  assertion `left == right` failed: "x86_64-pc-windows-msvc" "x86_64-pc-windows-msvc"
+    left: 4
+   right: 8
+```
+
+**Cause** — `LIBCLANG_PATH` points at a `libclang` built for a **32-bit**
+target, so bindgen sees a pointer width of `4` while the host target
+(`x86_64`) expects `8`. The confusing part is that both sides of the
+assertion print the same triple; only the widths differ.
+
+A common way to end up here on Windows is having a cross-compilation
+toolchain's `libclang` on `LIBCLANG_PATH` — for example the Xtensa clang
+that ships with the [esp-rs](https://github.com/esp-rs) toolchain
+(`~/.rustup/toolchains/esp/xtensa-esp32-elf-clang/...`), which targets the
+32-bit ESP32.
+
+**Fix** — point `LIBCLANG_PATH` at an `x86_64` `libclang` for the shell you
+build this repo in:
+
+```powershell
+$env:LIBCLANG_PATH = "C:\Program Files\LLVM\bin"
+cargo clippy --workspace --all-targets --all-features -- -D warnings
+```
+
+The `x64` libclang bundled with Visual Studio works too:
+`C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Tools\Llvm\x64\bin`.
+
+**Set it per-session, not globally**, if you also do embedded work — the
+cross-toolchain needs its own `LIBCLANG_PATH`. For the same reason we do
+**not** ship a `.cargo/config.toml` `[env]` override: it would need
+`force = true` to beat an already-set variable, and cargo's `[env]` has no
+per-OS conditionals, so it would push a Windows path onto Linux CI and
+override its `libclang-dev`.
+
+> Worth fixing rather than ignoring: without it you cannot run the
+> `--all-features` gate locally, so breakage that only exists behind
+> `ffi-backend` (e.g. lints firing on bindgen-generated code) reaches CI
+> instead of your machine.
+
 ## Commit Message Conventions
 
 To maintain a clean and automated release history, this project strictly adheres to the [Conventional Commits](https://www.conventionalcommits.org/) specification.
diff --git a/crates/core/src/kpm/backend.rs b/crates/core/src/kpm/backend.rs
index 3237550..ed88ef2 100644
--- a/crates/core/src/kpm/backend.rs
+++ b/crates/core/src/kpm/backend.rs
@@ -74,8 +74,11 @@ pub struct FeaturePoint {
 /// Z coordinate is always `0.0` for planar targets.
 #[derive(Debug, Default, Clone, PartialEq)]
 pub struct Point3d {
+    /// X coordinate in millimetres.
     pub x: f32,
+    /// Y coordinate in millimetres.
     pub y: f32,
+    /// Z coordinate in millimetres. Always `0.0` for planar targets.
     pub z: f32,
 }
 
diff --git a/crates/core/src/kpm/freak/gaussian_pyramid.rs b/crates/core/src/kpm/freak/gaussian_pyramid.rs
index cb2d1e9..000a620 100644
--- a/crates/core/src/kpm/freak/gaussian_pyramid.rs
+++ b/crates/core/src/kpm/freak/gaussian_pyramid.rs
@@ -58,13 +58,21 @@ pub enum GaussianPyramidError {
     EmptyImage,
     /// Input image is smaller than 5x5; the binomial filter needs 2 border
     /// pixels on each side.
-    ImageTooSmall { rows: usize, cols: usize },
+    ImageTooSmall {
+        /// Row count of the offending input image.
+        rows: usize,
+        /// Column count of the offending input image.
+        cols: usize,
+    },
     /// `num_octaves` was 0 — a pyramid must have at least one octave.
     ZeroOctaves,
     /// Halving for `octave` would produce a level smaller than 5x5.
     OctaveTooSmall {
+        /// Index of the octave that could not be built.
         octave: usize,
+        /// Row count the octave would have had.
         rows: usize,
+        /// Column count the octave would have had.
         cols: usize,
     },
 }
diff --git a/crates/core/src/kpm/freak/hough.rs b/crates/core/src/kpm/freak/hough.rs
index 0ee4b32..1a3d234 100644
--- a/crates/core/src/kpm/freak/hough.rs
+++ b/crates/core/src/kpm/freak/hough.rs
@@ -306,11 +306,13 @@ impl BinParams {
 /// Accumulates votes for similarity transformations in discretized 4D space.
 pub struct HoughSimilarityVoting {
     params: BinParams,
-    /// Object center in reference image.
+    /// Object center in the reference image (x, in pixels).
     pub center_x: f32,
+    /// Object center in the reference image (y, in pixels).
     pub center_y: f32,
-    /// Reference image dimensions.
+    /// Reference image width in pixels.
     pub ref_image_width: i32,
+    /// Reference image height in pixels.
     pub ref_image_height: i32,
     /// Vote map: bin_index → vote count.
     ///
@@ -537,9 +539,13 @@ impl HoughSimilarityVoting {
 /// C equivalent: vision::FeaturePoint
 #[derive(Clone, Debug, Copy)]
 pub struct FeaturePoint {
+    /// Horizontal position in pixels.
     pub x: f32,
+    /// Vertical position in pixels.
     pub y: f32,
+    /// Dominant orientation in radians.
     pub angle: f32,
+    /// Scale (pyramid octave level) at which the keypoint was detected.
     pub scale: f32,
     /// True if this is a maxima, false if a minima (used to filter matches).
     pub maxima: bool,
@@ -570,8 +576,11 @@ pub struct Match {
 /// A scored match used internally by Hough voting (carries distance for ranking).
 #[derive(Clone, Copy, Debug)]
 pub struct HoughMatch {
+    /// Index into the query image's feature-point list.
     pub query_idx: u32,
+    /// Index into the reference database's feature-point list.
     pub ref_idx: u32,
+    /// Descriptor distance for this match; lower is a closer match.
     pub distance: f32,
 }
 
diff --git a/crates/core/src/kpm/freak/pyramid.rs b/crates/core/src/kpm/freak/pyramid.rs
index 5b03df0..d800eea 100644
--- a/crates/core/src/kpm/freak/pyramid.rs
+++ b/crates/core/src/kpm/freak/pyramid.rs
@@ -67,7 +67,10 @@ pub enum PyramidError {
     /// Downsampling at this level would produce a 0-sized image.
     /// Returned when the input image is too small for the requested
     /// number of levels.
-    LevelTooSmall { level: usize },
+    LevelTooSmall {
+        /// Index of the level that could not be built.
+        level: usize,
+    },
 }
 
 impl std::fmt::Display for PyramidError {
diff --git a/crates/core/src/kpm/kpm_ffi.rs b/crates/core/src/kpm/kpm_ffi.rs
index 4868291..e5b8ec4 100644
--- a/crates/core/src/kpm/kpm_ffi.rs
+++ b/crates/core/src/kpm/kpm_ffi.rs
@@ -49,6 +49,12 @@
 #[cfg(feature = "ffi-backend")]
 mod bindings {
     #![allow(non_upper_case_globals, non_camel_case_types, non_snake_case)]
+    // rationale: the contents are generated verbatim by bindgen in build.rs
+    // from kpm_c_api.h, so there is no source to attach rustdoc to. The
+    // module-level docs above describe the surface instead; the safe wrapper
+    // (CppFreakMatcher) is what consumers should use. Needed because the kpm
+    // tree opts into `#![warn(missing_docs)]` (#226).
+    #![allow(missing_docs)]
     include!(concat!(env!("OUT_DIR"), "/kpm_bindings.rs"));
 }
 
diff --git a/crates/core/src/kpm/mod.rs b/crates/core/src/kpm/mod.rs
index 96a0003..adcfa65 100644
--- a/crates/core/src/kpm/mod.rs
+++ b/crates/core/src/kpm/mod.rs
@@ -38,38 +38,67 @@
 //! ported from the C++ FreakMatcher library.
 //!
 //! This module provides a Rust interface to the FREAK-descriptor-based
-//! feature matching pipeline used for planar image tracking. It supports
-//! two operation modes:
+//! feature matching pipeline used for planar image tracking. The matcher is
+//! pluggable via the [`FreakMatcherBackend`] trait, with two implementations:
 //!
-//! - **`ffi-backend`** (default) — delegates to the compiled C++ FreakMatcher
-//!   static library through a thin `extern "C"` wrapper (`kpm_c_api.h`).
-//! - *(future)* **pure-Rust** — a native Rust re-implementation of the same
-//!   pipeline, swappable via the [`FreakMatcherBackend`] trait.
+//! - **pure Rust** ([`RustFreakMatcher`]) — the **default** since M9-3
+//!   (#142). `cargo build` needs no C++ toolchain (no clang / libclang / cc).
+//! - **`ffi-backend`** (`CppFreakMatcher`) — **opt-in**, delegates to the
+//!   compiled C++ FreakMatcher static library through a thin `extern "C"`
+//!   wrapper (`kpm_c_api.h`). Enable with `--features ffi-backend`. Used for
+//!   cross-validation (`dual-mode`, `cross_stack_parity`), not required at
+//!   runtime.
 //!
 //! ## Quick start
 //!
+//! Detect a marker in a grayscale frame with the pure-Rust backend:
+//!
 //! ```rust,ignore
-//! use webarkitlib_rs::kpm::{CppFreakMatcher, KpmHandle};
+//! use webarkitlib_rs::kpm::{KpmHandle, RustFreakMatcher};
+//! use webarkitlib_rs::kpm::types::KpmRefDataSet;
 //!
-//! // Create a C++ backend for a 640x480 camera frame.
-//! let backend = CppFreakMatcher::new(640, 480).unwrap();
+//! // Pure-Rust backend for a 640x480 camera frame.
+//! let backend = RustFreakMatcher::new(640, 480)?;
 //!
 //! // Wrap it in a KpmHandle (the central coordinator).
 //! let mut handle = KpmHandle::new(640, 480, None, Box::new(backend));
+//!
+//! // Load reference data generated by `nft_marker_gen` (.fset3).
+//! let ref_data = KpmRefDataSet::load("marker.fset3")?;
+//! handle.set_ref_data_set(ref_data)?;
+//!
+//! // Run detection on one frame; `luma` is width * height grayscale bytes.
+//! handle.kpm_matching(&luma)?;
+//! if let Some((pose, page_no, error)) = handle.get_pose() {
+//!     // `pose` is a 3x4 camera pose matrix for `page_no`.
+//! }
 //! ```
 //!
+//! For a runnable end-to-end version (including AR2 tracking), see the
+//! `simple_nft` example; for the browser, see `crates/wasm`'s
+//! `WasmKpmHandle`.
+//!
 //! ## Module layout
 //!
 //! | Module           | Purpose |
 //! |------------------|---------|
-//! | [`backend`]      | `FreakMatcherBackend` trait and associated error / data types |
+//! | [`backend`]      | [`FreakMatcherBackend`] trait and associated error / data types |
 //! | [`handle`]       | [`KpmHandle`] struct — central coordinator for KPM operations |
-//! | [`types`]        | Ported C structs (`KpmRefDataSet`, `KpmResult`, etc.) |
-//! | [`cpp_backend`]  | [`CppFreakMatcher`] — FFI backend (feature-gated) |
+//! | [`types`]        | Ported C structs ([`KpmRefDataSet`](types::KpmRefDataSet), etc.) |
+//! | [`freak`]        | The pure-Rust FREAK pipeline — detector, descriptor, pyramids, Hough voting, homography, `VisualDatabase` |
+//! | [`rust_backend`] | [`RustFreakMatcher`] (default) and `DualFreakMatcher` (parity-asserting) |
+//! | `cpp_backend`    | `CppFreakMatcher` — FFI backend (only compiled with `--features ffi-backend`) |
 //! | [`kpm_ffi`]      | Raw bindgen bindings (feature-gated) |
 //! | [`matching`]     | [`MatchResult`](matching::MatchResult) wrapper |
 //! | [`ref_data_set`] | [`RefDataSet`](ref_data_set::RefDataSet) collection |
 
+// The KPM/NFT surface is the primary public API for library consumers, so it
+// is held to full rustdoc coverage. This module tree is documented to 100%
+// (#226); the warning is escalated to an error by CI's `clippy -D warnings`,
+// so a new undocumented `pub` item here fails the build. The rest of the
+// crate is still being back-filled — see #226 for the remaining modules.
+#![warn(missing_docs)]
+
 pub mod backend;
 pub mod freak;
 pub mod handle;
diff --git a/crates/core/src/kpm/types.rs b/crates/core/src/kpm/types.rs
index b5ff0d4..c54640c 100644
--- a/crates/core/src/kpm/types.rs
+++ b/crates/core/src/kpm/types.rs
@@ -209,14 +209,18 @@ pub struct KpmResult {
 /// 2D point with `f32` coordinates.
 #[derive(Debug, Default, Clone, Copy, PartialEq)]
 pub struct Point2f {
+    /// Horizontal position in pixels.
     pub x: f32,
+    /// Vertical position in pixels.
     pub y: f32,
 }
 
 /// 2D point with integer coordinates, used for corner detection.
 #[derive(Debug, Default, Clone, Copy, PartialEq)]
 pub struct Point2i {
+    /// Horizontal position in pixels.
     pub x: i32,
+    /// Vertical position in pixels.
     pub y: i32,
 }
 
diff --git a/crates/core/src/lib.rs b/crates/core/src/lib.rs
index b415559..868083f 100644
--- a/crates/core/src/lib.rs
+++ b/crates/core/src/lib.rs
@@ -53,7 +53,7 @@
 //! - [`ar2::ar2_gen_feature_map`] — extracts gradient-based features at each pyramid level (`.fset`)
 //! - [`ar2::AR2ImageSetT::save`] — writes the image pyramid as a JPEG-compressed `.iset` file
 //!   matching `ar2WriteImageSet()` format (~300 KB vs ~10 MB raw)
-//! - [`kpm::KpmRefDataSet::generate`] — extracts FREAK descriptors for KPM recognition (`.fset3`)
+//! - [`kpm::types::KpmRefDataSet::generate`] — extracts FREAK descriptors for KPM recognition (`.fset3`)
 //!
 //! See the `nft_marker_gen` example for a complete end-to-end usage.
 //!
@@ -84,12 +84,18 @@
 //! ### Recommended build for NFT marker generation (x86_64)
 //!
 //! ```bash
-//! cargo run --release --features "ffi-backend,simd-x86-sse41,simd-x86-avx2" \
+//! cargo run --release --features "log-helpers,simd-x86-sse41,simd-x86-avx2" \
 //!     --example nft_marker_gen -- --input marker.jpg --output marker --dpi 220
 //! ```
 //!
 //! > **Always use `--release`** — debug builds are 5–10× slower.
 //!
+//! No C++ toolchain is required: since #179 `nft_marker_gen` produces the
+//! complete marker set (`.iset` + `.fset` + `.fset3`) through the pure-Rust
+//! [`RustFreakMatcher`](kpm::RustFreakMatcher). The `ffi-backend` feature is
+//! **not** needed for marker generation — it exists only for development
+//! cross-validation against the C++ backend.
+//!
 //! Detailed benchmark results can be found in `crates/core/benches/BENCHMARKS.md`.
 //!
 //!