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    moon-cv-geometry

    Camera and multi-view geometry foundations for MoonBit: small fixed-size math, projection, distortion, homography, epipolar constraints, and RANSAC.

    computer-vision
    geometry
    camera
    homography
    ransac
    Download zip
    Author
    Version
    0.1.0
    License
    Apache-2.0
    Repository
    Last updated
    2 months ago
    Downloads
    9

    #moon-cv-geometry

    moonbit视觉几何基石 is a small MoonBit library for camera and multi-view geometry. It focuses on the reusable geometry layer beneath calibration, AR, SLAM demos, panorama stitching, and robot localization experiments.

    The project deliberately does not implement image loading, filters, feature detectors, neural vision, GIS geometry, game rendering, or a general-purpose linear algebra framework.

    #Install

    moon add cxh04/moon-cv-geometry

    #Minimal Example

    ///|
    test "project a 3D camera point" {
      let k = @camera.CameraIntrinsics::new(fx=500.0, fy=500.0, cx=320.0, cy=240.0)
      let p = @core.Point3::new(x=1.0, y=2.0, z=4.0)
      let pixel = @camera.project_point(p, k)
      assert_true(@core.almost_equal(pixel.x, 445.0))
      assert_true(@core.almost_equal(pixel.y, 490.0))
    }

    #Packages

    • core: Point2, Point3, Vec2, Vec3, Mat3, Mat34, small fixed-size operations, and geometric errors.
    • camera: pinhole intrinsics, camera pose, Brown-Conrady distortion, projection, and bearing rays.
    • multiview: four-point projective homography, epipolar residual/distance/Sampson error, fundamental and essential matrix helpers.
    • ransac: deterministic RANSAC configuration and estimators for homography and a stereo-oriented fundamental matrix baseline.

    #Examples

    moon run examples/project_point
moon run examples/undistort
moon run examples/homography
moon run examples/fundamental_ransac

    #Ecosystem Position

    Before implementation, related mooncakes.io packages were checked. The closest neighbors are general linear algebra (Luna-Flow/linear-algebra, xunyoyo/linalg, AdUhTkJm/nummoon), computational/GIS geometry (CMoonBack/computational-geometry, cn-xjr/moongeokit), rendering or game geometry (mizchi/geom, Luna-Flow/geometry3d), and image processing (PingGuoMiaoMiao/MoonVision). This library stays in the camera and multi-view geometry layer to avoid duplicating those packages.

    #Source Note

    The implementation is original MoonBit code for OSC2026. The API and algorithms use standard projective-geometry formulas commonly described in computer-vision texts and documentation. No third-party source code is copied into this repository.

    #Roadmap

    • 0.1.x: stabilize fixed-size geometry, camera projection, four-point homography, epipolar constraints, and deterministic RANSAC.
    • 0.2.x: normalized DLT over more than four correspondences, eight-point fundamental matrix estimation, triangulation, and stronger numerical conditioning.
    • Later: PnP, bundle-adjustment-friendly residual helpers, and optional adapters to mature MoonBit numeric packages.

    #Validation

    moon check --target all
moon test --target all
moon fmt
moon info

    CameraIntrinsics

    source

    CameraPose

    source

    Distortion

    source

    EssentialMatrix

    source

    FundamentalMatrix

    source

    GeometryError

    source

    Homography

    source

    InlierMask

    source

    Mat3

    source

    Mat34

    source

    Point2

    source

    Point3

    source

    RansacConfig

    source

    RansacResult

    source

    Vec2

    source

    Vec3

    source

    almost_equal

    source
    fn almost_equal(a : Double, b : Double, eps? : Double) -> Bool

    clamp

    source
    fn clamp(x : Double, lo~ : Double, hi~ : Double) -> Double

    distort_point

    source

    epipolar_residual

    source

    estimate_essential_from_fundamental

    source

    estimate_fundamental_from_translation

    source

    estimate_fundamental_ransac

    source

    estimate_homography_from_four

    source

    estimate_homography_ransac

    source

    homography_reprojection_error

    source

    identity3

    source

    mat34_from_rows

    source
    fn mat34_from_rows(r0 : (Double, Double, Double, Double), r1 : (Double, Double, Double, Double), r2 : (Double, Double, Double, Double)) -> 
    Mat34

    mat3_from_rows

    source
    fn mat3_from_rows(r0 : (Double, Double, Double), r1 : (Double, Double, Double), r2 : (Double, Double, Double)) -> 
    Mat3

    normalized_to_pixel

    source

    pixel_to_normalized

    source

    project_point

    source

    project_point_with_pose

    source

    reprojection_error

    source

    undistort_point_iterative

    source

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