camera
→
core
→
examples
→
multiview
→
ransac
→
README
U
CameraIntrinsics
U
CameraPose
U
Distortion
U
EssentialMatrix
U
FundamentalMatrix
U
GeometryError
U
Homography
U
InlierMask
U
Mat3
U
Mat34
U
Point2
U
Point3
U
RansacConfig
U
RansacResult
U
Vec2
U
Vec3
V
almost_equal
V
clamp
V
distort_point
V
epipolar_residual
V
estimate_essential_from_fundamental
V
estimate_fundamental_from_translation
V
estimate_fundamental_ransac
V
estimate_homography_from_four
V
estimate_homography_ransac
V
homography_reprojection_error
V
identity3
V
mat34_from_rows
V
mat3_from_rows
V
normalized_to_pixel
V
pixel_to_normalized
V
project_point
V
project_point_with_pose
V
reprojection_error
V
undistort_point_iterative

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

moon add cxh04/moon-cv-geometry@0.1.0

Download zip

Author

cxh04

Version

0.1.0

License

Apache-2.0

Repository

github.com/python123-ops/moon-cv-geometry

Last updated

24 days ago

Downloads

README

#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

moon-cv-geometry

#moon-cv-geometry

#Install

#Minimal Example

#Packages

#Examples

#Ecosystem Position

#Source Note

#Roadmap

#Validation

#CameraIntrinsics

#CameraPose

#Distortion

#EssentialMatrix

#FundamentalMatrix

#GeometryError

#Homography

#InlierMask

#Mat3

#Mat34

#Point2

#Point3

#RansacConfig

#RansacResult

#Vec2

#Vec3

#almost_equal

#clamp

#distort_point

#epipolar_residual

#estimate_essential_from_fundamental

#estimate_fundamental_from_translation

#estimate_fundamental_ransac

#estimate_homography_from_four

#estimate_homography_ransac

#homography_reprojection_error

#identity3

#mat34_from_rows

#mat3_from_rows

#normalized_to_pixel

#pixel_to_normalized

#project_point

#project_point_with_pose

#reprojection_error

#undistort_point_iterative

Source Files

#
CameraIntrinsics

#
CameraPose

#
Distortion

#
EssentialMatrix

#
FundamentalMatrix

#
GeometryError

#
Homography

#
InlierMask

#
Mat3

#
Mat34

#
Point2

#
Point3

#
RansacConfig

#
RansacResult

#
Vec2

#
Vec3

#
almost_equal

#
clamp

#
distort_point

#
epipolar_residual

#
estimate_essential_from_fundamental

#
estimate_fundamental_from_translation

#
estimate_fundamental_ransac

#
estimate_homography_from_four

#
estimate_homography_ransac

#
homography_reprojection_error

#
identity3

#
mat34_from_rows

#
mat3_from_rows

#
normalized_to_pixel

#
pixel_to_normalized

#
project_point

#
project_point_with_pose

#
reprojection_error

#
undistort_point_iterative