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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
    Version
    0.2.2
    License
    Apache-2.0
    Repository
    Last updated
    last month
    Downloads
    49

    #moon-cv-geometry

    moonbit视觉几何基石 is a 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 python123-ops/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: fixed-size 2D/3D geometry, Mat3/Mat4, quaternions, rigid transforms, planes/triangles/AABB, interpolation, robust statistics, and numerical solvers.
    • camera: pinhole intrinsics, Brown-Conrady distortion, pose tools, projection Jacobians, image pyramids, frustums, calibration reports, rolling shutter and stereo depth helpers.
    • multiview: normalized DLT, affine estimation, epipolar/Sampson diagnostics, triangulation, cheirality, point matching, track residuals, reconstruction reports, and pose-quality constraints.
    • ransac: deterministic RANSAC configuration and estimators for homography and eight-point fundamental matrices, with a small-data compatibility path for the stereo translation baseline.

    #Examples

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

    See examples/README.md for the short purpose of each example.

    #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 And Authorship

    The implementation is original MoonBit code for OSC2026 by Zhang Jingkai. 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.

    GitHub and GitLink use different platform accounts, but each public repository keeps a single real account as its contributor identity. GitHub history is under python123-ops; GitLink history is under python123.

    The package is maintained under the python123-ops namespace. The repository metadata targets the next compatible release, python123-ops/moon-cv-geometry@0.2.2, and keeps source, examples, and release metadata together.

    #Roadmap

    • 0.2.x: normalized DLT over larger correspondence sets, eight-point fundamental matrix estimation, cheirality checks, triangulation angle quality, and stronger numerical conditioning.
    • Next: rank-2 fundamental matrix enforcement, calibrated pose decomposition, PnP, and bundle-adjustment-friendly residual helpers.

    #Validation and project scope

    moon fmt --check
moon check --target all --deny-warn
moon test --target all --deny-warn
moon info
moon package

    The source tree contains approximately 20,000 lines of MoonBit implementation across the four reusable packages, plus boundary tests and runnable examples. The suite is executed on wasm, wasm-gc, js, and native targets. Reproducible timings and numerical thresholds are recorded in docs/benchmark.md.

    The current MoonBit CLI exposes warning denial on moon check and moon test. For formatting and interface generation, CI uses moon fmt --check and moon info followed by a generated-interface diff check.

    Aabb3

    source

    Affine2D

    source

    CalibrationObservation

    source

    CalibrationReport

    source

    CameraIntrinsics

    source

    CameraPose

    source

    ConsensusReport

    source

    Distortion

    source

    EssentialMatrix

    source

    Frustum

    source

    FundamentalMatrix

    source

    GeometryError

    source

    Homography

    source

    ImageSize

    source

    InlierMask

    source

    Line2

    source

    Mat3

    source

    Mat34

    source

    Mat4

    source

    Plane3

    source

    Point2

    source

    Point3

    source

    PointMatch

    source

    PointTrack

    source

    Quadratic

    source

    Quaternion

    source

    RansacConfig

    source

    RansacResult

    source

    Ray3

    source

    ReconstructionReport

    source

    Rect2

    source

    RigidTransform

    source

    RollingShutter

    source

    StereoPair

    source

    Triangle3

    source

    TriangulatedPoint

    source

    Vec2

    source

    Vec3

    source

    adaptive_iteration_bound

    source
    fn adaptive_iteration_bound(inlier_ratio~ : Double, sample_size~ : Int, confidence? : Double) -> Int raise 
    GeometryError

    almost_equal

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

    calibration_report

    source

    clamp

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

    depth_from_disparity

    source
    fn depth_from_disparity(focal~ : Double, baseline~ : Double, disparity~ : Double) -> Double raise 
    GeometryError

    disparity_from_depth

    source
    fn disparity_from_depth(focal~ : Double, baseline~ : Double, depth~ : Double) -> Double raise 
    GeometryError

    distance3

    source

    distort_point

    source

    epipolar_residual

    source

    estimate_affine

    source

    estimate_essential_from_fundamental

    source

    estimate_fundamental

    source

    estimate_fundamental_from_translation

    source

    estimate_fundamental_ransac

    source

    estimate_homography

    source

    estimate_homography_from_four

    source

    estimate_homography_ransac

    source

    focal_from_fov

    source
    fn focal_from_fov(sensor_extent~ : Double, fov_radians~ : Double) -> Double raise 
    GeometryError

    homography_reprojection_error

    source

    horizontal_fov

    source

    identity3

    source

    identity4

    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

    mean

    source

    median

    source

    mutual_matches

    source

    nearest_matches

    source

    normalized_to_pixel

    source

    percentile

    source
    fn percentile(values : ArrayView[Double], fraction~ : Double) -> Double raise 
    GeometryError

    pixel_to_normalized

    source

    point2_from_homogeneous

    source

    project_point

    source

    project_point_with_pose

    source

    projection_jacobian

    source

    quaternion_from_axis_angle

    source

    reconstruction_report

    source

    rect2_from_points

    source

    report_from_residuals

    source

    reprojection_error

    source

    required_iterations

    source
    fn required_iterations(success_probability~ : Double, confidence? : Double) -> Int raise 
    GeometryError

    robust_scale

    source
    fn robust_scale(values : ArrayView[Double]) -> Double raise 
    GeometryError

    solve_2x2

    source
    fn solve_2x2(a00~ : Double, a01~ : Double, a10~ : Double, a11~ : Double, b0~ : Double, b1~ : Double) -> 
    Vec2     raise 
    GeometryError

    solve_3x3

    source

    triangulate_from_rays

    source

    triangulated_point_is_in_front

    source

    triangulation_angle

    source

    triangulation_is_well_conditioned

    source
    fn triangulation_is_well_conditioned(result : 
    TriangulatedPoint    , max_separation? : Double) -> Bool

    undistort_point_iterative

    source

    vertical_fov

    source

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