camera
→
core
→
examples
→
multiview
→
ransac
→
README
U
Aabb3
U
Affine2D
U
CalibrationObservation
U
CalibrationReport
U
CameraIntrinsics
U
CameraPose
U
ConsensusReport
U
Distortion
U
EssentialMatrix
U
Frustum
U
FundamentalMatrix
U
GeometryError
U
Homography
U
ImageSize
U
InlierMask
U
Line2
U
Mat3
U
Mat34
U
Mat4
U
Plane3
U
Point2
U
Point3
U
PointMatch
U
PointTrack
U
Quadratic
U
Quaternion
U
RansacConfig
U
RansacResult
U
Ray3
U
ReconstructionReport
U
Rect2
U
RigidTransform
U
RollingShutter
U
StereoPair
U
Triangle3
U
TriangulatedPoint
U
Vec2
U
Vec3
V
adaptive_iteration_bound
V
almost_equal
V
calibration_report
V
clamp
V
depth_from_disparity
V
disparity_from_depth
V
distance3
V
distort_point
V
epipolar_residual
V
estimate_affine
V
estimate_essential_from_fundamental
V
estimate_fundamental
V
estimate_fundamental_from_translation
V
estimate_fundamental_ransac
V
estimate_homography
V
estimate_homography_from_four
V
estimate_homography_ransac
V
focal_from_fov
V
homography_reprojection_error
V
horizontal_fov
V
identity3
V
identity4
V
mat34_from_rows
V
mat3_from_rows
V
mean
V
median
V
mutual_matches
V
nearest_matches
V
normalized_to_pixel
V
percentile
V
pixel_to_normalized
V
point2_from_homogeneous
V
project_point
V
project_point_with_pose
V
projection_jacobian
V
quaternion_from_axis_angle
V
reconstruction_report
V
rect2_from_points
V
report_from_residuals
V
reprojection_error
V
required_iterations
V
robust_scale
V
solve_2x2
V
solve_3x3
V
triangulate_from_rays
V
triangulated_point_is_in_front
V
triangulation_angle
V
triangulation_is_well_conditioned
V
undistort_point_iterative
V
vertical_fov

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 python123-ops/moon-cv-geometry@0.2.1

Download zip

Author

python123-ops

Version

0.2.1

License

Apache-2.0

Repository

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

Last updated

11 hours ago

Downloads

README

#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 current Mooncakes release is python123-ops/moon-cv-geometry@0.2.1. An earlier mistaken publish under cxh04/moon-cv-geometry@0.1.0 is not the competition submission namespace and has been superseded by the current package. See docs/authorship-and-provenance.md for the audit trail.

#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 measured scale

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

The acceptance snapshot contains 6,523 tracked .mbt source lines, including 5,764 implementation lines, 49 tests, and runnable examples. The suite is executed on wasm, wasm-gc, js, and native targets. Reproducible local 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.

moon-cv-geometry

#moon-cv-geometry

#Install

#Minimal Example

#Packages

#Examples

#Ecosystem Position

#Source And Authorship

#Roadmap

#Validation and measured scale

#Aabb3

#Affine2D

#CalibrationObservation

#CalibrationReport

#CameraIntrinsics

#CameraPose

#ConsensusReport

#Distortion

#EssentialMatrix

#Frustum

#FundamentalMatrix

#GeometryError

#Homography

#ImageSize

#InlierMask

#Line2

#Mat3

#Mat34

#Mat4

#Plane3

#Point2

#Point3

#PointMatch

#PointTrack

#Quadratic

#Quaternion

#RansacConfig

#RansacResult

#Ray3

#ReconstructionReport

#Rect2

#RigidTransform

#RollingShutter

#StereoPair

#Triangle3

#TriangulatedPoint

#Vec2

#Vec3

#adaptive_iteration_bound

#almost_equal

#calibration_report

#clamp

#depth_from_disparity

#disparity_from_depth

#distance3

#distort_point

#epipolar_residual

#estimate_affine

#estimate_essential_from_fundamental

#estimate_fundamental

#estimate_fundamental_from_translation

#estimate_fundamental_ransac

#estimate_homography

#estimate_homography_from_four

#estimate_homography_ransac

#focal_from_fov

#homography_reprojection_error

#horizontal_fov

#identity3

#identity4

#mat34_from_rows

#mat3_from_rows

#mean

#median

#mutual_matches

#nearest_matches

#normalized_to_pixel

#percentile

#pixel_to_normalized

#point2_from_homogeneous

#
Aabb3

#
Affine2D

#
CalibrationObservation

#
CalibrationReport

#
CameraIntrinsics

#
CameraPose

#
ConsensusReport

#
Distortion

#
EssentialMatrix

#
Frustum

#
FundamentalMatrix

#
GeometryError

#
Homography

#
ImageSize

#
InlierMask

#
Line2

#
Mat3

#
Mat34

#
Mat4

#
Plane3

#
Point2

#
Point3

#
PointMatch

#
PointTrack

#
Quadratic

#
Quaternion

#
RansacConfig

#
RansacResult

#
Ray3

#
ReconstructionReport

#
Rect2

#
RigidTransform

#
RollingShutter

#
StereoPair

#
Triangle3

#
TriangulatedPoint

#
Vec2

#
Vec3

#
adaptive_iteration_bound

#
almost_equal

#
calibration_report

#
clamp

#
depth_from_disparity

#
disparity_from_depth

#
distance3

#
distort_point

#
epipolar_residual

#
estimate_affine

#
estimate_essential_from_fundamental

#
estimate_fundamental

#
estimate_fundamental_from_translation

#
estimate_fundamental_ransac

#
estimate_homography

#
estimate_homography_from_four

#
estimate_homography_ransac

#
focal_from_fov

#
homography_reprojection_error

#
horizontal_fov

#
identity3

#
identity4

#
mat34_from_rows

#
mat3_from_rows

#
mean

#
median

#
mutual_matches

#
nearest_matches

#
normalized_to_pixel

#
percentile

#
pixel_to_normalized

#
point2_from_homogeneous

#
project_point

#
project_point_with_pose

#
projection_jacobian

#
quaternion_from_axis_angle

#
reconstruction_report

#
rect2_from_points

#
report_from_residuals

#
reprojection_error

#
required_iterations

#
robust_scale