Module calibrate 

Pure-Rust camera calibration (port of OpenCV cv::calibrateCamera).

Built bottom-up:

1. per-view homography estimation (find_homography),
2. initial intrinsics (init_intrinsics),
3. initial extrinsics per view (init_extrinsics),
4. joint Levenberg-Marquardt refinement of intrinsics, distortion, and extrinsics (calibrate_camera).

Structs

CalibrationResult

Result of calibrate_camera.

CorrespondingPoint

One object<->image correspondence. The object point must be planar (z == 0) for the homography-based initialization.

Extrinsics

Camera pose of the target plane relative to the camera.

InitialIntrinsics

Initial pinhole intrinsics (fx, fy, cx, cy).

Enums

CalibrateError

Functions

calibrate_camera

Calibrate a pinhole+distortion camera from planar-target correspondences.

find_homography

Estimate the homography H mapping src points to dst points so that dst ~ H * src (in homogeneous coordinates), normalized to H[(2,2)] = 1.

init_extrinsics

Recover the pose for one view from intrinsics k and homography h.

init_intrinsics

Estimate initial intrinsics from per-view homographies and the image size.