braid-mvg

Camera geometry and multi-view geometry (MVG) types and algorithms for the Braid tracking system.

This crate provides camera modeling, geometric transformations, and multi-camera system support for 3D computer vision applications. It's specifically designed for use in the Braid multi-camera tracking system but can be used for general computer vision tasks.

Features

• Camera modeling with intrinsic and extrinsic parameters based on cam-geom
• Lens distortion correction using OpenCV-compatible models based on opencv-ros-camera
• Multi-camera system management and calibration
• 3D point triangulation from multiple camera views
• Point alignment algorithms (Kabsch-Umeyama, robust Arun)
• Coordinate frame transformations between world, camera, and pixel spaces
• rerun.io integration for 3D visualization (optional)

Building the docs

To build and open the docs locally as https://docs.rs/ would do it:

RUSTDOCFLAGS="--cfg docsrs -D warnings" cargo +nightly doc --all-features --open

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.