calib-targets

Fast, robust calibration target detection in Rust: chessboard, ChArUco, ArUco/AprilTag dictionaries, and marker boards.

Highlights

• Shared TargetDetection output across detectors for consistent downstream processing.
• End-to-end helpers (calib_targets::detect) that run ChESS corner detection for you (feature image, enabled by default).
• Low-level detector crates are re-exported when you need custom pipelines.

Quickstart (chessboard)

cargo add calib-targets image

use calib_targets::detect;
use calib_targets::ChessboardParams;
use image::ImageReader;

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let img = ImageReader::open("board.png")?.decode()?.to_luma8();
    let chess_cfg = detect::default_chess_config();
    let params = ChessboardParams::default();

    let result = detect::detect_chessboard(&img, &chess_cfg, params);
    println!("detected: {}", result.is_some());
    Ok(())
}

What you get back

All detectors produce a TargetDetection (returned directly for chessboards and embedded in higher-level result structs elsewhere). Each LabeledCorner includes pixel position, optional grid coordinates, optional logical id, optional target-space position, and a detector-specific score.

Supported targets

• Chessboard: detect::detect_chessboard or chessboard::ChessboardDetector.
• ChArUco: detect::detect_charuco or charuco::CharucoDetector.
• Marker boards: detect::detect_marker_board or marker::MarkerBoardDetector.
• ArUco/AprilTag dictionaries and decoding via aruco.

Features

• image (default): enables calib_targets::detect helpers that use image::GrayImage and chess-corners.
• tracing: enables tracing output across the workspace crates.

Examples (repo)

cargo run -p calib-targets --example detect_chessboard -- path/to/image.png
cargo run -p calib-targets --example detect_charuco -- path/to/image.png
cargo run -p calib-targets --example detect_markerboard -- path/to/image.png

Python bindings

Python bindings are provided via crates/calib-targets-py (module name calib_targets). See crates/calib-targets-py/README.md for setup.

pip install maturin
maturin develop
python crates/calib-targets-py/examples/detect_charuco.py path/to/image.png

Notes:

• Python config accepts typed params classes or dict overrides (partial dicts are OK).
• detect_charuco requires params and the board lives in params.board.
• target_position is populated only when a board layout includes a valid cell size and alignment succeeds (for marker boards, set params.layout.cell_size or params["layout"]["cell_size"]).

Crate map

• calib_targets::core – core types and homographies.
• calib_targets::chessboard – chessboard detection.
• calib_targets::aruco – ArUco/AprilTag dictionaries and decoding.
• calib_targets::charuco – ChArUco alignment and IDs.
• calib_targets::marker – checkerboard + circle marker boards.

Links

• Docs: https://docs.rs/calib-targets
• Repository: https://github.com/VitalyVorobyev/calib-targets-rs
• Workspace docs: https://github.com/VitalyVorobyev/calib-targets-rs/blob/main/README.md