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Project Overview

calib-targets-rs is a single Cargo workspace with multiple publishable crates under crates/. The design is layered: calib-targets-core provides geometry and shared types, higher-level crates build on top, and the facade crate (calib-targets) is intended to be the main entry point.

Mesh-rectified grid

Workspace layout

  • calib-targets-core: shared geometry types and utilities.
  • calib-targets-chessboard: chessboard detection from corner clouds.
  • calib-targets-aruco: embedded dictionaries and decoding on rectified grids.
  • calib-targets-charuco: grid-first ChArUco detector and alignment.
  • calib-targets-marker: checkerboard marker detector (chessboard + circles).
  • calib-targets: facade crate, currently hosting examples and future high-level APIs.

Strengths

  • Clear crate boundaries with a small, geometry-first core.
  • Chessboard detection pipeline is implemented end-to-end with debug outputs.
  • Mesh-warp rectification supports lens distortion without assuming a single global homography.
  • Examples and regression tests exist for all workflows.

Gaps and early-stage areas

  • Public APIs are not yet stable.
  • ArUco decoding assumes rectified grids and does not perform quad detection.
  • Performance/benchmarks are not yet a focus.