API Reference

Generated from the library's own docstrings — this is the authoritative signature/parameter reference. For task-oriented recipes, see How-to; for guided tutorials, see Learn; for the why behind a design, see Explanation.

Package map

Module	What it covers
ds_msp.core	The CameraModel protocol and shared data conventions every other module depends on.
ds_msp.models	The eight camera models — Double Sphere, EUCM, Kannala-Brandt, OCam, RadTan, UCM, and their + extensions.
ds_msp.calib	Single-camera intrinsics calibration — board targets, detection, bundle adjustment.
ds_msp.detect	Board/tag detection front ends (checkerboard, ChArUco, AprilGrid).
ds_msp.adapt	Converting a calibrated model from one camera family to another.
ds_msp.rig	Multi-camera rig calibration (MC-Calib-compatible).
ds_msp.io	Reading/writing Kalibr, MC-Calib, COLMAP, and nerfstudio camera formats.
ds_msp.mvg	Multi-view geometry on bearing rays — essential matrix, RANSAC relative pose, triangulation.
ds_msp.stereo	Stereo depth directly on raw fisheye rays, no rectification.
ds_msp.vo	Monocular visual odometry from tracked features.
ds_msp.geometry	Shared geometric primitives (rotations, poses, manifold ops).
ds_msp.ops	Model-agnostic undistortion and PnP services.
ds_msp.data	Dataset loading utilities.
ds_msp.cv	An cv2/cv2.fisheye-signature-compatible shim over the library's own models.
ds_msp.ldc	Lens-distortion-correction mesh export (e.g. for embedded/ISP undistortion pipelines).