Thriving 
RS Vision sensors calibration library in RUST
https://vitalyvorobyev.github.io/calibration-rs/ ↗ HEALTH ? 99 / Healthy
Thriving RS // readme
vision-calibration
Camera calibration in Rust, from images to a validated metric model. Point it at a folder of calibration images and get back intrinsics, distortion, multi-camera rig extrinsics, hand-eye transforms, and laser-plane geometry — with per-feature residuals you can inspect, JSON checkpoints you can resume from, and a desktop app to see what the numbers mean.
Available as a Rust crate, a Python package, and a GUI.
What it calibrates
| Workflow | Solves for | Typical input |
|---|---|---|
| Planar intrinsics | fx, fy, cx, cy + distortion, and the sensor tilt (tilt_x, tilt_y) for a tilted (Scheimpflug) sensor | one camera, N views of a flat target |
| Rig extrinsics | per-camera intrinsics + camera-to-rig poses | 2+ synchronised cameras |
| Single-camera hand-eye | intrinsics + camera-to-gripper (or -to-base) transform | camera on/observing a robot arm |
| Rig hand-eye | rig extrinsics + hand-eye, eye-in-hand or eye-to-hand | multi-camera head on a robot |
| Laserline device | camera + laser-plane geometry | camera + line projector |
| Rig laserline device | one laser plane per camera, upstream calibration frozen | … |