# @neith/matchmove-solver

Neith sovereign match-move camera solver: Structure-from-Motion (incremental +
global) with F/E-matrix RANSAC initialization, 5/7/8-point + Nister essential
solvers, DLT PnP pose, Levenberg-Marquardt bundle adjustment with sparse Schur
reduction and robust loss (Huber/Cauchy/truncated), focal
auto/locked/known/variable-zoom solve, joint lens-distortion solve,
rolling-shutter correction, IMU gravity constraint, scale from
survey/stereo-baseline/known-object, nodal-tripod & stereo & multi-camera rig
solves, reliability pruning + re-solve, and per-frame solve-error heatmaps
(phase 153.5)

## At a glance

- **Path:** `libs/neith/matchmove-solver`
- **Domain:** neith (active)
- **Owner:** @GreyChimp
- **Docs:** [deep-dive](/docs/domains/neith/deep-dive) ·
  [systems one-pager](/docs/systems/lib-neith.md)
- **Nx project:** `@neith/matchmove-solver`

## Commands

```bash
pnpm nx test @neith/matchmove-solver
pnpm nx lint @neith/matchmove-solver
```

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