@photivra/engine 1.4.0 → 2.0.0

package/dist/motion/camera-rotation.js

@@ -1,23 +1,38 @@
 // SPDX-License-Identifier: Apache-2.0
 /**
- * Module boundary and integration notes.
- * Maps one stationary-world ray to its image-plane location after pure camera rotation at an arbitrary
- * physical time from exposure start. The initial image point defines the world ray in the camera frame
- * at t=0. Constant angular velocity is integrated as one axis-angle rotation vector, avoiding
- * Euler-order dependence. The stationary world ray is then expressed in the rotated camera frame using
- * the inverse camera rotation and projected rectilinearly back onto the image plane. This function
- * models rotation only. It deliberately excludes camera translation because translational optical flow
- * depends on scene depth.
- * Maps a captured stationary-world ray at one non-negative capture time back to its image-plane
- * location at exposure start. For the existing constant-axis pure-rotation model this inverse is
- * analytic: the captured ray is transformed by the forward camera rotation before rectilinear
- * projection. No iterative solver is required.
- * @see docs/MOTION_AND_SIGNAL.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Where a still point in the world appears on the image plane while the camera rotates.
+ *
+ * Forward mapping: given the point's image position at exposure start (t=0), find its image position
+ * at a later time t.
+ * - The starting image point defines the world ray in the camera frame at t=0.
+ * - Constant angular velocity is integrated as a single axis-angle rotation vector. This avoids any
+ *   dependence on Euler-angle order.
+ * - The world ray is expressed in the rotated camera frame with the inverse camera rotation, then
+ *   projected rectilinearly back onto the image plane.
+ * Only rotation is modelled. Camera translation is deliberately left out, because the image motion it
+ * causes (optical flow) depends on scene depth.
+ *
+ * Inverse mapping: given a ray captured at a non-negative time, find where it was at exposure start.
+ * For this constant-axis, pure-rotation model the inverse is analytic: apply the forward camera
+ * rotation to the captured ray, then project rectilinearly. No iterative solver is needed.
+ * @see docs/MOTION_AND_SIGNAL.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
  */
 import { calculatedResult } from "../core/calculation-result.js";
 import { InvalidScientificInputError, requirePositiveFinite } from "../core/validation.js";
 import { calculateThinLensImageDistance } from "../optics/thin-lens.js";
+import { rejectUnknownFields, requireInputKeys, requireInputObject } from "../core/record-validation.js";
+/** Checks the nested objects of a rotation-mapping input before any of their fields are read. */
+function requireRotationMappingSubObjects(input) {
+    requireInputObject(input.imagePointMm, "imagePointMm");
+    rejectUnknownFields(input.imagePointMm, ["x", "y"], "imagePointMm");
+    requireInputObject(input.angularVelocityRadPerSec, "angularVelocityRadPerSec");
+    rejectUnknownFields(input.angularVelocityRadPerSec, ["pitch", "yaw", "roll"], "angularVelocityRadPerSec");
+    if (input.samplingPitchMicrometers !== undefined) {
+        requireInputObject(input.samplingPitchMicrometers, "samplingPitchMicrometers");
+        rejectUnknownFields(input.samplingPitchMicrometers, ["x", "y"], "samplingPitchMicrometers");
+    }
+}
 function requireFinite(name, value) {
     if (!Number.isFinite(value)) {
         throw new InvalidScientificInputError(`${name} must be finite.`);
@@ -28,7 +43,14 @@ function requireNonNegativeFinite(name, value) {
         throw new InvalidScientificInputError(`${name} must be finite and greater than or equal to zero.`);
     }
 }
-/** Internal shared geometric rotation; public callers use the validated camera mappings. */
+/**
+ * Internal Rodrigues rotation in component form:
+ * v cos a + (k x v) sin a + k (k . v)(1 - cos a), with the cross product
+ * computed by its usual component formula. In the left-handed camera basis
+ * this is a physical left-hand rotation. Camera-rotation code must call
+ * applyPhysicalCameraRotation() instead, so the right-hand sign convention
+ * lives in one place.
+ */
 export function rotateVectorByAxisAngle(vector, axis, angleRad) {
     if (angleRad === 0) {
         return { ...vector };
@@ -56,7 +78,33 @@ export function rotateVectorByAxisAngle(vector, axis, angleRad) {
             axis.z * dot * oneMinusCosine
     };
 }
-function resolveProjectionDistanceMm(focalLengthMm, focusDistanceM) {
+/**
+ * Internal: applies the physical camera rotation for one right-hand angular
+ * displacement (pitch/yaw/roll about camera +X/+Y/+Z, radians) to a vector in
+ * camera components.
+ *
+ * - "camera-to-reference" applies R: a ray expressed in the rotated camera
+ *   frame is re-expressed in the exposure-start (reference) camera frame.
+ * - "reference-to-camera" applies R^-1: a stationary reference ray is
+ *   expressed in the rotated camera frame.
+ *
+ * Because the camera basis is left-handed, the physical right-hand rotation R
+ * is the component Rodrigues formula with the angle negated.
+ */
+export function applyPhysicalCameraRotation(vector, angularDisplacementRad, direction) {
+    const magnitude = Math.hypot(angularDisplacementRad.pitch, angularDisplacementRad.yaw, angularDisplacementRad.roll);
+    if (magnitude === 0) {
+        return { ...vector };
+    }
+    const axis = {
+        x: angularDisplacementRad.pitch / magnitude,
+        y: angularDisplacementRad.yaw / magnitude,
+        z: angularDisplacementRad.roll / magnitude
+    };
+    return rotateVectorByAxisAngle(vector, axis, direction === "camera-to-reference" ? -magnitude : magnitude);
+}
+/** Internal: projection distance, shared with the lean native environment executor. Not exported from the package root. */
+export function resolveProjectionDistanceMm(focalLengthMm, focusDistanceM) {
     const projection = focusDistanceM === undefined
         ? undefined
         : calculateThinLensImageDistance({
@@ -72,19 +120,21 @@ function resolveProjectionDistanceMm(focalLengthMm, focusDistanceM) {
  * Maps one stationary-world ray to its image-plane location after pure camera
  * rotation at an arbitrary physical time from exposure start.
  *
- * The initial image point defines the world ray in the camera frame at t=0.
- * Constant angular velocity is integrated as one axis-angle rotation vector,
- * avoiding Euler-order dependence. The stationary world ray is then expressed
- * in the rotated camera frame using the inverse camera rotation and projected
- * rectilinearly back onto the image plane.
+ * The starting image point defines the world ray in the camera frame at t=0.
+ * Constant angular velocity is integrated as a single axis-angle rotation
+ * vector, which avoids any dependence on Euler-angle order. The world ray is
+ * then expressed in the rotated camera frame with the inverse camera rotation,
+ * and projected rectilinearly back onto the image plane.
  *
- * This function models rotation only. It deliberately excludes camera
- * translation because translational optical flow depends on scene depth.
+ * Only rotation is modelled. Camera translation is deliberately left out,
+ * because the image motion it causes depends on scene depth.
  *
  * @returns Field-position-dependent image-plane mapping and displacement.
  */
 export function calculateCameraRotationImageMapping(input) {
+    requireInputKeys(input, "calculateCameraRotationImageMapping", ["focalLengthMm", "imagePointMm", "timeSecondsFromExposureStart", "angularVelocityRadPerSec", "focusDistanceM", "samplingPitchMicrometers"]);
     requirePositiveFinite("focalLengthMm", input.focalLengthMm);
+    requireRotationMappingSubObjects(input);
     requireFinite("imagePointMm.x", input.imagePointMm.x);
     requireFinite("imagePointMm.y", input.imagePointMm.y);
     requireNonNegativeFinite("timeSecondsFromExposureStart", input.timeSecondsFromExposureStart);
@@ -110,15 +160,7 @@ export function calculateCameraRotationImageMapping(input) {
         y: input.imagePointMm.y / projectionDistanceMm,
         z: 1
     };
-    let mappedRay = initialRay;
-    if (angularMagnitude !== 0) {
-        const inverseAxis = {
-            x: angularDisplacementRad.pitch / angularMagnitude,
-            y: angularDisplacementRad.yaw / angularMagnitude,
-            z: angularDisplacementRad.roll / angularMagnitude
-        };
-        mappedRay = rotateVectorByAxisAngle(initialRay, inverseAxis, -angularMagnitude);
-    }
+    const mappedRay = applyPhysicalCameraRotation(initialRay, angularDisplacementRad, "reference-to-camera");
     if (!Number.isFinite(mappedRay.z) || mappedRay.z <= 0) {
         throw new InvalidScientificInputError("Camera rotation maps the requested world ray to or behind the camera plane.");
     }
@@ -158,14 +200,14 @@ export function calculateCameraRotationImageMapping(input) {
             : { deltaImagePlaneSamples })
     }, focusAware
         ? "focus-aware-spatial-camera-rotation-mapping"
-        : "spatial-camera-rotation-mapping", "1.0.0", [
+        : "spatial-camera-rotation-mapping", "2.0.0", [
         "Ideal rectilinear projection",
         focusAware
             ? "Thin-lens image distance for the selected focus plane is used as the projection distance"
             : "Nominal focal length is used as the infinity-focus projection distance",
         "Camera angular velocity is constant during the evaluated interval",
         "Angular velocity components are resolved in the camera axes at exposure start and integrated as one axis-angle vector",
-        "Positive pitch/yaw/roll follow the right-hand rule about camera +X/+Y/+Z",
+        "Positive pitch/yaw/roll follow the physical right-hand rule about camera +X/+Y/+Z (pitch up, yaw left, roll clockwise seen from behind); the camera basis is left-handed",
         "The world ray is stationary; subject motion is not included",
         "Camera translation and depth-dependent parallax are not modeled",
         "The stationary world ray is transformed by the inverse camera rotation before rectilinear projection"
@@ -175,12 +217,14 @@ export function calculateCameraRotationImageMapping(input) {
  * Maps a captured stationary-world ray at one non-negative capture time back
  * to its image-plane location at exposure start.
  *
- * For the existing constant-axis pure-rotation model this inverse is analytic:
- * the captured ray is transformed by the forward camera rotation before
- * rectilinear projection. No iterative solver is required.
+ * For this constant-axis, pure-rotation model the inverse is analytic: apply
+ * the forward camera rotation to the captured ray, then project
+ * rectilinearly. No iterative solver is needed.
  */
 export function calculateInverseCameraRotationImageMapping(input) {
+    requireInputKeys(input, "calculateInverseCameraRotationImageMapping", ["focalLengthMm", "imagePointMm", "timeSecondsFromExposureStart", "angularVelocityRadPerSec", "focusDistanceM", "samplingPitchMicrometers"]);
     requirePositiveFinite("focalLengthMm", input.focalLengthMm);
+    requireRotationMappingSubObjects(input);
     requireFinite("imagePointMm.x", input.imagePointMm.x);
     requireFinite("imagePointMm.y", input.imagePointMm.y);
     requireNonNegativeFinite("timeSecondsFromExposureStart", input.timeSecondsFromExposureStart);
@@ -206,15 +250,7 @@ export function calculateInverseCameraRotationImageMapping(input) {
         y: input.imagePointMm.y / projectionDistanceMm,
         z: 1
     };
-    let referenceRay = capturedRay;
-    if (angularMagnitude !== 0) {
-        const axis = {
-            x: angularDisplacementRad.pitch / angularMagnitude,
-            y: angularDisplacementRad.yaw / angularMagnitude,
-            z: angularDisplacementRad.roll / angularMagnitude
-        };
-        referenceRay = rotateVectorByAxisAngle(capturedRay, axis, angularMagnitude);
-    }
+    const referenceRay = applyPhysicalCameraRotation(capturedRay, angularDisplacementRad, "camera-to-reference");
     if (!Number.isFinite(referenceRay.z) || referenceRay.z <= 0) {
         throw new InvalidScientificInputError("Inverse camera rotation maps the requested captured ray to or behind the reference camera plane.");
     }
@@ -254,13 +290,14 @@ export function calculateInverseCameraRotationImageMapping(input) {
             : { deltaImagePlaneSamples })
     }, focusAware
         ? "focus-aware-inverse-spatial-camera-rotation-mapping"
-        : "inverse-spatial-camera-rotation-mapping", "1.0.0", [
+        : "inverse-spatial-camera-rotation-mapping", "2.0.0", [
         "Ideal rectilinear projection",
         focusAware
             ? "Thin-lens image distance for the selected focus plane is used as the projection distance"
             : "Nominal focal length is used as the infinity-focus projection distance",
         "Camera angular velocity is constant during the evaluated interval",
         "Angular velocity components are resolved in the camera axes at exposure start and integrated as one axis-angle vector",
+        "Positive pitch/yaw/roll follow the physical right-hand rule about camera +X/+Y/+Z (pitch up, yaw left, roll clockwise seen from behind); the camera basis is left-handed",
         "The inverse is analytic under the same constant-axis pure-rotation model; no iterative solve is used",
         "The captured stationary-world ray is transformed by the forward camera rotation to recover its exposure-start reference ray",
         "Camera translation, scene depth parallax and subject motion are not modeled"

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SPDX-License-Identifier: Apache-2.0\n\n/**\n * Where a still point in the world appears on the image plane while the camera rotates.\n *\n * Forward mapping: given the point's image position at exposure start (t=0), find its image position\n * at a later time t.\n * - The starting image point defines the world ray in the camera frame at t=0.\n * - Constant angular velocity is integrated as a single axis-angle rotation vector. This avoids any\n *   dependence on Euler-angle order.\n * - The world ray is expressed in the rotated camera frame with the inverse camera rotation, then\n *   projected rectilinearly back onto the image plane.\n * Only rotation is modelled. Camera translation is deliberately left out, because the image motion it\n * causes (optical flow) depends on scene depth.\n *\n * Inverse mapping: given a ray captured at a non-negative time, find where it was at exposure start.\n * For this constant-axis, pure-rotation model the inverse is analytic: apply the forward camera\n * rotation to the captured ray, then project rectilinearly. No iterative solver is needed.\n * @see docs/MOTION_AND_SIGNAL.md for the equations, units, coordinate conventions, known blockers\n * and support limits.\n */\n\nimport {\n  calculatedResult,\n  type CalculationResult\n} from \"../core/calculation-result.js\";\nimport {\n  InvalidScientificInputError,\n  requirePositiveFinite\n} from \"../core/validation.js\";\nimport { calculateThinLensImageDistance } from \"../optics/thin-lens.js\";\nimport { rejectUnknownFields, requireInputKeys, requireInputObject } from \"../core/record-validation.js\";\n\n/** Checks the nested objects of a rotation-mapping input before any of their fields are read. */\nfunction requireRotationMappingSubObjects(input: {\n  imagePointMm: unknown; angularVelocityRadPerSec: unknown; samplingPitchMicrometers?: unknown;\n}): void {\n  requireInputObject(input.imagePointMm, \"imagePointMm\");\n  rejectUnknownFields(input.imagePointMm as object, [\"x\", \"y\"], \"imagePointMm\");\n  requireInputObject(input.angularVelocityRadPerSec, \"angularVelocityRadPerSec\");\n  rejectUnknownFields(input.angularVelocityRadPerSec as object, [\"pitch\", \"yaw\", \"roll\"], \"angularVelocityRadPerSec\");\n  if (input.samplingPitchMicrometers !== undefined) {\n    requireInputObject(input.samplingPitchMicrometers, \"samplingPitchMicrometers\");\n    rejectUnknownFields(input.samplingPitchMicrometers as object, [\"x\", \"y\"], \"samplingPitchMicrometers\");\n  }\n}\n\n/**\n * Camera angular velocity in radians per second about the exposure-start\n * camera axes (+X right, +Y up, +Z forward along the optical axis).\n *\n * Signs follow the physical right-hand rule about each named axis. These axes\n * form a left-handed basis. So a positive rotation is the mirror image of what\n * the plain component Rodrigues (cross-product) formula would give in it:\n *\n * - Positive pitch tilts the optical axis up. Still scene content moves\n *   toward image -Y (down).\n * - Positive yaw turns the optical axis left (counter-clockwise seen from\n *   above). Still scene content moves toward image +X (right).\n * - Positive roll turns the camera clockwise, as seen by the photographer\n *   looking along +Z. Still scene content rotates counter-clockwise in the\n *   +X-right/+Y-up image plane.\n */\nexport interface CameraAngularVelocityRadPerSec {\n  /** Right-hand rotation rate about camera +X (right): positive tilts the optical axis up. */\n  pitch: number;\n  /** Right-hand rotation rate about camera +Y (up): positive turns the optical axis left. */\n  yaw: number;\n  /** Right-hand rotation rate about camera +Z (forward): positive rolls the camera clockwise as seen from behind it. */\n  roll: number;\n}\n\nexport interface ImagePlanePointMm {\n  /** Image-plane X coordinate relative to the optical axis, in millimetres. */\n  x: number;\n  /** Image-plane Y coordinate relative to the optical axis, in millimetres. */\n  y: number;\n}\n\nexport interface AxisSamplingPitchMicrometers {\n  x: number;\n  y: number;\n}\n\nexport interface CalculateCameraRotationImageMappingInput {\n  /** Physical focal length in millimetres. */\n  focalLengthMm: number;\n  /**\n   * Stationary-world-ray image-plane position at exposure start.\n   *\n   * Image-plane coordinates have their origin on the optical axis, +X right, +Y up.\n   */\n  imagePointMm: ImagePlanePointMm;\n  /**\n   * Time in seconds from exposure start. Must be greater than or equal to zero.\n   */\n  timeSecondsFromExposureStart: number;\n  /**\n   * Constant camera angular-velocity vector in radians per second.\n   *\n   * Components are given in the camera axes at exposure start and follow the\n   * physical right-hand rule:\n   * - pitch about +X: positive tilts up; content moves toward image -Y;\n   * - yaw about +Y: positive turns left; content moves toward image +X;\n   * - roll about +Z: positive is clockwise seen from behind the camera.\n   * See CameraAngularVelocityRadPerSec.\n   */\n  angularVelocityRadPerSec: CameraAngularVelocityRadPerSec;\n  /** Optional focus distance in metres for thin-lens projection distance. */\n  focusDistanceM?: number;\n  /**\n   * Optional sampling pitch per axis, used to also report the displacement in\n   * samples. This is the geometric spacing of samples, not the light-collecting\n   * area of a photosite.\n   */\n  samplingPitchMicrometers?: AxisSamplingPitchMicrometers;\n}\n\nexport interface CameraRotationImageMapping {\n  projectionDistanceMm: number;\n  timeSecondsFromExposureStart: number;\n  angularDisplacementRad: {\n    pitch: number;\n    yaw: number;\n    roll: number;\n    magnitude: number;\n  };\n  startImagePointMm: ImagePlanePointMm;\n  mappedImagePointMm: ImagePlanePointMm;\n  deltaMm: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n  /**\n   * Optional displacement in samples, in image-plane axes (+X right, +Y up).\n   * This is not a vector in native raster axes.\n   */\n  deltaImagePlaneSamples?: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n}\n\nexport interface CalculateInverseCameraRotationImageMappingInput {\n  /** Physical focal length in millimetres. */\n  focalLengthMm: number;\n  /**\n   * Captured image-plane location of a stationary world ray at the requested\n   * time. Coordinates have their origin on the optical axis, +X right, +Y up.\n   */\n  imagePointMm: ImagePlanePointMm;\n  /**\n   * Capture time in seconds from exposure start. Must be greater than or equal\n   * to zero.\n   */\n  timeSecondsFromExposureStart: number;\n  /**\n   * Constant camera angular-velocity vector in radians per second, with the\n   * same sign/axis semantics as calculateCameraRotationImageMapping().\n   */\n  angularVelocityRadPerSec: CameraAngularVelocityRadPerSec;\n  /** Optional focus distance in metres for thin-lens projection distance. */\n  focusDistanceM?: number;\n  /**\n   * Optional sampling pitch per axis, used to also report the inverse\n   * displacement in samples.\n   */\n  samplingPitchMicrometers?: AxisSamplingPitchMicrometers;\n}\n\nexport interface InverseCameraRotationImageMapping {\n  projectionDistanceMm: number;\n  timeSecondsFromExposureStart: number;\n  angularDisplacementRad: {\n    pitch: number;\n    yaw: number;\n    roll: number;\n    magnitude: number;\n  };\n  capturedImagePointMm: ImagePlanePointMm;\n  referenceImagePointMm: ImagePlanePointMm;\n  /**\n   * Reference-minus-captured displacement in the image-plane basis.\n   */\n  deltaMm: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n  deltaImagePlaneSamples?: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n}\n\ninterface Vector3 {\n  x: number;\n  y: number;\n  z: number;\n}\n\nfunction requireFinite(name: string, value: number): void {\n  if (!Number.isFinite(value)) {\n    throw new InvalidScientificInputError(`${name} must be finite.`);\n  }\n}\n\nfunction requireNonNegativeFinite(name: string, value: number): void {\n  if (!Number.isFinite(value) || value < 0) {\n    throw new InvalidScientificInputError(\n      `${name} must be finite and greater than or equal to zero.`\n    );\n  }\n}\n\n/**\n * Internal Rodrigues rotation in component form:\n * v cos a + (k x v) sin a + k (k . v)(1 - cos a), with the cross product\n * computed by its usual component formula. In the left-handed camera basis\n * this is a physical left-hand rotation. Camera-rotation code must call\n * applyPhysicalCameraRotation() instead, so the right-hand sign convention\n * lives in one place.\n */\nexport function rotateVectorByAxisAngle(\n  vector: Vector3,\n  axis: Vector3,\n  angleRad: number\n): Vector3 {\n  if (angleRad === 0) {\n    return { ...vector };\n  }\n\n  const cosine = Math.cos(angleRad);\n  const sine = Math.sin(angleRad);\n  const oneMinusCosine = 1 - cosine;\n  const dot =\n    axis.x * vector.x +\n    axis.y * vector.y +\n    axis.z * vector.z;\n  const cross = {\n    x: axis.y * vector.z - axis.z * vector.y,\n    y: axis.z * vector.x - axis.x * vector.z,\n    z: axis.x * vector.y - axis.y * vector.x\n  };\n\n  return {\n    x:\n      vector.x * cosine +\n      cross.x * sine +\n      axis.x * dot * oneMinusCosine,\n    y:\n      vector.y * cosine +\n      cross.y * sine +\n      axis.y * dot * oneMinusCosine,\n    z:\n      vector.z * cosine +\n      cross.z * sine +\n      axis.z * dot * oneMinusCosine\n  };\n}\n\n/**\n * Internal: applies the physical camera rotation for one right-hand angular\n * displacement (pitch/yaw/roll about camera +X/+Y/+Z, radians) to a vector in\n * camera components.\n *\n * - \"camera-to-reference\" applies R: a ray expressed in the rotated camera\n *   frame is re-expressed in the exposure-start (reference) camera frame.\n * - \"reference-to-camera\" applies R^-1: a stationary reference ray is\n *   expressed in the rotated camera frame.\n *\n * Because the camera basis is left-handed, the physical right-hand rotation R\n * is the component Rodrigues formula with the angle negated.\n */\nexport function applyPhysicalCameraRotation(\n  vector: Vector3,\n  angularDisplacementRad: { pitch: number; yaw: number; roll: number },\n  direction: \"camera-to-reference\" | \"reference-to-camera\"\n): Vector3 {\n  const magnitude = Math.hypot(\n    angularDisplacementRad.pitch,\n    angularDisplacementRad.yaw,\n    angularDisplacementRad.roll\n  );\n  if (magnitude === 0) {\n    return { ...vector };\n  }\n  const axis = {\n    x: angularDisplacementRad.pitch / magnitude,\n    y: angularDisplacementRad.yaw / magnitude,\n    z: angularDisplacementRad.roll / magnitude\n  };\n  return rotateVectorByAxisAngle(\n    vector,\n    axis,\n    direction === \"camera-to-reference\" ? -magnitude : magnitude\n  );\n}\n\n/** Internal: projection distance, shared with the lean native environment executor. Not exported from the package root. */\nexport function resolveProjectionDistanceMm(\n  focalLengthMm: number,\n  focusDistanceM: number | undefined\n): {\n  projectionDistanceMm: number;\n  focusAware: boolean;\n} {\n  const projection =\n    focusDistanceM === undefined\n      ? undefined\n      : calculateThinLensImageDistance({\n          focalLengthMm,\n          objectDistanceM: focusDistanceM\n        });\n\n  return {\n    projectionDistanceMm:\n      projection?.value.imageDistanceMm ?? focalLengthMm,\n    focusAware: projection !== undefined\n  };\n}\n\n/**\n * Maps one stationary-world ray to its image-plane location after pure camera\n * rotation at an arbitrary physical time from exposure start.\n *\n * The starting image point defines the world ray in the camera frame at t=0.\n * Constant angular velocity is integrated as a single axis-angle rotation\n * vector, which avoids any dependence on Euler-angle order. The world ray is\n * then expressed in the rotated camera frame with the inverse camera rotation,\n * and projected rectilinearly back onto the image plane.\n *\n * Only rotation is modelled. Camera translation is deliberately left out,\n * because the image motion it causes depends on scene depth.\n *\n * @returns Field-position-dependent image-plane mapping and displacement.\n */\nexport function calculateCameraRotationImageMapping(\n  input: CalculateCameraRotationImageMappingInput\n): CalculationResult<CameraRotationImageMapping> {\n  requireInputKeys(input, \"calculateCameraRotationImageMapping\", [\"focalLengthMm\", \"imagePointMm\", \"timeSecondsFromExposureStart\", \"angularVelocityRadPerSec\", \"focusDistanceM\", \"samplingPitchMicrometers\"]);\n  requirePositiveFinite(\"focalLengthMm\", input.focalLengthMm);\n  requireRotationMappingSubObjects(input);\n  requireFinite(\"imagePointMm.x\", input.imagePointMm.x);\n  requireFinite(\"imagePointMm.y\", input.imagePointMm.y);\n  requireNonNegativeFinite(\n    \"timeSecondsFromExposureStart\",\n    input.timeSecondsFromExposureStart\n  );\n  requireFinite(\n    \"angularVelocityRadPerSec.pitch\",\n    input.angularVelocityRadPerSec.pitch\n  );\n  requireFinite(\n    \"angularVelocityRadPerSec.yaw\",\n    input.angularVelocityRadPerSec.yaw\n  );\n  requireFinite(\n    \"angularVelocityRadPerSec.roll\",\n    input.angularVelocityRadPerSec.roll\n  );\n\n  if (input.samplingPitchMicrometers !== undefined) {\n    requirePositiveFinite(\n      \"samplingPitchMicrometers.x\",\n      input.samplingPitchMicrometers.x\n    );\n    requirePositiveFinite(\n      \"samplingPitchMicrometers.y\",\n      input.samplingPitchMicrometers.y\n    );\n  }\n\n  const { projectionDistanceMm, focusAware } =\n    resolveProjectionDistanceMm(\n      input.focalLengthMm,\n      input.focusDistanceM\n    );\n\n  const angularDisplacementRad = {\n    pitch:\n      input.angularVelocityRadPerSec.pitch *\n      input.timeSecondsFromExposureStart,\n    yaw:\n      input.angularVelocityRadPerSec.yaw *\n      input.timeSecondsFromExposureStart,\n    roll:\n      input.angularVelocityRadPerSec.roll *\n      input.timeSecondsFromExposureStart\n  };\n  const angularMagnitude = Math.hypot(\n    angularDisplacementRad.pitch,\n    angularDisplacementRad.yaw,\n    angularDisplacementRad.roll\n  );\n\n  const initialRay: Vector3 = {\n    x: input.imagePointMm.x / projectionDistanceMm,\n    y: input.imagePointMm.y / projectionDistanceMm,\n    z: 1\n  };\n\n  const mappedRay = applyPhysicalCameraRotation(\n    initialRay,\n    angularDisplacementRad,\n    \"reference-to-camera\"\n  );\n\n  if (!Number.isFinite(mappedRay.z) || mappedRay.z <= 0) {\n    throw new InvalidScientificInputError(\n      \"Camera rotation maps the requested world ray to or behind the camera plane.\"\n    );\n  }\n\n  const mappedImagePointMm = {\n    x: projectionDistanceMm * (mappedRay.x / mappedRay.z),\n    y: projectionDistanceMm * (mappedRay.y / mappedRay.z)\n  };\n  const deltaMm = {\n    x: mappedImagePointMm.x - input.imagePointMm.x,\n    y: mappedImagePointMm.y - input.imagePointMm.y,\n    distance: Math.hypot(\n      mappedImagePointMm.x - input.imagePointMm.x,\n      mappedImagePointMm.y - input.imagePointMm.y\n    )\n  };\n\n  let deltaImagePlaneSamples:\n    | {\n        x: number;\n        y: number;\n        distance: number;\n      }\n    | undefined;\n  if (input.samplingPitchMicrometers !== undefined) {\n    const pitchXmm = input.samplingPitchMicrometers.x / 1000;\n    const pitchYmm = input.samplingPitchMicrometers.y / 1000;\n    const sampleX = deltaMm.x / pitchXmm;\n    const sampleY = deltaMm.y / pitchYmm;\n    deltaImagePlaneSamples = {\n      x: sampleX,\n      y: sampleY,\n      distance: Math.hypot(sampleX, sampleY)\n    };\n  }\n\n  return calculatedResult(\n    {\n      projectionDistanceMm,\n      timeSecondsFromExposureStart:\n        input.timeSecondsFromExposureStart,\n      angularDisplacementRad: {\n        ...angularDisplacementRad,\n        magnitude: angularMagnitude\n      },\n      startImagePointMm: { ...input.imagePointMm },\n      mappedImagePointMm,\n      deltaMm,\n      ...(deltaImagePlaneSamples === undefined\n        ? {}\n        : { deltaImagePlaneSamples })\n    },\n    focusAware\n      ? \"focus-aware-spatial-camera-rotation-mapping\"\n      : \"spatial-camera-rotation-mapping\",\n    \"2.0.0\",\n    [\n      \"Ideal rectilinear projection\",\n      focusAware\n        ? \"Thin-lens image distance for the selected focus plane is used as the projection distance\"\n        : \"Nominal focal length is used as the infinity-focus projection distance\",\n      \"Camera angular velocity is constant during the evaluated interval\",\n      \"Angular velocity components are resolved in the camera axes at exposure start and integrated as one axis-angle vector\",\n      \"Positive pitch/yaw/roll follow the physical right-hand rule about camera +X/+Y/+Z (pitch up, yaw left, roll clockwise seen from behind); the camera basis is left-handed\",\n      \"The world ray is stationary; subject motion is not included\",\n      \"Camera translation and depth-dependent parallax are not modeled\",\n      \"The stationary world ray is transformed by the inverse camera rotation before rectilinear projection\"\n    ]\n  );\n}\n\n\n/**\n * Maps a captured stationary-world ray at one non-negative capture time back\n * to its image-plane location at exposure start.\n *\n * For this constant-axis, pure-rotation model the inverse is analytic: apply\n * the forward camera rotation to the captured ray, then project\n * rectilinearly. No iterative solver is needed.\n */\nexport function calculateInverseCameraRotationImageMapping(\n  input: CalculateInverseCameraRotationImageMappingInput\n): CalculationResult<InverseCameraRotationImageMapping> {\n  requireInputKeys(input, \"calculateInverseCameraRotationImageMapping\", [\"focalLengthMm\", \"imagePointMm\", \"timeSecondsFromExposureStart\", \"angularVelocityRadPerSec\", \"focusDistanceM\", \"samplingPitchMicrometers\"]);\n  requirePositiveFinite(\"focalLengthMm\", input.focalLengthMm);\n  requireRotationMappingSubObjects(input);\n  requireFinite(\"imagePointMm.x\", input.imagePointMm.x);\n  requireFinite(\"imagePointMm.y\", input.imagePointMm.y);\n  requireNonNegativeFinite(\n    \"timeSecondsFromExposureStart\",\n    input.timeSecondsFromExposureStart\n  );\n  requireFinite(\n    \"angularVelocityRadPerSec.pitch\",\n    input.angularVelocityRadPerSec.pitch\n  );\n  requireFinite(\n    \"angularVelocityRadPerSec.yaw\",\n    input.angularVelocityRadPerSec.yaw\n  );\n  requireFinite(\n    \"angularVelocityRadPerSec.roll\",\n    input.angularVelocityRadPerSec.roll\n  );\n\n  if (input.samplingPitchMicrometers !== undefined) {\n    requirePositiveFinite(\n      \"samplingPitchMicrometers.x\",\n      input.samplingPitchMicrometers.x\n    );\n    requirePositiveFinite(\n      \"samplingPitchMicrometers.y\",\n      input.samplingPitchMicrometers.y\n    );\n  }\n\n  const { projectionDistanceMm, focusAware } =\n    resolveProjectionDistanceMm(\n      input.focalLengthMm,\n      input.focusDistanceM\n    );\n\n  const angularDisplacementRad = {\n    pitch:\n      input.angularVelocityRadPerSec.pitch *\n      input.timeSecondsFromExposureStart,\n    yaw:\n      input.angularVelocityRadPerSec.yaw *\n      input.timeSecondsFromExposureStart,\n    roll:\n      input.angularVelocityRadPerSec.roll *\n      input.timeSecondsFromExposureStart\n  };\n  const angularMagnitude = Math.hypot(\n    angularDisplacementRad.pitch,\n    angularDisplacementRad.yaw,\n    angularDisplacementRad.roll\n  );\n\n  const capturedRay: Vector3 = {\n    x: input.imagePointMm.x / projectionDistanceMm,\n    y: input.imagePointMm.y / projectionDistanceMm,\n    z: 1\n  };\n\n  const referenceRay = applyPhysicalCameraRotation(\n    capturedRay,\n    angularDisplacementRad,\n    \"camera-to-reference\"\n  );\n\n  if (!Number.isFinite(referenceRay.z) || referenceRay.z <= 0) {\n    throw new InvalidScientificInputError(\n      \"Inverse camera rotation maps the requested captured ray to or behind the reference camera plane.\"\n    );\n  }\n\n  const referenceImagePointMm = {\n    x: projectionDistanceMm * (referenceRay.x / referenceRay.z),\n    y: projectionDistanceMm * (referenceRay.y / referenceRay.z)\n  };\n  const deltaMm = {\n    x: referenceImagePointMm.x - input.imagePointMm.x,\n    y: referenceImagePointMm.y - input.imagePointMm.y,\n    distance: Math.hypot(\n      referenceImagePointMm.x - input.imagePointMm.x,\n      referenceImagePointMm.y - input.imagePointMm.y\n    )\n  };\n\n  let deltaImagePlaneSamples:\n    | {\n        x: number;\n        y: number;\n        distance: number;\n      }\n    | undefined;\n  if (input.samplingPitchMicrometers !== undefined) {\n    const pitchXmm = input.samplingPitchMicrometers.x / 1000;\n    const pitchYmm = input.samplingPitchMicrometers.y / 1000;\n    const sampleX = deltaMm.x / pitchXmm;\n    const sampleY = deltaMm.y / pitchYmm;\n    deltaImagePlaneSamples = {\n      x: sampleX,\n      y: sampleY,\n      distance: Math.hypot(sampleX, sampleY)\n    };\n  }\n\n  return calculatedResult(\n    {\n      projectionDistanceMm,\n      timeSecondsFromExposureStart:\n        input.timeSecondsFromExposureStart,\n      angularDisplacementRad: {\n        ...angularDisplacementRad,\n        magnitude: angularMagnitude\n      },\n      capturedImagePointMm: { ...input.imagePointMm },\n      referenceImagePointMm,\n      deltaMm,\n      ...(deltaImagePlaneSamples === undefined\n        ? {}\n        : { deltaImagePlaneSamples })\n    },\n    focusAware\n      ? \"focus-aware-inverse-spatial-camera-rotation-mapping\"\n      : \"inverse-spatial-camera-rotation-mapping\",\n    \"2.0.0\",\n    [\n      \"Ideal rectilinear projection\",\n      focusAware\n        ? \"Thin-lens image distance for the selected focus plane is used as the projection distance\"\n        : \"Nominal focal length is used as the infinity-focus projection distance\",\n      \"Camera angular velocity is constant during the evaluated interval\",\n      \"Angular velocity components are resolved in the camera axes at exposure start and integrated as one axis-angle vector\",\n      \"Positive pitch/yaw/roll follow the physical right-hand rule about camera +X/+Y/+Z (pitch up, yaw left, roll clockwise seen from behind); the camera basis is left-handed\",\n      \"The inverse is analytic under the same constant-axis pure-rotation model; no iterative solve is used\",\n      \"The captured stationary-world ray is transformed by the forward camera rotation to recover its exposure-start reference ray\",\n      \"Camera translation, scene depth parallax and subject motion are not modeled\"\n    ]\n  );\n}\n"]}

package/dist/motion/capture-rotation-inverse-mapping.d.ts

@@ -1,15 +1,18 @@
 /**
- * Module boundary and integration notes.
- * Calculates an instantaneous inverse capture-scan mapping for stationary world rays under pure camera
- * rotation. The destination native sensor location is authoritative for local exposure timing. At an
- * explicit phase within that local window, the captured image-plane ray is analytically mapped back to
- * the reference image plane at the first opening-boundary phase. No fixed-point/iterative solve is
- * used because pure rotation under the existing constant-axis model has an analytic inverse once
- * destination location and local capture time are known. This function is not a finite-exposure
- * renderer and does not integrate blur. Sensor data-readout timing is deliberately absent; exposure
- * boundaries are the only timing source.
- * @see docs/MOTION_AND_SIGNAL.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Instantaneous inverse mapping for a rotating camera whose sensor exposes different points at
+ * different times (for example a rolling shutter). Applies to still world rays under pure camera
+ * rotation.
+ *
+ * The destination point on the native sensor sets the local exposure timing. At a chosen phase within
+ * that local window, the captured image-plane ray is mapped back analytically to the reference image
+ * plane at the first opening-boundary phase (when the shutter starts to open). No iterative solve is
+ * needed: once the destination and local capture time are known, pure rotation under this
+ * constant-axis model has an analytic inverse.
+ *
+ * This is not a renderer for a finite exposure, and it does not integrate blur. Sensor data-readout
+ * timing is deliberately not used; exposure boundaries are the only timing source.
+ * @see docs/MOTION_AND_SIGNAL.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
  */
 import { type CalculationProvenance, type CalculationResult } from "../core/calculation-result.js";
 import { type CaptureOrientation, type RasterPoint, type RasterVector } from "../output/capture-geometry.js";
@@ -22,17 +25,18 @@ export interface CalculateCaptureRotationInverseMappingsInput extends CalculateC
     focusDistanceM?: number;
     angularVelocityRadPerSec: CameraAngularVelocityRadPerSec;
     /**
-     * Fraction of each point's local exposure interval at which the
-     * instantaneous mapping is evaluated.
+     * Where in each point's local exposure interval to evaluate the
+     * instantaneous mapping, as a fraction.
      *
      * 0 = local exposure start, 0.5 = local midpoint, 1 = local exposure end.
-     * A phase is required because finite exposure has no single sharp geometry.
+     * A phase is required because a finite exposure has no single sharp
+     * geometry.
      */
     localExposurePhase: number;
     /**
-     * Physical capture orientation used only to rotate the reported native
-     * inverse sample-displacement vector into oriented-capture coordinates.
-     * It does not alter the native exposure schedule.
+     * Physical capture orientation. It is used only to rotate the reported
+     * native inverse displacement (in samples) into oriented-capture
+     * coordinates. It does not change the native exposure schedule.
      */
     orientation: CaptureOrientation;
     samplePointsNative: readonly RasterPoint[];
@@ -48,8 +52,8 @@ export interface CaptureRotationInverseMappingSample {
     localExposurePhase: number;
     captureTimeSecondsFromReference: number;
     /**
-     * Same stationary world ray expressed in the exposure-start reference image
-     * plane. This may lie outside the active capture; it is intentionally not
+     * The same still world ray on the reference image plane at exposure start.
+     * It may lie outside the active capture area; it is deliberately not
      * clamped.
      */
     referenceImagePointMm: ImagePlanePointMm;
@@ -59,8 +63,8 @@ export interface CaptureRotationInverseMappingSample {
         distance: number;
     };
     /**
-     * Reference-minus-destination displacement in continuous native effective
-     * raster-sample units (+X right, +Y down).
+     * Reference minus destination displacement, in continuous native effective
+     * raster samples (+X right, +Y down).
      */
     inverseDisplacementNativeSamples: RasterVector & {
         distance: number;
@@ -93,21 +97,20 @@ export interface CaptureRotationInverseMappings {
     };
 }
 /**
- * Calculates an instantaneous inverse capture-scan mapping for stationary
- * world rays under pure camera rotation.
+ * Calculates an instantaneous inverse capture-scan mapping for still world
+ * rays under pure camera rotation.
  *
- * The destination native sensor location is authoritative for local exposure
- * timing. At an explicit phase within that local window, the captured
- * image-plane ray is analytically mapped back to the reference image plane at
- * the first opening-boundary phase.
+ * The destination point on the native sensor sets the local exposure timing.
+ * At a chosen phase within that local window, the captured image-plane ray is
+ * mapped back analytically to the reference image plane at the first
+ * opening-boundary phase.
  *
- * No fixed-point/iterative solve is used because pure rotation under the
- * existing constant-axis model has an analytic inverse once destination
- * location and local capture time are known.
+ * No iterative solve is needed. Once the destination and local capture time
+ * are known, pure rotation under this constant-axis model has an analytic
+ * inverse.
  *
- * This function is not a finite-exposure renderer and does not integrate blur.
- * Sensor data-readout timing is deliberately absent; exposure boundaries are
- * the only timing source.
+ * This is not a renderer for a finite exposure, and it does not integrate
+ * blur. Sensor data-readout timing is deliberately not used; exposure
+ * boundaries are the only timing source.
  */
 export declare function calculateCaptureRotationInverseMappings(input: CalculateCaptureRotationInverseMappingsInput): CalculationResult<CaptureRotationInverseMappings>;
-//# sourceMappingURL=capture-rotation-inverse-mapping.d.ts.map

package/dist/motion/capture-rotation-inverse-mapping.js

@@ -1,16 +1,19 @@
 // SPDX-License-Identifier: Apache-2.0
 /**
- * Module boundary and integration notes.
- * Calculates an instantaneous inverse capture-scan mapping for stationary world rays under pure camera
- * rotation. The destination native sensor location is authoritative for local exposure timing. At an
- * explicit phase within that local window, the captured image-plane ray is analytically mapped back to
- * the reference image plane at the first opening-boundary phase. No fixed-point/iterative solve is
- * used because pure rotation under the existing constant-axis model has an analytic inverse once
- * destination location and local capture time are known. This function is not a finite-exposure
- * renderer and does not integrate blur. Sensor data-readout timing is deliberately absent; exposure
- * boundaries are the only timing source.
- * @see docs/MOTION_AND_SIGNAL.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Instantaneous inverse mapping for a rotating camera whose sensor exposes different points at
+ * different times (for example a rolling shutter). Applies to still world rays under pure camera
+ * rotation.
+ *
+ * The destination point on the native sensor sets the local exposure timing. At a chosen phase within
+ * that local window, the captured image-plane ray is mapped back analytically to the reference image
+ * plane at the first opening-boundary phase (when the shutter starts to open). No iterative solve is
+ * needed: once the destination and local capture time are known, pure rotation under this
+ * constant-axis model has an analytic inverse.
+ *
+ * This is not a renderer for a finite exposure, and it does not integrate blur. Sensor data-readout
+ * timing is deliberately not used; exposure boundaries are the only timing source.
+ * @see docs/MOTION_AND_SIGNAL.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
  */
 import { approximationResult } from "../core/calculation-result.js";
 import { InvalidScientificInputError, requirePositiveFinite } from "../core/validation.js";
@@ -18,6 +21,8 @@ import { mapOrientedPhysicalUvToImagePlanePoint, resolveCaptureGeometry, transfo
 import { calculateCaptureExposureWindows } from "../sensor/exposure-window.js";
 import { calculateSensorGeometryMetrics } from "../sensor/sensor-geometry.js";
 import { calculateInverseCameraRotationImageMapping } from "./camera-rotation.js";
+import { requireInputObject, requireInputKeys } from "../core/record-validation.js";
+import { InvalidConfigurationError } from "../core/configuration-error.js";
 function requireExposurePhase(value) {
     if (!Number.isFinite(value) || value < 0 || value > 1) {
         throw new InvalidScientificInputError("localExposurePhase must be finite and within [0, 1].");
@@ -25,8 +30,9 @@ function requireExposurePhase(value) {
 }
 function requireNonEmptySamples(value) {
     if (!Array.isArray(value) || value.length === 0) {
-        throw new InvalidScientificInputError("samplePointsNative must be a non-empty array.");
+        throw new InvalidConfigurationError("samplePointsNative must be a non-empty array.");
     }
+    value.forEach((point, index) => requireInputObject(point, "samplePointsNative[" + index + "]"));
 }
 function nativePointToImagePlane(point, activeCaptureRect, activePhysicalBoundsFromOpticalAxisMm) {
     const u = (point.x - activeCaptureRect.x) / activeCaptureRect.width;
@@ -42,23 +48,25 @@ function captureTimeAtPhase(exposure, phase) {
         phase * exposure.localExposureDurationSeconds);
 }
 /**
- * Calculates an instantaneous inverse capture-scan mapping for stationary
- * world rays under pure camera rotation.
+ * Calculates an instantaneous inverse capture-scan mapping for still world
+ * rays under pure camera rotation.
  *
- * The destination native sensor location is authoritative for local exposure
- * timing. At an explicit phase within that local window, the captured
- * image-plane ray is analytically mapped back to the reference image plane at
- * the first opening-boundary phase.
+ * The destination point on the native sensor sets the local exposure timing.
+ * At a chosen phase within that local window, the captured image-plane ray is
+ * mapped back analytically to the reference image plane at the first
+ * opening-boundary phase.
  *
- * No fixed-point/iterative solve is used because pure rotation under the
- * existing constant-axis model has an analytic inverse once destination
- * location and local capture time are known.
+ * No iterative solve is needed. Once the destination and local capture time
+ * are known, pure rotation under this constant-axis model has an analytic
+ * inverse.
  *
- * This function is not a finite-exposure renderer and does not integrate blur.
- * Sensor data-readout timing is deliberately absent; exposure boundaries are
- * the only timing source.
+ * This is not a renderer for a finite exposure, and it does not integrate
+ * blur. Sensor data-readout timing is deliberately not used; exposure
+ * boundaries are the only timing source.
  */
 export function calculateCaptureRotationInverseMappings(input) {
+    requireInputKeys(input, "calculateCaptureRotationInverseMappings", ["imagingArea", "focalLengthMm", "focusDistanceM", "angularVelocityRadPerSec", "localExposurePhase", "orientation", "samplePointsNative", "nativeRaster", "activeCaptureRect", "shutterMechanism", "nominalExposureDurationSeconds", "opening", "closing"]);
+    requireInputObject(input.imagingArea, "imagingArea");
     requirePositiveFinite("imagingArea.widthMm", input.imagingArea.widthMm);
     requirePositiveFinite("imagingArea.heightMm", input.imagingArea.heightMm);
     requirePositiveFinite("focalLengthMm", input.focalLengthMm);

package/dist/motion/capture-rotation-inverse-mapping.js.map

@@ -1 +1 @@
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SPDX-License-Identifier: Apache-2.0\n\n/**\n * Instantaneous inverse mapping for a rotating camera whose sensor exposes different points at\n * different times (for example a rolling shutter). Applies to still world rays under pure camera\n * rotation.\n *\n * The destination point on the native sensor sets the local exposure timing. At a chosen phase within\n * that local window, the captured image-plane ray is mapped back analytically to the reference image\n * plane at the first opening-boundary phase (when the shutter starts to open). No iterative solve is\n * needed: once the destination and local capture time are known, pure rotation under this\n * constant-axis model has an analytic inverse.\n *\n * This is not a renderer for a finite exposure, and it does not integrate blur. Sensor data-readout\n * timing is deliberately not used; exposure boundaries are the only timing source.\n * @see docs/MOTION_AND_SIGNAL.md for the equations, units, coordinate conventions, known blockers\n * and support limits.\n */\n\nimport {\n  approximationResult,\n  type CalculationProvenance,\n  type CalculationResult\n} from \"../core/calculation-result.js\";\nimport {\n  InvalidScientificInputError,\n  requirePositiveFinite\n} from \"../core/validation.js\";\nimport {\n  mapOrientedPhysicalUvToImagePlanePoint,\n  resolveCaptureGeometry,\n  transformNativeRasterVectorToOriented,\n  type CaptureOrientation,\n  type RasterPoint,\n  type RasterVector\n} from \"../output/capture-geometry.js\";\nimport {\n  calculateCaptureExposureWindows,\n  type CalculateCaptureExposureWindowsInput,\n  type CaptureExposureWindowSample\n} from \"../sensor/exposure-window.js\";\nimport {\n  calculateSensorGeometryMetrics,\n  type SensorImagingArea\n} from \"../sensor/sensor-geometry.js\";\nimport {\n  calculateInverseCameraRotationImageMapping,\n  type CameraAngularVelocityRadPerSec,\n  type ImagePlanePointMm\n} from \"./camera-rotation.js\";\nimport { requireInputObject, requireInputKeys } from \"../core/record-validation.js\";\nimport { InvalidConfigurationError } from \"../core/configuration-error.js\";\n\nexport interface CalculateCaptureRotationInverseMappingsInput\n  extends CalculateCaptureExposureWindowsInput {\n  imagingArea: SensorImagingArea;\n  focalLengthMm: number;\n  focusDistanceM?: number;\n  angularVelocityRadPerSec: CameraAngularVelocityRadPerSec;\n  /**\n   * Where in each point's local exposure interval to evaluate the\n   * instantaneous mapping, as a fraction.\n   *\n   * 0 = local exposure start, 0.5 = local midpoint, 1 = local exposure end.\n   * A phase is required because a finite exposure has no single sharp\n   * geometry.\n   */\n  localExposurePhase: number;\n  /**\n   * Physical capture orientation. It is used only to rotate the reported\n   * native inverse displacement (in samples) into oriented-capture\n   * coordinates. It does not change the native exposure schedule.\n   */\n  orientation: CaptureOrientation;\n  samplePointsNative: readonly RasterPoint[];\n}\n\nexport interface CaptureRotationInverseMappingSample {\n  destinationPointNative: RasterPoint;\n  destinationImagePointMm: ImagePlanePointMm;\n  localExposureWindow: {\n    startSecondsFromCaptureReference: number;\n    endSecondsFromCaptureReference: number;\n    durationSeconds: number;\n  };\n  localExposurePhase: number;\n  captureTimeSecondsFromReference: number;\n  /**\n   * The same still world ray on the reference image plane at exposure start.\n   * It may lie outside the active capture area; it is deliberately not\n   * clamped.\n   */\n  referenceImagePointMm: ImagePlanePointMm;\n  inverseDisplacementImagePlaneMm: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n  /**\n   * Reference minus destination displacement, in continuous native effective\n   * raster samples (+X right, +Y down).\n   */\n  inverseDisplacementNativeSamples: RasterVector & {\n    distance: number;\n  };\n  /**\n   * The same displacement after physical capture orientation.\n   */\n  inverseDisplacementOrientedSamples: RasterVector & {\n    distance: number;\n  };\n}\n\nexport interface CaptureRotationInverseMappings {\n  timeReference: \"first-opening-boundary-phase\";\n  referenceTimeSecondsFromCaptureReference: 0;\n  mappingMeaning:\n    \"instantaneous-destination-to-exposure-start-reference-ray\";\n  orientation: CaptureOrientation;\n  localExposurePhase: number;\n  imagingArea: SensorImagingArea;\n  activeCaptureRect: {\n    x: number;\n    y: number;\n    width: number;\n    height: number;\n  };\n  samples: readonly CaptureRotationInverseMappingSample[];\n  componentProvenance: {\n    exposureWindows: CalculationProvenance;\n    sensorGeometry: CalculationProvenance;\n    inverseCameraRotation: CalculationProvenance;\n  };\n}\n\nfunction requireExposurePhase(value: number): void {\n  if (!Number.isFinite(value) || value < 0 || value > 1) {\n    throw new InvalidScientificInputError(\n      \"localExposurePhase must be finite and within [0, 1].\"\n    );\n  }\n}\n\nfunction requireNonEmptySamples(\n  value: readonly RasterPoint[]\n): void {\n  if (!Array.isArray(value) || value.length === 0) {\n    throw new InvalidConfigurationError(\n      \"samplePointsNative must be a non-empty array.\"\n    );\n  }\n  value.forEach((point, index) => requireInputObject(point, \"samplePointsNative[\" + index + \"]\"));\n}\n\nfunction nativePointToImagePlane(\n  point: RasterPoint,\n  activeCaptureRect: {\n    x: number;\n    y: number;\n    width: number;\n    height: number;\n  },\n  activePhysicalBoundsFromOpticalAxisMm: {\n    left: number;\n    right: number;\n    top: number;\n    bottom: number;\n  }\n): ImagePlanePointMm {\n  const u = (point.x - activeCaptureRect.x) / activeCaptureRect.width;\n  const v = (point.y - activeCaptureRect.y) / activeCaptureRect.height;\n\n  return mapOrientedPhysicalUvToImagePlanePoint({\n    uv: { u, v },\n    orientedPhysicalBoundsFromOpticalAxisMm:\n      activePhysicalBoundsFromOpticalAxisMm,\n    orientation: \"landscape\"\n  });\n}\n\nfunction captureTimeAtPhase(\n  exposure: CaptureExposureWindowSample,\n  phase: number\n): number {\n  return (\n    exposure.startOffsetSecondsFromOpeningReference +\n    phase * exposure.localExposureDurationSeconds\n  );\n}\n\n/**\n * Calculates an instantaneous inverse capture-scan mapping for still world\n * rays under pure camera rotation.\n *\n * The destination point on the native sensor sets the local exposure timing.\n * At a chosen phase within that local window, the captured image-plane ray is\n * mapped back analytically to the reference image plane at the first\n * opening-boundary phase.\n *\n * No iterative solve is needed. Once the destination and local capture time\n * are known, pure rotation under this constant-axis model has an analytic\n * inverse.\n *\n * This is not a renderer for a finite exposure, and it does not integrate\n * blur. Sensor data-readout timing is deliberately not used; exposure\n * boundaries are the only timing source.\n */\nexport function calculateCaptureRotationInverseMappings(\n  input: CalculateCaptureRotationInverseMappingsInput\n): CalculationResult<CaptureRotationInverseMappings> {\n  requireInputKeys(input, \"calculateCaptureRotationInverseMappings\", [\"imagingArea\", \"focalLengthMm\", \"focusDistanceM\", \"angularVelocityRadPerSec\", \"localExposurePhase\", \"orientation\", \"samplePointsNative\", \"nativeRaster\", \"activeCaptureRect\", \"shutterMechanism\", \"nominalExposureDurationSeconds\", \"opening\", \"closing\"]);\n  requireInputObject(input.imagingArea, \"imagingArea\");\n  requirePositiveFinite(\"imagingArea.widthMm\", input.imagingArea.widthMm);\n  requirePositiveFinite(\"imagingArea.heightMm\", input.imagingArea.heightMm);\n  requirePositiveFinite(\"focalLengthMm\", input.focalLengthMm);\n  requireExposurePhase(input.localExposurePhase);\n  requireNonEmptySamples(input.samplePointsNative);\n\n  const exposureWindows = calculateCaptureExposureWindows({\n    nativeRaster: input.nativeRaster,\n    ...(input.activeCaptureRect === undefined\n      ? {}\n      : { activeCaptureRect: input.activeCaptureRect }),\n    shutterMechanism: input.shutterMechanism,\n    nominalExposureDurationSeconds:\n      input.nominalExposureDurationSeconds,\n    opening: input.opening,\n    closing: input.closing,\n    samplePointsNative: input.samplePointsNative\n  });\n\n  const geometry = resolveCaptureGeometry({\n    imagingArea: input.imagingArea,\n    nativeRaster: input.nativeRaster,\n    orientation: input.orientation,\n    activeCaptureRect: exposureWindows.value.activeCaptureRect\n  }).value;\n\n  const sensorGeometry = calculateSensorGeometryMetrics({\n    imagingArea: input.imagingArea,\n    nativeRaster: input.nativeRaster\n  });\n\n  const pitchXmm =\n    sensorGeometry.value.sampling.pitchXMicrometers / 1000;\n  const pitchYmm =\n    sensorGeometry.value.sampling.pitchYMicrometers / 1000;\n\n  let inverseRotationProvenance: CalculationProvenance | undefined;\n  const samples = input.samplePointsNative.map((point, index) => {\n    const exposure = exposureWindows.value.samples[index];\n    if (exposure === undefined) {\n      throw new InvalidScientificInputError(\n        \"Exposure-window sample alignment failed.\"\n      );\n    }\n\n    const destinationImagePointMm = nativePointToImagePlane(\n      point,\n      geometry.activeCapture.nativeRect,\n      geometry.activeCapture.physicalBoundsFromOpticalAxisMm\n    );\n    const captureTimeSecondsFromReference = captureTimeAtPhase(\n      exposure,\n      input.localExposurePhase\n    );\n\n    const inverse = calculateInverseCameraRotationImageMapping({\n      focalLengthMm: input.focalLengthMm,\n      imagePointMm: destinationImagePointMm,\n      timeSecondsFromExposureStart:\n        captureTimeSecondsFromReference,\n      angularVelocityRadPerSec: input.angularVelocityRadPerSec,\n      ...(input.focusDistanceM === undefined\n        ? {}\n        : { focusDistanceM: input.focusDistanceM }),\n      samplingPitchMicrometers: {\n        x: sensorGeometry.value.sampling.pitchXMicrometers,\n        y: sensorGeometry.value.sampling.pitchYMicrometers\n      }\n    });\n    inverseRotationProvenance ??= inverse.provenance;\n\n    const nativeX = inverse.value.deltaMm.x / pitchXmm;\n    const nativeY = -inverse.value.deltaMm.y / pitchYmm;\n    const inverseDisplacementNativeSamples = {\n      x: nativeX,\n      y: nativeY,\n      distance: Math.hypot(nativeX, nativeY)\n    };\n    const orientedVector = transformNativeRasterVectorToOriented({\n      vector: {\n        x: inverseDisplacementNativeSamples.x,\n        y: inverseDisplacementNativeSamples.y\n      },\n      orientation: input.orientation\n    });\n    const inverseDisplacementOrientedSamples = {\n      ...orientedVector,\n      distance: Math.hypot(orientedVector.x, orientedVector.y)\n    };\n\n    return {\n      destinationPointNative: { ...point },\n      destinationImagePointMm,\n      localExposureWindow: {\n        startSecondsFromCaptureReference:\n          exposure.startOffsetSecondsFromOpeningReference,\n        endSecondsFromCaptureReference:\n          exposure.endOffsetSecondsFromOpeningReference,\n        durationSeconds: exposure.localExposureDurationSeconds\n      },\n      localExposurePhase: input.localExposurePhase,\n      captureTimeSecondsFromReference,\n      referenceImagePointMm: {\n        ...inverse.value.referenceImagePointMm\n      },\n      inverseDisplacementImagePlaneMm: {\n        ...inverse.value.deltaMm\n      },\n      inverseDisplacementNativeSamples,\n      inverseDisplacementOrientedSamples\n    };\n  });\n\n  if (inverseRotationProvenance === undefined) {\n    throw new InvalidScientificInputError(\n      \"At least one inverse rotation mapping sample is required.\"\n    );\n  }\n\n  return approximationResult(\n    {\n      timeReference: \"first-opening-boundary-phase\",\n      referenceTimeSecondsFromCaptureReference: 0,\n      mappingMeaning:\n        \"instantaneous-destination-to-exposure-start-reference-ray\",\n      orientation: input.orientation,\n      localExposurePhase: input.localExposurePhase,\n      imagingArea: { ...input.imagingArea },\n      activeCaptureRect: {\n        ...exposureWindows.value.activeCaptureRect\n      },\n      samples,\n      componentProvenance: {\n        exposureWindows: exposureWindows.provenance,\n        sensorGeometry: sensorGeometry.provenance,\n        inverseCameraRotation: inverseRotationProvenance\n      }\n    },\n    \"capture-rotation-instantaneous-inverse-mapping\",\n    \"1.0.0\",\n    [\n      \"Destination native capture location determines the local exposure window.\",\n      \"The caller explicitly selects one phase within each local exposure interval; no midpoint or other phase is inferred.\",\n      \"The first opening-boundary phase is the reference image time and is bound to t=0 of the camera-rotation model for this composition.\",\n      \"Pure rotation is inverted analytically after local capture time is known; no iterative or fixed-point solver is used.\",\n      \"Sensor data-readout timing is not an input and is not assumed to equal any exposure boundary.\",\n      \"Reference image-plane coordinates are not clamped to the active capture and may fall outside it under motion.\",\n      \"Native geometric sample displacement uses the full physical imaging-area/native-raster pitch and is not output-resolution dependent.\",\n      \"Physical capture orientation rotates reported native displacement only; it does not alter native exposure timing.\",\n      \"The mapping lives in the ideal pre-lens image plane and does not compose radial distortion, chromatic aberration, PSF, or output resampling.\",\n      \"This is an instantaneous mapping, not finite-exposure integration or a blur kernel.\",\n      \"Camera translation, depth parallax, subject motion, deformation, occlusion changes, flash/flicker and shutter shock are excluded.\",\n      \"The model does not claim the global rolling/capture-scan picture-taking map is one-to-one for arbitrary motion.\"\n    ]\n  );\n}\n"]}