@photivra/engine 1.4.0 → 2.0.0

package/dist/motion/capture-translation-parallax-temporal-quadrature.js

@@ -1,18 +1,23 @@
 // SPDX-License-Identifier: Apache-2.0
 /**
- * Module boundary and integration notes.
- * Evaluates depth-dependent translational parallax at deterministic midpoint nodes over each scene
- * point's authoritative local exposure window. The model is deliberately per point. Camera translation
- * and optional subject translation coexist through relative linear motion; neither is redefined as the
- * other. Camera rotation and visibility/occlusion remain separate models.
- * @see docs/MOTION_AND_SIGNAL.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Parallax from camera movement (translation): nearer points shift more in the image than distant
+ * ones. It is evaluated at deterministic midpoint time samples across each scene point's local
+ * exposure window.
+ *
+ * The model works point by point, on purpose. Camera movement and optional subject movement combine
+ * as relative linear motion; neither is recast as the other. Camera rotation, and visibility or
+ * occlusion, are separate models.
+ * @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, requirePositiveInteger } from "../core/validation.js";
 import { transformNativeRasterVectorToOriented } from "../output/capture-geometry.js";
 import { calculateThinLensImageDistance } from "../optics/thin-lens.js";
+import { requireInputObject, requireInputKeys } from "../core/record-validation.js";
+import { InvalidConfigurationError } from "../core/configuration-error.js";
 function requireFiniteVector(value, path) {
+    requireInputObject(value, path);
     for (const axis of ["x", "y", "z"]) {
         if (!Number.isFinite(value[axis])) {
             throw new InvalidScientificInputError(path +
@@ -28,7 +33,7 @@ function requireFiniteVector(value, path) {
 function requireNonEmptyString(value, path) {
     if (typeof value !== "string" ||
         value.trim().length === 0) {
-        throw new InvalidScientificInputError(path +
+        throw new InvalidConfigurationError(path +
             " must be a non-empty string.");
     }
     return value.trim();
@@ -58,6 +63,7 @@ function projectPoint(positionM, projectionDistanceMm, path) {
     return mapped;
 }
 function localExposureForPoint(timing, point) {
+    requireInputObject(point, "destinationPointNative");
     const matches = timing.exposureWindows.samples.filter((sample) => samePoint(sample.pointNative, point));
     if (matches.length !== 1) {
         throw new InvalidScientificInputError("Each translation/parallax scene sample must match exactly one committed exposure-window sample point.");
@@ -65,22 +71,35 @@ function localExposureForPoint(timing, point) {
     return matches[0];
 }
 /**
- * Evaluates depth-dependent translational parallax at deterministic midpoint
- * nodes over each scene point's authoritative local exposure window.
+ * Evaluates depth-dependent parallax from camera movement at deterministic
+ * midpoint time samples across each scene point's local exposure window.
  *
- * The model is deliberately per point. Camera translation and optional subject
- * translation coexist through relative linear motion; neither is redefined as
- * the other. Camera rotation and visibility/occlusion remain separate models.
+ * The model works point by point, on purpose. Camera movement and optional
+ * subject movement combine as relative linear motion; neither is recast as
+ * the other. Camera rotation, and visibility or occlusion, are separate
+ * models.
  */
 export function calculateCaptureTranslationParallaxTemporalQuadrature(input) {
+    requireInputKeys(input, "calculateCaptureTranslationParallaxTemporalQuadrature", ["timing", "imagingArea", "focalLengthMm", "focusDistanceM", "orientation", "cameraTranslationVelocityMps", "temporalSampleCount", "sceneSamples"]);
+    requireInputObject(input.imagingArea, "imagingArea");
+    requireInputObject(input.timing, "timing");
+    requireInputObject(input.timing.nativeRaster, "timing.nativeRaster");
+    requireInputObject(input.timing.exposureWindows, "timing.exposureWindows");
+    if (!Array.isArray(input.timing.exposureWindows.samples))
+        throw new InvalidConfigurationError("timing.exposureWindows.samples must be an array.");
+    input.timing.exposureWindows.samples.forEach((sample, index) => {
+        requireInputObject(sample, "timing.exposureWindows.samples[" + index + "]");
+        requireInputObject(sample.pointNative, "timing.exposureWindows.samples[" + index + "].pointNative");
+    });
     requirePositiveFinite("imagingArea.widthMm", input.imagingArea.widthMm);
     requirePositiveFinite("imagingArea.heightMm", input.imagingArea.heightMm);
     requirePositiveFinite("focalLengthMm", input.focalLengthMm);
     requirePositiveInteger("temporalSampleCount", input.temporalSampleCount);
     if (!Array.isArray(input.sceneSamples) ||
         input.sceneSamples.length === 0) {
-        throw new InvalidScientificInputError("sceneSamples must be a non-empty array.");
+        throw new InvalidConfigurationError("sceneSamples must be a non-empty array.");
     }
+    input.sceneSamples.forEach((sample, index) => requireInputObject(sample, "sceneSamples[" + index + "]"));
     const ids = input.sceneSamples.map((sample) => requireNonEmptyString(sample.sampleId, "sceneSamples[].sampleId"));
     if (new Set(ids).size !==
         ids.length) {

package/dist/motion/capture-translation-parallax-temporal-quadrature.js.map

@@ -1 +1 @@
-{"version":3,"file":"capture-translation-parallax-temporal-quadrature.js","sourceRoot":"","sources":["../../src/motion/capture-translation-parallax-temporal-quadrature.ts"],"names":[],"mappings":"AAAA,sCAAsC;AAEtC;;;;;;;;GAQG;AAEH,OAAO,EACL,mBAAmB,EAEpB,MAAM,+BAA+B,CAAC;AACvC,OAAO,EACL,2BAA2B,EAC3B,qBAAqB,EACrB,sBAAsB,EACvB,MAAM,uBAAuB,CAAC;AAC/B,OAAO,EACL,qCAAqC,EAGtC,MAAM,+BAA+B,CAAC;AACvC,OAAO,EAAE,8BAA8B,EAAE,MAAM,wBAAwB,CAAC;AAiIxE,SAAS,mBAAmB,CAC1B,KAAc,EACd,IAAY;IAEZ,KACE,MAAM,IAAI,IACV,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAU,EACxB,CAAC;QACD,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,KAAK,CAAC,IAAI,CAAC,CACZ,EACD,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;gBACF,GAAG;gBACH,IAAI;gBACJ,kBAAkB,CACrB,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO;QACL,GAAG,KAAK;KACT,CAAC;AACJ,CAAC;AAED,SAAS,qBAAqB,CAC5B,KAAa,EACb,IAAY;IAEZ,IACE,OAAO,KAAK,KAAK,QAAQ;QACzB,KAAK,CAAC,IAAI,EAAE,CAAC,MAAM,KAAK,CAAC,EACzB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,8BAA8B,CACjC,CAAC;IACJ,CAAC;IACD,OAAO,KAAK,CAAC,IAAI,EAAE,CAAC;AACtB,CAAC;AAED,SAAS,SAAS,CAChB,CAAc,EACd,CAAc;IAEd,OAAO,CACL,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;QACX,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CACZ,CAAC;AACJ,CAAC;AAED,SAAS,YAAY,CACnB,SAAkB,EAClB,oBAA4B,EAC5B,IAAY;IAKZ,IACE,SAAS,CAAC,CAAC,IAAI,CAAC,EAChB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,4CAA4C,CAC/C,CAAC;IACJ,CAAC;IACD,MAAM,MAAM,GAAG;QACb,CAAC,EACC,oBAAoB;YACpB,CAAC,SAAS,CAAC,CAAC;gBACV,SAAS,CAAC,CAAC,CAAC;QAChB,CAAC,EACC,oBAAoB;YACpB,CAAC,SAAS,CAAC,CAAC;gBACV,SAAS,CAAC,CAAC,CAAC;KACjB,CAAC;IACF,IACE,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC;QAC1B,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAC1B,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,iCAAiC,CACpC,CAAC;IACJ,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,SAAS,qBAAqB,CAC5B,MAC2B,EAC3B,KACa;IAEb,MAAM,OAAO,GACX,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,MAAM,CACnC,CAAC,MAAM,EAAE,EAAE,CACT,SAAS,CACP,MAAM,CAAC,WAAW,EAClB,KAAK,CACN,CACJ,CAAC;IACJ,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;QACzB,MAAM,IAAI,2BAA2B,CACnC,uGAAuG,CACxG,CAAC;IACJ,CAAC;IACD,OAAO,OAAO,CAAC,CAAC,CAAE,CAAC;AACrB,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,UAAU,qDAAqD,CACnE,KAC4D;IAE5D,qBAAqB,CACnB,qBAAqB,EACrB,KAAK,CAAC,WAAW,CAAC,OAAO,CAC1B,CAAC;IACF,qBAAqB,CACnB,sBAAsB,EACtB,KAAK,CAAC,WAAW,CAAC,QAAQ,CAC3B,CAAC;IACF,qBAAqB,CACnB,eAAe,EACf,KAAK,CAAC,aAAa,CACpB,CAAC;IACF,sBAAsB,CACpB,qBAAqB,EACrB,KAAK,CAAC,mBAAmB,CAC1B,CAAC;IAEF,IACE,CAAC,KAAK,CAAC,OAAO,CACZ,KAAK,CAAC,YAAY,CACnB;QACD,KAAK,CAAC,YAAY,CAAC,MAAM,KAAK,CAAC,EAC/B,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,yCAAyC,CAC1C,CAAC;IACJ,CAAC;IAED,MAAM,GAAG,GACP,KAAK,CAAC,YAAY,CAAC,GAAG,CACpB,CAAC,MAAM,EAAE,EAAE,CACT,qBAAqB,CACnB,MAAM,CAAC,QAAQ,EACf,yBAAyB,CAC1B,CACJ,CAAC;IACJ,IACE,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI;QACjB,GAAG,CAAC,MAAM,EACV,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,0DAA0D,CAC3D,CAAC;IACJ,CAAC;IAED,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IAEJ,MAAM,oBAAoB,GACxB,KAAK,CAAC,cAAc;QACpB,SAAS;QACP,CAAC,CAAC,KAAK,CAAC,aAAa;QACrB,CAAC,CAAC,8BAA8B,CAAC;YAC7B,aAAa,EACX,KAAK,CAAC,aAAa;YACrB,eAAe,EACb,KAAK,CAAC,cAAc;SACvB,CAAC,CAAC,KAAK,CAAC,eAAe,CAAC;IAE/B,MAAM,MAAM,GACV,KAAK,CAAC,WAAW,CAAC,OAAO;QACzB,KAAK,CAAC,MAAM,CAAC,YAAY;aACtB,UAAU,CAAC;IAChB,MAAM,MAAM,GACV,KAAK,CAAC,WAAW,CAAC,QAAQ;QAC1B,KAAK,CAAC,MAAM,CAAC,YAAY;aACtB,WAAW,CAAC;IAEjB,IACE,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC;QACxB,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC;QACxB,MAAM,IAAI,CAAC;QACX,MAAM,IAAI,CAAC,EACX,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,+EAA+E,CAChF,CAAC;IACJ,CAAC;IAED,MAAM,OAAO,GACX,KAAK,CAAC,YAAY,CAAC,GAAG,CACpB,CAAC,WAAW,EAAE,WAAW,EAAE,EAAE;QAC3B,MAAM,UAAU,GACd,eAAe;YACf,WAAW;YACX,GAAG,CAAC;QACN,MAAM,QAAQ,GACZ,qBAAqB,CACnB,WAAW,CAAC,QAAQ,EACpB,UAAU;YACR,WAAW,CACd,CAAC;QACJ,MAAM,iBAAiB,GACrB,mBAAmB,CACjB,WAAW;aACR,eAAe,EAClB,UAAU;YACR,kBAAkB,CACrB,CAAC;QACJ,IACE,iBAAiB,CAAC,CAAC,IAAI,CAAC,EACxB,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,UAAU;gBACR,uEAAuE,CAC1E,CAAC;QACJ,CAAC;QACD,MAAM,eAAe,GACnB,WAAW;aACR,kBAAkB;YACrB,SAAS;YACP,CAAC,CAAC;gBACE,CAAC,EAAE,CAAC;gBACJ,CAAC,EAAE,CAAC;gBACJ,CAAC,EAAE,CAAC;aACL;YACH,CAAC,CAAC,mBAAmB,CACjB,WAAW;iBACR,kBAAkB,EACrB,UAAU;gBACR,qBAAqB,CACxB,CAAC;QAER,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,MAAM,EACZ,WAAW;aACR,sBAAsB,CAC1B,CAAC;QACJ,MAAM,QAAQ,GACZ,QAAQ;aACL,4BAA4B,CAAC;QAClC,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,QAAQ,CACT;YACD,QAAQ,IAAI,CAAC,EACb,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,0EAA0E,CAC3E,CAAC;QACJ,CAAC;QAED,MAAM,mBAAmB,GACvB,YAAY,CACV,iBAAiB,EACjB,oBAAoB,EACpB,UAAU;YACR,kBAAkB,CACrB,CAAC;QAEJ,MAAM,oBAAoB,GACxB,CAAC;YACD,KAAK,CAAC,mBAAmB,CAAC;QAC5B,MAAM,kBAAkB,GACtB,QAAQ;YACR,KAAK,CAAC,mBAAmB,CAAC;QAE5B,MAAM,KAAK,GACT,KAAK,CAAC,IAAI,CACR;YACE,MAAM,EACJ,KAAK,CAAC,mBAAmB;SAC5B,EACD,CACE,CAAC,EACD,mBAAmB,EACnB,EAAE;YACF,MAAM,kBAAkB,GACtB,CAAC,mBAAmB;gBAClB,GAAG,CAAC;gBACN,KAAK,CAAC,mBAAmB,CAAC;YAC5B,MAAM,WAAW,GACf,QAAQ;iBACL,sCAAsC;gBACzC,kBAAkB;oBAChB,QAAQ,CAAC;YAEb,MAAM,gBAAgB,GAAG;gBACvB,CAAC,EACC,iBAAiB,CAAC,CAAC;oBACnB,CAAC,eAAe,CAAC,CAAC;wBAChB,cAAc,CAAC,CAAC,CAAC;wBACjB,WAAW;gBACf,CAAC,EACC,iBAAiB,CAAC,CAAC;oBACnB,CAAC,eAAe,CAAC,CAAC;wBAChB,cAAc,CAAC,CAAC,CAAC;wBACjB,WAAW;gBACf,CAAC,EACC,iBAAiB,CAAC,CAAC;oBACnB,CAAC,eAAe,CAAC,CAAC;wBAChB,cAAc,CAAC,CAAC,CAAC;wBACjB,WAAW;aAChB,CAAC;YAEF,MAAM,MAAM,GACV,YAAY,CACV,gBAAgB,EAChB,oBAAoB,EACpB,UAAU;gBACR,0BAA0B,CAC7B,CAAC;YACJ,MAAM,OAAO,GAAG;gBACd,CAAC,EACC,MAAM,CAAC,CAAC;oBACR,mBAAmB,CAAC,CAAC;gBACvB,CAAC,EACC,MAAM,CAAC,CAAC;oBACR,mBAAmB,CAAC,CAAC;aACxB,CAAC;YACF,MAAM,WAAW,GAAG;gBAClB,CAAC,EACC,OAAO,CAAC,CAAC;oBACT,MAAM;gBACR,CAAC,EACC,CAAC,OAAO,CAAC,CAAC;oBACV,MAAM;aACT,CAAC;YACF,MAAM,QAAQ,GACZ,qCAAqC,CAAC;gBACpC,MAAM,EACJ,WAAW;gBACb,WAAW,EACT,KAAK,CAAC,WAAW;aACpB,CAAC,CAAC;YAEL,OAAO;gBACL,mBAAmB;gBACnB,kBAAkB;gBAClB,+BAA+B,EAC7B,WAAW;gBACb,oBAAoB;gBACpB,kBAAkB;gBAClB,uBAAuB,EACrB,gBAAgB;gBAClB,kBAAkB,EAChB,MAAM;gBACR,8BAA8B,EAAE;oBAC9B,GAAG,OAAO;oBACV,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,OAAO,CAAC,CAAC,EACT,OAAO,CAAC,CAAC,CACV;iBACJ;gBACD,kBAAkB,EAAE;oBAClB,GAAG,WAAW;oBACd,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,WAAW,CAAC,CAAC,EACb,WAAW,CAAC,CAAC,CACd;iBACJ;gBACD,oBAAoB,EAAE;oBACpB,GAAG,QAAQ;oBACX,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,QAAQ,CAAC,CAAC,EACV,QAAQ,CAAC,CAAC,CACX;iBACJ;aACF,CAAC;QACJ,CAAC,CACF,CAAC;QAEJ,OAAO;YACL,QAAQ;YACR,sBAAsB,EAAE;gBACtB,GAAG,WAAW;qBACX,sBAAsB;aAC1B;YACD,wBAAwB,EACtB,iBAAiB;YACnB,kBAAkB,EAChB,eAAe;YACjB,mBAAmB,EAAE;gBACnB,gCAAgC,EAC9B,QAAQ;qBACL,sCAAsC;gBAC3C,8BAA8B,EAC5B,QAAQ;qBACL,oCAAoC;gBACzC,eAAe,EACb,QAAQ;aACX;YACD,qBAAqB,EACnB,mBAAmB;YACrB,KAAK;SACN,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,OAAO,mBAAmB,CACxB;QACE,aAAa,EACX,8BAA8B;QAChC,qBAAqB,EAAE;YACrB,SAAS,EACP,KAAK,CAAC,MAAM;iBACT,eAAe;YACpB,cAAc,EACZ,KAAK,CAAC,MAAM;iBACT,oBAAoB;YACzB,aAAa,EACX,KAAK,CAAC,MAAM;iBACT,aAAa;SACnB;QACD,WAAW,EACT,KAAK,CAAC,WAAW;QACnB,oBAAoB;QACpB,mBAAmB,EACjB,KAAK,CAAC,mBAAmB;QAC3B,4BAA4B,EAC1B,cAAc;QAChB,OAAO;QACP,aAAa,EACX,oDAAoD;QACtD,yBAAyB,EACvB,kCAAkC;QACpC,wBAAwB,EACtB,IAAI;QACN,6BAA6B,EAC3B,KAAK;QACP,sBAAsB,EACpB,KAAK;QACP,0BAA0B,EACxB,KAAK;QACP,uCAAuC,EACrC,KAAK;KACR,EACD,kDAAkD,EAClD,OAAO,EACP;QACE,yHAAyH;QACzH,iIAAiI;QACjI,+GAA+G;QAC/G,gJAAgJ;QAChJ,8IAA8I;QAC9I,sEAAsE;QACtE,wGAAwG;KACzG,CACF,CAAC;AACJ,CAAC"}
+{"version":3,"file":"capture-translation-parallax-temporal-quadrature.js","sourceRoot":"","sources":["../../src/motion/capture-translation-parallax-temporal-quadrature.ts"],"names":[],"mappings":"AAAA,sCAAsC;AAEtC;;;;;;;;;;GAUG;AAEH,OAAO,EACL,mBAAmB,EAEpB,MAAM,+BAA+B,CAAC;AACvC,OAAO,EACL,2BAA2B,EAC3B,qBAAqB,EACrB,sBAAsB,EACvB,MAAM,uBAAuB,CAAC;AAC/B,OAAO,EACL,qCAAqC,EAGtC,MAAM,+BAA+B,CAAC;AACvC,OAAO,EAAE,8BAA8B,EAAE,MAAM,wBAAwB,CAAC;AAQxE,OAAO,EAAE,kBAAkB,EAAE,gBAAgB,EAAE,MAAM,8BAA8B,CAAC;AACpF,OAAO,EAAE,yBAAyB,EAAE,MAAM,gCAAgC,CAAC;AA0H3E,SAAS,mBAAmB,CAC1B,KAAc,EACd,IAAY;IAEZ,kBAAkB,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;IAChC,KACE,MAAM,IAAI,IACV,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAU,EACxB,CAAC;QACD,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,KAAK,CAAC,IAAI,CAAC,CACZ,EACD,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;gBACF,GAAG;gBACH,IAAI;gBACJ,kBAAkB,CACrB,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO;QACL,GAAG,KAAK;KACT,CAAC;AACJ,CAAC;AAED,SAAS,qBAAqB,CAC5B,KAAa,EACb,IAAY;IAEZ,IACE,OAAO,KAAK,KAAK,QAAQ;QACzB,KAAK,CAAC,IAAI,EAAE,CAAC,MAAM,KAAK,CAAC,EACzB,CAAC;QACD,MAAM,IAAI,yBAAyB,CACjC,IAAI;YACF,8BAA8B,CACjC,CAAC;IACJ,CAAC;IACD,OAAO,KAAK,CAAC,IAAI,EAAE,CAAC;AACtB,CAAC;AAED,SAAS,SAAS,CAChB,CAAc,EACd,CAAc;IAEd,OAAO,CACL,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;QACX,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CACZ,CAAC;AACJ,CAAC;AAED,SAAS,YAAY,CACnB,SAAkB,EAClB,oBAA4B,EAC5B,IAAY;IAKZ,IACE,SAAS,CAAC,CAAC,IAAI,CAAC,EAChB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,4CAA4C,CAC/C,CAAC;IACJ,CAAC;IACD,MAAM,MAAM,GAAG;QACb,CAAC,EACC,oBAAoB;YACpB,CAAC,SAAS,CAAC,CAAC;gBACV,SAAS,CAAC,CAAC,CAAC;QAChB,CAAC,EACC,oBAAoB;YACpB,CAAC,SAAS,CAAC,CAAC;gBACV,SAAS,CAAC,CAAC,CAAC;KACjB,CAAC;IACF,IACE,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC;QAC1B,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAC1B,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,iCAAiC,CACpC,CAAC;IACJ,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,SAAS,qBAAqB,CAC5B,MAC2B,EAC3B,KACa;IAEb,kBAAkB,CAAC,KAAK,EAAE,wBAAwB,CAAC,CAAC;IACpD,MAAM,OAAO,GACX,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,MAAM,CACnC,CAAC,MAAM,EAAE,EAAE,CACT,SAAS,CACP,MAAM,CAAC,WAAW,EAClB,KAAK,CACN,CACJ,CAAC;IACJ,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;QACzB,MAAM,IAAI,2BAA2B,CACnC,uGAAuG,CACxG,CAAC;IACJ,CAAC;IACD,OAAO,OAAO,CAAC,CAAC,CAAE,CAAC;AACrB,CAAC;AAED;;;;;;;;GAQG;AACH,MAAM,UAAU,qDAAqD,CACnE,KAC4D;IAE5D,gBAAgB,CAAC,KAAK,EAAE,uDAAuD,EAAE,CAAC,QAAQ,EAAE,aAAa,EAAE,eAAe,EAAE,gBAAgB,EAAE,aAAa,EAAE,8BAA8B,EAAE,qBAAqB,EAAE,cAAc,CAAC,CAAC,CAAC;IACrO,kBAAkB,CAAC,KAAK,CAAC,WAAW,EAAE,aAAa,CAAC,CAAC;IACrD,kBAAkB,CAAC,KAAK,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;IAC3C,kBAAkB,CAAC,KAAK,CAAC,MAAM,CAAC,YAAY,EAAE,qBAAqB,CAAC,CAAC;IACrE,kBAAkB,CAAC,KAAK,CAAC,MAAM,CAAC,eAAe,EAAE,wBAAwB,CAAC,CAAC;IAC3E,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC;QAAE,MAAM,IAAI,yBAAyB,CAAC,kDAAkD,CAAC,CAAC;IAClJ,KAAK,CAAC,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,OAAO,CAAC,CAAC,MAAM,EAAE,KAAK,EAAE,EAAE;QAC7D,kBAAkB,CAAC,MAAM,EAAE,iCAAiC,GAAG,KAAK,GAAG,GAAG,CAAC,CAAC;QAC5E,kBAAkB,CAAC,MAAM,CAAC,WAAW,EAAE,iCAAiC,GAAG,KAAK,GAAG,eAAe,CAAC,CAAC;IACtG,CAAC,CAAC,CAAC;IACH,qBAAqB,CACnB,qBAAqB,EACrB,KAAK,CAAC,WAAW,CAAC,OAAO,CAC1B,CAAC;IACF,qBAAqB,CACnB,sBAAsB,EACtB,KAAK,CAAC,WAAW,CAAC,QAAQ,CAC3B,CAAC;IACF,qBAAqB,CACnB,eAAe,EACf,KAAK,CAAC,aAAa,CACpB,CAAC;IACF,sBAAsB,CACpB,qBAAqB,EACrB,KAAK,CAAC,mBAAmB,CAC1B,CAAC;IAEF,IACE,CAAC,KAAK,CAAC,OAAO,CACZ,KAAK,CAAC,YAAY,CACnB;QACD,KAAK,CAAC,YAAY,CAAC,MAAM,KAAK,CAAC,EAC/B,CAAC;QACD,MAAM,IAAI,yBAAyB,CACjC,yCAAyC,CAC1C,CAAC;IACJ,CAAC;IAED,KAAK,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,MAAM,EAAE,KAAK,EAAE,EAAE,CAAC,kBAAkB,CAAC,MAAM,EAAE,eAAe,GAAG,KAAK,GAAG,GAAG,CAAC,CAAC,CAAC;IACzG,MAAM,GAAG,GACP,KAAK,CAAC,YAAY,CAAC,GAAG,CACpB,CAAC,MAAM,EAAE,EAAE,CACT,qBAAqB,CACnB,MAAM,CAAC,QAAQ,EACf,yBAAyB,CAC1B,CACJ,CAAC;IACJ,IACE,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI;QACjB,GAAG,CAAC,MAAM,EACV,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,0DAA0D,CAC3D,CAAC;IACJ,CAAC;IAED,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IAEJ,MAAM,oBAAoB,GACxB,KAAK,CAAC,cAAc;QACpB,SAAS;QACP,CAAC,CAAC,KAAK,CAAC,aAAa;QACrB,CAAC,CAAC,8BAA8B,CAAC;YAC7B,aAAa,EACX,KAAK,CAAC,aAAa;YACrB,eAAe,EACb,KAAK,CAAC,cAAc;SACvB,CAAC,CAAC,KAAK,CAAC,eAAe,CAAC;IAE/B,MAAM,MAAM,GACV,KAAK,CAAC,WAAW,CAAC,OAAO;QACzB,KAAK,CAAC,MAAM,CAAC,YAAY;aACtB,UAAU,CAAC;IAChB,MAAM,MAAM,GACV,KAAK,CAAC,WAAW,CAAC,QAAQ;QAC1B,KAAK,CAAC,MAAM,CAAC,YAAY;aACtB,WAAW,CAAC;IAEjB,IACE,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC;QACxB,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC;QACxB,MAAM,IAAI,CAAC;QACX,MAAM,IAAI,CAAC,EACX,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,+EAA+E,CAChF,CAAC;IACJ,CAAC;IAED,MAAM,OAAO,GACX,KAAK,CAAC,YAAY,CAAC,GAAG,CACpB,CAAC,WAAW,EAAE,WAAW,EAAE,EAAE;QAC3B,MAAM,UAAU,GACd,eAAe;YACf,WAAW;YACX,GAAG,CAAC;QACN,MAAM,QAAQ,GACZ,qBAAqB,CACnB,WAAW,CAAC,QAAQ,EACpB,UAAU;YACR,WAAW,CACd,CAAC;QACJ,MAAM,iBAAiB,GACrB,mBAAmB,CACjB,WAAW;aACR,eAAe,EAClB,UAAU;YACR,kBAAkB,CACrB,CAAC;QACJ,IACE,iBAAiB,CAAC,CAAC,IAAI,CAAC,EACxB,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,UAAU;gBACR,uEAAuE,CAC1E,CAAC;QACJ,CAAC;QACD,MAAM,eAAe,GACnB,WAAW;aACR,kBAAkB;YACrB,SAAS;YACP,CAAC,CAAC;gBACE,CAAC,EAAE,CAAC;gBACJ,CAAC,EAAE,CAAC;gBACJ,CAAC,EAAE,CAAC;aACL;YACH,CAAC,CAAC,mBAAmB,CACjB,WAAW;iBACR,kBAAkB,EACrB,UAAU;gBACR,qBAAqB,CACxB,CAAC;QAER,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,MAAM,EACZ,WAAW;aACR,sBAAsB,CAC1B,CAAC;QACJ,MAAM,QAAQ,GACZ,QAAQ;aACL,4BAA4B,CAAC;QAClC,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,QAAQ,CACT;YACD,QAAQ,IAAI,CAAC,EACb,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,0EAA0E,CAC3E,CAAC;QACJ,CAAC;QAED,MAAM,mBAAmB,GACvB,YAAY,CACV,iBAAiB,EACjB,oBAAoB,EACpB,UAAU;YACR,kBAAkB,CACrB,CAAC;QAEJ,MAAM,oBAAoB,GACxB,CAAC;YACD,KAAK,CAAC,mBAAmB,CAAC;QAC5B,MAAM,kBAAkB,GACtB,QAAQ;YACR,KAAK,CAAC,mBAAmB,CAAC;QAE5B,MAAM,KAAK,GACT,KAAK,CAAC,IAAI,CACR;YACE,MAAM,EACJ,KAAK,CAAC,mBAAmB;SAC5B,EACD,CACE,CAAC,EACD,mBAAmB,EACnB,EAAE;YACF,MAAM,kBAAkB,GACtB,CAAC,mBAAmB;gBAClB,GAAG,CAAC;gBACN,KAAK,CAAC,mBAAmB,CAAC;YAC5B,MAAM,WAAW,GACf,QAAQ;iBACL,sCAAsC;gBACzC,kBAAkB;oBAChB,QAAQ,CAAC;YAEb,MAAM,gBAAgB,GAAG;gBACvB,CAAC,EACC,iBAAiB,CAAC,CAAC;oBACnB,CAAC,eAAe,CAAC,CAAC;wBAChB,cAAc,CAAC,CAAC,CAAC;wBACjB,WAAW;gBACf,CAAC,EACC,iBAAiB,CAAC,CAAC;oBACnB,CAAC,eAAe,CAAC,CAAC;wBAChB,cAAc,CAAC,CAAC,CAAC;wBACjB,WAAW;gBACf,CAAC,EACC,iBAAiB,CAAC,CAAC;oBACnB,CAAC,eAAe,CAAC,CAAC;wBAChB,cAAc,CAAC,CAAC,CAAC;wBACjB,WAAW;aAChB,CAAC;YAEF,MAAM,MAAM,GACV,YAAY,CACV,gBAAgB,EAChB,oBAAoB,EACpB,UAAU;gBACR,0BAA0B,CAC7B,CAAC;YACJ,MAAM,OAAO,GAAG;gBACd,CAAC,EACC,MAAM,CAAC,CAAC;oBACR,mBAAmB,CAAC,CAAC;gBACvB,CAAC,EACC,MAAM,CAAC,CAAC;oBACR,mBAAmB,CAAC,CAAC;aACxB,CAAC;YACF,MAAM,WAAW,GAAG;gBAClB,CAAC,EACC,OAAO,CAAC,CAAC;oBACT,MAAM;gBACR,CAAC,EACC,CAAC,OAAO,CAAC,CAAC;oBACV,MAAM;aACT,CAAC;YACF,MAAM,QAAQ,GACZ,qCAAqC,CAAC;gBACpC,MAAM,EACJ,WAAW;gBACb,WAAW,EACT,KAAK,CAAC,WAAW;aACpB,CAAC,CAAC;YAEL,OAAO;gBACL,mBAAmB;gBACnB,kBAAkB;gBAClB,+BAA+B,EAC7B,WAAW;gBACb,oBAAoB;gBACpB,kBAAkB;gBAClB,uBAAuB,EACrB,gBAAgB;gBAClB,kBAAkB,EAChB,MAAM;gBACR,8BAA8B,EAAE;oBAC9B,GAAG,OAAO;oBACV,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,OAAO,CAAC,CAAC,EACT,OAAO,CAAC,CAAC,CACV;iBACJ;gBACD,kBAAkB,EAAE;oBAClB,GAAG,WAAW;oBACd,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,WAAW,CAAC,CAAC,EACb,WAAW,CAAC,CAAC,CACd;iBACJ;gBACD,oBAAoB,EAAE;oBACpB,GAAG,QAAQ;oBACX,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,QAAQ,CAAC,CAAC,EACV,QAAQ,CAAC,CAAC,CACX;iBACJ;aACF,CAAC;QACJ,CAAC,CACF,CAAC;QAEJ,OAAO;YACL,QAAQ;YACR,sBAAsB,EAAE;gBACtB,GAAG,WAAW;qBACX,sBAAsB;aAC1B;YACD,wBAAwB,EACtB,iBAAiB;YACnB,kBAAkB,EAChB,eAAe;YACjB,mBAAmB,EAAE;gBACnB,gCAAgC,EAC9B,QAAQ;qBACL,sCAAsC;gBAC3C,8BAA8B,EAC5B,QAAQ;qBACL,oCAAoC;gBACzC,eAAe,EACb,QAAQ;aACX;YACD,qBAAqB,EACnB,mBAAmB;YACrB,KAAK;SACN,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,OAAO,mBAAmB,CACxB;QACE,aAAa,EACX,8BAA8B;QAChC,qBAAqB,EAAE;YACrB,SAAS,EACP,KAAK,CAAC,MAAM;iBACT,eAAe;YACpB,cAAc,EACZ,KAAK,CAAC,MAAM;iBACT,oBAAoB;YACzB,aAAa,EACX,KAAK,CAAC,MAAM;iBACT,aAAa;SACnB;QACD,WAAW,EACT,KAAK,CAAC,WAAW;QACnB,oBAAoB;QACpB,mBAAmB,EACjB,KAAK,CAAC,mBAAmB;QAC3B,4BAA4B,EAC1B,cAAc;QAChB,OAAO;QACP,aAAa,EACX,oDAAoD;QACtD,yBAAyB,EACvB,kCAAkC;QACpC,wBAAwB,EACtB,IAAI;QACN,6BAA6B,EAC3B,KAAK;QACP,sBAAsB,EACpB,KAAK;QACP,0BAA0B,EACxB,KAAK;QACP,uCAAuC,EACrC,KAAK;KACR,EACD,kDAAkD,EAClD,OAAO,EACP;QACE,yHAAyH;QACzH,iIAAiI;QACjI,+GAA+G;QAC/G,gJAAgJ;QAChJ,8IAA8I;QAC9I,sEAAsE;QACtE,wGAAwG;KACzG,CACF,CAAC;AACJ,CAAC","sourcesContent":["// SPDX-License-Identifier: Apache-2.0\n\n/**\n * Parallax from camera movement (translation): nearer points shift more in the image than distant\n * ones. It is evaluated at deterministic midpoint time samples across each scene point's local\n * exposure window.\n *\n * The model works point by point, on purpose. Camera movement and optional subject movement combine\n * as relative linear motion; neither is recast as the other. Camera rotation, and visibility or\n * occlusion, are separate models.\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 CalculationResult\n} from \"../core/calculation-result.js\";\nimport {\n  InvalidScientificInputError,\n  requirePositiveFinite,\n  requirePositiveInteger\n} from \"../core/validation.js\";\nimport {\n  transformNativeRasterVectorToOriented,\n  type CaptureOrientation,\n  type RasterPoint\n} from \"../output/capture-geometry.js\";\nimport { calculateThinLensImageDistance } from \"../optics/thin-lens.js\";\nimport type { Vector3 } from \"../schema/scene.js\";\nimport type {\n  ResolvedCaptureModeTiming\n} from \"../sensor/capture-mode-timing.js\";\nimport type {\n  SensorImagingArea\n} from \"../sensor/sensor-geometry.js\";\nimport { requireInputObject, requireInputKeys } from \"../core/record-validation.js\";\nimport { InvalidConfigurationError } from \"../core/configuration-error.js\";\n\nexport interface CaptureTranslationParallaxSceneSample {\n  sampleId: string;\n  /**\n   * Native destination point. Its local exposure window applies to this scene\n   * sample.\n   */\n  destinationPointNative:\n    RasterPoint;\n  /**\n   * Point position in metres, in the camera axes at the first opening-boundary\n   * phase. +X right, +Y up, +Z forward (away from the camera).\n   */\n  positionCameraM: Vector3;\n  /**\n   * Optional constant velocity of the subject (world point), in the same\n   * starting camera axes. If omitted, the world point is still.\n   */\n  subjectVelocityMps?: Vector3;\n}\n\nexport interface CalculateCaptureTranslationParallaxTemporalQuadratureInput {\n  timing:\n    ResolvedCaptureModeTiming;\n  imagingArea:\n    SensorImagingArea;\n  focalLengthMm: number;\n  focusDistanceM?: number;\n  orientation:\n    CaptureOrientation;\n  /**\n   * Constant movement of the camera centre, in camera axes at the capture\n   * reference phase. Rotation is handled separately, on purpose.\n   */\n  cameraTranslationVelocityMps:\n    Vector3;\n  temporalSampleCount: number;\n  sceneSamples:\n    readonly CaptureTranslationParallaxSceneSample[];\n}\n\nexport interface CaptureTranslationParallaxTemporalNode {\n  temporalSampleIndex: number;\n  localExposurePhase: number;\n  captureTimeSecondsFromReference:\n    number;\n  normalizedTimeWeight: number;\n  timeMeasureSeconds: number;\n  relativePositionCameraM:\n    Vector3;\n  mappedImagePointMm: {\n    x: number;\n    y: number;\n  };\n  deltaFromReferenceImagePlaneMm: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n  deltaNativeSamples: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n  deltaOrientedSamples: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n}\n\nexport interface CaptureTranslationParallaxTemporalSample {\n  sampleId: string;\n  destinationPointNative:\n    RasterPoint;\n  referencePositionCameraM:\n    Vector3;\n  subjectVelocityMps: Vector3;\n  localExposureWindow: {\n    startSecondsFromCaptureReference:\n      number;\n    endSecondsFromCaptureReference:\n      number;\n    durationSeconds: number;\n  };\n  referenceImagePointMm: {\n    x: number;\n    y: number;\n  };\n  nodes:\n    readonly CaptureTranslationParallaxTemporalNode[];\n}\n\nexport interface CaptureTranslationParallaxTemporalQuadrature {\n  timeReference:\n    \"first-opening-boundary-phase\";\n  timingProfileIdentity: {\n    profileId: string;\n    profileVersion: string;\n    captureModeId: string;\n  };\n  orientation:\n    CaptureOrientation;\n  projectionDistanceMm: number;\n  temporalSampleCount: number;\n  cameraTranslationVelocityMps:\n    Vector3;\n  samples:\n    readonly CaptureTranslationParallaxTemporalSample[];\n  geometryModel:\n    \"metric-depth-dependent-constant-linear-translation\";\n  relativeMotionComposition:\n    \"subject-minus-camera-translation\";\n  metricSceneDepthRequired: true;\n  oneGlobalHomographyAuthorized: false;\n  cameraRotationComposed: false;\n  visibilityOcclusionModeled: false;\n  sensorReadoutTimingUsedAsExposureTiming:\n    false;\n}\n\nfunction requireFiniteVector(\n  value: Vector3,\n  path: string\n): Vector3 {\n  requireInputObject(value, path);\n  for (\n    const axis of\n    [\"x\", \"y\", \"z\"] as const\n  ) {\n    if (\n      !Number.isFinite(\n        value[axis]\n      )\n    ) {\n      throw new InvalidScientificInputError(\n        path +\n          \".\" +\n          axis +\n          \" must be finite.\"\n      );\n    }\n  }\n  return {\n    ...value\n  };\n}\n\nfunction requireNonEmptyString(\n  value: string,\n  path: string\n): string {\n  if (\n    typeof value !== \"string\" ||\n    value.trim().length === 0\n  ) {\n    throw new InvalidConfigurationError(\n      path +\n        \" must be a non-empty string.\"\n    );\n  }\n  return value.trim();\n}\n\nfunction samePoint(\n  a: RasterPoint,\n  b: RasterPoint\n): boolean {\n  return (\n    a.x === b.x &&\n    a.y === b.y\n  );\n}\n\nfunction projectPoint(\n  positionM: Vector3,\n  projectionDistanceMm: number,\n  path: string\n): {\n  x: number;\n  y: number;\n} {\n  if (\n    positionM.z <= 0\n  ) {\n    throw new InvalidScientificInputError(\n      path +\n        \" must remain in front of the camera plane.\"\n    );\n  }\n  const mapped = {\n    x:\n      projectionDistanceMm *\n      (positionM.x /\n        positionM.z),\n    y:\n      projectionDistanceMm *\n      (positionM.y /\n        positionM.z)\n  };\n  if (\n    !Number.isFinite(mapped.x) ||\n    !Number.isFinite(mapped.y)\n  ) {\n    throw new InvalidScientificInputError(\n      path +\n        \" projection must remain finite.\"\n    );\n  }\n  return mapped;\n}\n\nfunction localExposureForPoint(\n  timing:\n    ResolvedCaptureModeTiming,\n  point:\n    RasterPoint\n): ResolvedCaptureModeTiming[\"exposureWindows\"][\"samples\"][number] {\n  requireInputObject(point, \"destinationPointNative\");\n  const matches =\n    timing.exposureWindows.samples.filter(\n      (sample) =>\n        samePoint(\n          sample.pointNative,\n          point\n        )\n    );\n  if (matches.length !== 1) {\n    throw new InvalidScientificInputError(\n      \"Each translation/parallax scene sample must match exactly one committed exposure-window sample point.\"\n    );\n  }\n  return matches[0]!;\n}\n\n/**\n * Evaluates depth-dependent parallax from camera movement at deterministic\n * midpoint time samples across each scene point's local exposure window.\n *\n * The model works point by point, on purpose. Camera movement and optional\n * subject movement combine as relative linear motion; neither is recast as\n * the other. Camera rotation, and visibility or occlusion, are separate\n * models.\n */\nexport function calculateCaptureTranslationParallaxTemporalQuadrature(\n  input:\n    CalculateCaptureTranslationParallaxTemporalQuadratureInput\n): CalculationResult<CaptureTranslationParallaxTemporalQuadrature> {\n  requireInputKeys(input, \"calculateCaptureTranslationParallaxTemporalQuadrature\", [\"timing\", \"imagingArea\", \"focalLengthMm\", \"focusDistanceM\", \"orientation\", \"cameraTranslationVelocityMps\", \"temporalSampleCount\", \"sceneSamples\"]);\n  requireInputObject(input.imagingArea, \"imagingArea\");\n  requireInputObject(input.timing, \"timing\");\n  requireInputObject(input.timing.nativeRaster, \"timing.nativeRaster\");\n  requireInputObject(input.timing.exposureWindows, \"timing.exposureWindows\");\n  if (!Array.isArray(input.timing.exposureWindows.samples)) throw new InvalidConfigurationError(\"timing.exposureWindows.samples must be an array.\");\n  input.timing.exposureWindows.samples.forEach((sample, index) => {\n    requireInputObject(sample, \"timing.exposureWindows.samples[\" + index + \"]\");\n    requireInputObject(sample.pointNative, \"timing.exposureWindows.samples[\" + index + \"].pointNative\");\n  });\n  requirePositiveFinite(\n    \"imagingArea.widthMm\",\n    input.imagingArea.widthMm\n  );\n  requirePositiveFinite(\n    \"imagingArea.heightMm\",\n    input.imagingArea.heightMm\n  );\n  requirePositiveFinite(\n    \"focalLengthMm\",\n    input.focalLengthMm\n  );\n  requirePositiveInteger(\n    \"temporalSampleCount\",\n    input.temporalSampleCount\n  );\n\n  if (\n    !Array.isArray(\n      input.sceneSamples\n    ) ||\n    input.sceneSamples.length === 0\n  ) {\n    throw new InvalidConfigurationError(\n      \"sceneSamples must be a non-empty array.\"\n    );\n  }\n\n  input.sceneSamples.forEach((sample, index) => requireInputObject(sample, \"sceneSamples[\" + index + \"]\"));\n  const ids =\n    input.sceneSamples.map(\n      (sample) =>\n        requireNonEmptyString(\n          sample.sampleId,\n          \"sceneSamples[].sampleId\"\n        )\n    );\n  if (\n    new Set(ids).size !==\n    ids.length\n  ) {\n    throw new InvalidScientificInputError(\n      \"sceneSamples must not contain duplicate sampleId values.\"\n    );\n  }\n\n  const cameraVelocity =\n    requireFiniteVector(\n      input\n        .cameraTranslationVelocityMps,\n      \"cameraTranslationVelocityMps\"\n    );\n\n  const projectionDistanceMm =\n    input.focusDistanceM ===\n    undefined\n      ? input.focalLengthMm\n      : calculateThinLensImageDistance({\n          focalLengthMm:\n            input.focalLengthMm,\n          objectDistanceM:\n            input.focusDistanceM\n        }).value.imageDistanceMm;\n\n  const pitchX =\n    input.imagingArea.widthMm /\n    input.timing.nativeRaster\n      .pixelWidth;\n  const pitchY =\n    input.imagingArea.heightMm /\n    input.timing.nativeRaster\n      .pixelHeight;\n\n  if (\n    !Number.isFinite(pitchX) ||\n    !Number.isFinite(pitchY) ||\n    pitchX <= 0 ||\n    pitchY <= 0\n  ) {\n    throw new InvalidScientificInputError(\n      \"Resolved translation/parallax sampling pitch must remain finite and positive.\"\n    );\n  }\n\n  const samples =\n    input.sceneSamples.map(\n      (sceneSample, sampleIndex) => {\n        const samplePath =\n          \"sceneSamples[\" +\n          sampleIndex +\n          \"]\";\n        const sampleId =\n          requireNonEmptyString(\n            sceneSample.sampleId,\n            samplePath +\n              \".sampleId\"\n          );\n        const referencePosition =\n          requireFiniteVector(\n            sceneSample\n              .positionCameraM,\n            samplePath +\n              \".positionCameraM\"\n          );\n        if (\n          referencePosition.z <= 0\n        ) {\n          throw new InvalidScientificInputError(\n            samplePath +\n              \".positionCameraM.z must place the scene point in front of the camera.\"\n          );\n        }\n        const subjectVelocity =\n          sceneSample\n            .subjectVelocityMps ===\n          undefined\n            ? {\n                x: 0,\n                y: 0,\n                z: 0\n              }\n            : requireFiniteVector(\n                sceneSample\n                  .subjectVelocityMps,\n                samplePath +\n                  \".subjectVelocityMps\"\n              );\n\n        const exposure =\n          localExposureForPoint(\n            input.timing,\n            sceneSample\n              .destinationPointNative\n          );\n        const duration =\n          exposure\n            .localExposureDurationSeconds;\n        if (\n          !Number.isFinite(\n            duration\n          ) ||\n          duration <= 0\n        ) {\n          throw new InvalidScientificInputError(\n            \"Translation/parallax requires a positive finite local exposure duration.\"\n          );\n        }\n\n        const referenceImagePoint =\n          projectPoint(\n            referencePosition,\n            projectionDistanceMm,\n            samplePath +\n              \".positionCameraM\"\n          );\n\n        const normalizedTimeWeight =\n          1 /\n          input.temporalSampleCount;\n        const timeMeasureSeconds =\n          duration /\n          input.temporalSampleCount;\n\n        const nodes =\n          Array.from(\n            {\n              length:\n                input.temporalSampleCount\n            },\n            (\n              _,\n              temporalSampleIndex\n            ) => {\n              const localExposurePhase =\n                (temporalSampleIndex +\n                  0.5) /\n                input.temporalSampleCount;\n              const captureTime =\n                exposure\n                  .startOffsetSecondsFromOpeningReference +\n                localExposurePhase *\n                  duration;\n\n              const relativePosition = {\n                x:\n                  referencePosition.x +\n                  (subjectVelocity.x -\n                    cameraVelocity.x) *\n                    captureTime,\n                y:\n                  referencePosition.y +\n                  (subjectVelocity.y -\n                    cameraVelocity.y) *\n                    captureTime,\n                z:\n                  referencePosition.z +\n                  (subjectVelocity.z -\n                    cameraVelocity.z) *\n                    captureTime\n              };\n\n              const mapped =\n                projectPoint(\n                  relativePosition,\n                  projectionDistanceMm,\n                  samplePath +\n                    \".relativePositionCameraM\"\n                );\n              const deltaMm = {\n                x:\n                  mapped.x -\n                  referenceImagePoint.x,\n                y:\n                  mapped.y -\n                  referenceImagePoint.y\n              };\n              const deltaNative = {\n                x:\n                  deltaMm.x /\n                  pitchX,\n                y:\n                  -deltaMm.y /\n                  pitchY\n              };\n              const oriented =\n                transformNativeRasterVectorToOriented({\n                  vector:\n                    deltaNative,\n                  orientation:\n                    input.orientation\n                });\n\n              return {\n                temporalSampleIndex,\n                localExposurePhase,\n                captureTimeSecondsFromReference:\n                  captureTime,\n                normalizedTimeWeight,\n                timeMeasureSeconds,\n                relativePositionCameraM:\n                  relativePosition,\n                mappedImagePointMm:\n                  mapped,\n                deltaFromReferenceImagePlaneMm: {\n                  ...deltaMm,\n                  distance:\n                    Math.hypot(\n                      deltaMm.x,\n                      deltaMm.y\n                    )\n                },\n                deltaNativeSamples: {\n                  ...deltaNative,\n                  distance:\n                    Math.hypot(\n                      deltaNative.x,\n                      deltaNative.y\n                    )\n                },\n                deltaOrientedSamples: {\n                  ...oriented,\n                  distance:\n                    Math.hypot(\n                      oriented.x,\n                      oriented.y\n                    )\n                }\n              };\n            }\n          );\n\n        return {\n          sampleId,\n          destinationPointNative: {\n            ...sceneSample\n              .destinationPointNative\n          },\n          referencePositionCameraM:\n            referencePosition,\n          subjectVelocityMps:\n            subjectVelocity,\n          localExposureWindow: {\n            startSecondsFromCaptureReference:\n              exposure\n                .startOffsetSecondsFromOpeningReference,\n            endSecondsFromCaptureReference:\n              exposure\n                .endOffsetSecondsFromOpeningReference,\n            durationSeconds:\n              duration\n          },\n          referenceImagePointMm:\n            referenceImagePoint,\n          nodes\n        };\n      }\n    );\n\n  return approximationResult(\n    {\n      timeReference:\n        \"first-opening-boundary-phase\",\n      timingProfileIdentity: {\n        profileId:\n          input.timing\n            .timingProfileId,\n        profileVersion:\n          input.timing\n            .timingProfileVersion,\n        captureModeId:\n          input.timing\n            .captureModeId\n      },\n      orientation:\n        input.orientation,\n      projectionDistanceMm,\n      temporalSampleCount:\n        input.temporalSampleCount,\n      cameraTranslationVelocityMps:\n        cameraVelocity,\n      samples,\n      geometryModel:\n        \"metric-depth-dependent-constant-linear-translation\",\n      relativeMotionComposition:\n        \"subject-minus-camera-translation\",\n      metricSceneDepthRequired:\n        true,\n      oneGlobalHomographyAuthorized:\n        false,\n      cameraRotationComposed:\n        false,\n      visibilityOcclusionModeled:\n        false,\n      sensorReadoutTimingUsedAsExposureTiming:\n        false\n    },\n    \"capture-translation-parallax-temporal-quadrature\",\n    \"1.0.0\",\n    [\n      \"Translation is evaluated independently for each metric scene point because translational image motion depends on depth.\",\n      \"Camera and subject translation coexist as explicit relative linear motion; subject motion is not reclassified as camera motion.\",\n      \"The camera-axis basis is fixed at the first-opening-boundary phase; camera rotation remains a separate model.\",\n      \"The destination native point selects the authoritative local exposure window; sensor data-readout timing is not substituted for exposure time.\",\n      \"Oriented sample displacement is a coordinate transform of the same physical image-plane mapping and does not change the translation physics.\",\n      \"No one global homography/warp is authorized for arbitrary 3D scenes.\",\n      \"Visibility, occlusion, deformation, acceleration and rolling scene geometry remain outside this model.\"\n    ]\n  );\n}\n"]}

package/dist/motion/extended-object-projection.d.ts

@@ -1,12 +1,14 @@
 /**
- * Module boundary and integration notes.
- * Evaluates multiple explicit metric points on one rigidly translating object at deterministic
- * physical times. This is geometry only. It does not synthesize a blur kernel, visibility, radiance
- * integration, deformation, camera rotation or a universal scale.
- * Evaluates extended-object projection at deterministic midpoint nodes inside each point's
- * authoritative #12 local exposure window.
- * @see docs/MOTION_AND_SIGNAL.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Projection of an extended object: several explicit points (in metres) on one rigid object that
+ * moves in a straight line.
+ *
+ * The points are evaluated at deterministic physical times, or at deterministic midpoint time
+ * samples inside each point's local exposure window (from the capture exposure schedule).
+ *
+ * This is geometry only. It does not build a blur kernel, decide visibility, integrate radiance,
+ * deform the object, rotate the camera or apply a universal scale.
+ * @see docs/MOTION_AND_SIGNAL.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
  */
 import { type CalculationResult } from "../core/calculation-result.js";
 import type { RasterPoint } from "../output/capture-geometry.js";
@@ -15,7 +17,7 @@ import type { ResolvedCaptureModeTiming } from "../sensor/capture-mode-timing.js
 export interface ExtendedObjectMetricPoint {
     pointId: string;
     /**
-     * Metric camera-space point at the common reference phase.
+     * Point in camera space, in metres, at the shared reference phase.
      *
      * +X right, +Y up, +Z forward/away from the camera.
      */
@@ -95,8 +97,8 @@ export interface ExtendedObjectProjectionTrajectory {
 }
 export interface CaptureExtendedObjectMetricPoint extends ExtendedObjectMetricPoint {
     /**
-     * Native destination point selecting the authoritative #12 local exposure
-     * window for this object point.
+     * Native destination point. It selects the local exposure window (from the
+     * capture exposure schedule) for this object point.
      */
     destinationPointNative: RasterPoint;
 }
@@ -163,13 +165,14 @@ export interface CaptureExtendedObjectTemporalProjection {
  * Evaluates multiple explicit metric points on one rigidly translating object
  * at deterministic physical times.
  *
- * This is geometry only. It does not synthesize a blur kernel, visibility,
- * radiance integration, deformation, camera rotation or a universal scale.
+ * This is geometry only. It does not build a blur kernel, decide visibility,
+ * integrate radiance, deform the object, rotate the camera or apply a
+ * universal scale.
  */
 export declare function calculateExtendedObjectProjectionTrajectory(input: CalculateExtendedObjectProjectionTrajectoryInput): CalculationResult<ExtendedObjectProjectionTrajectory>;
 /**
- * Evaluates extended-object projection at deterministic midpoint nodes inside
- * each point's authoritative #12 local exposure window.
+ * Evaluates extended-object projection at deterministic midpoint time samples
+ * inside each point's local exposure window (from the capture exposure
+ * schedule).
  */
 export declare function calculateCaptureExtendedObjectTemporalProjection(input: CalculateCaptureExtendedObjectTemporalProjectionInput): CalculationResult<CaptureExtendedObjectTemporalProjection>;
-//# sourceMappingURL=extended-object-projection.d.ts.map

package/dist/motion/extended-object-projection.js

@@ -1,26 +1,31 @@
 // SPDX-License-Identifier: Apache-2.0
 /**
- * Module boundary and integration notes.
- * Evaluates multiple explicit metric points on one rigidly translating object at deterministic
- * physical times. This is geometry only. It does not synthesize a blur kernel, visibility, radiance
- * integration, deformation, camera rotation or a universal scale.
- * Evaluates extended-object projection at deterministic midpoint nodes inside each point's
- * authoritative #12 local exposure window.
- * @see docs/MOTION_AND_SIGNAL.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Projection of an extended object: several explicit points (in metres) on one rigid object that
+ * moves in a straight line.
+ *
+ * The points are evaluated at deterministic physical times, or at deterministic midpoint time
+ * samples inside each point's local exposure window (from the capture exposure schedule).
+ *
+ * This is geometry only. It does not build a blur kernel, decide visibility, integrate radiance,
+ * deform the object, rotate the camera or apply a universal scale.
+ * @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, requirePositiveInteger } from "../core/validation.js";
 import { calculateThinLensImageDistance } from "../optics/thin-lens.js";
+import { requireInputKeys, requireInputObject } from "../core/record-validation.js";
+import { InvalidConfigurationError } from "../core/configuration-error.js";
 function requireNonEmptyString(value, path) {
     if (typeof value !== "string" ||
         value.trim().length === 0) {
-        throw new InvalidScientificInputError(path +
+        throw new InvalidConfigurationError(path +
             " must be a non-empty string.");
     }
     return value.trim();
 }
 function requireFiniteVector(value, path) {
+    requireInputObject(value, path);
     for (const axis of ["x", "y", "z"]) {
         if (!Number.isFinite(value[axis])) {
             throw new InvalidScientificInputError(path +
@@ -80,12 +85,13 @@ function projectMetricPoint(positionCameraM, projectionDistanceMm, path) {
 function validateUniquePoints(points) {
     if (!Array.isArray(points) ||
         points.length === 0) {
-        throw new InvalidScientificInputError("points must be a non-empty array.");
+        throw new InvalidConfigurationError("points must be a non-empty array.");
     }
     const parsed = points.map((point, index) => {
         const path = "points[" +
             index +
             "]";
+        requireInputObject(point, path);
         const pointId = requireNonEmptyString(point.pointId, path + ".pointId");
         const referencePosition = requireFiniteVector(point.positionCameraM, path +
             ".positionCameraM");
@@ -109,7 +115,7 @@ function validateUniquePoints(points) {
 function validateSampleTimes(times) {
     if (!Array.isArray(times) ||
         times.length === 0) {
-        throw new InvalidScientificInputError("sampleTimesSecondsFromReference must be a non-empty array.");
+        throw new InvalidConfigurationError("sampleTimesSecondsFromReference must be a non-empty array.");
     }
     let prior = Number.NEGATIVE_INFINITY;
     return times.map((value, index) => {
@@ -150,9 +156,10 @@ function validatePlanarDeclaration(declaration, points) {
     if (declaration === undefined) {
         return null;
     }
+    requireInputObject(declaration, "frontoparallelPlane");
     if (declaration.kind !==
         "fronto-parallel-planar-patch") {
-        throw new InvalidScientificInputError("frontoparallelPlane.kind is invalid.");
+        throw new InvalidConfigurationError("frontoparallelPlane.kind is invalid.");
     }
     requirePositiveFinite("frontoparallelPlane.referenceDepthM", declaration.referenceDepthM);
     for (const entry of points) {
@@ -203,10 +210,12 @@ function createPointTrajectory(pointId, referencePosition, relativeTranslationVe
  * Evaluates multiple explicit metric points on one rigidly translating object
  * at deterministic physical times.
  *
- * This is geometry only. It does not synthesize a blur kernel, visibility,
- * radiance integration, deformation, camera rotation or a universal scale.
+ * This is geometry only. It does not build a blur kernel, decide visibility,
+ * integrate radiance, deform the object, rotate the camera or apply a
+ * universal scale.
  */
 export function calculateExtendedObjectProjectionTrajectory(input) {
+    requireInputKeys(input, "calculateExtendedObjectProjectionTrajectory", ["objectId", "focalLengthMm", "focusDistanceM", "objectTranslationVelocityMps", "cameraTranslationVelocityMps", "sampleTimesSecondsFromReference", "points", "frontoparallelPlane"]);
     const objectId = requireNonEmptyString(input.objectId, "objectId");
     const projectionDistanceMm = resolveProjectionDistanceMm(input.focalLengthMm, input.focusDistanceM);
     const objectVelocity = requireFiniteVector(input
@@ -281,17 +290,28 @@ function samePoint(a, b) {
         a.y === b.y);
 }
 function localExposureForPoint(timing, point) {
+    requireInputObject(timing, "timing");
+    requireInputObject(timing.exposureWindows, "timing.exposureWindows");
+    if (!Array.isArray(timing.exposureWindows.samples))
+        throw new InvalidConfigurationError("timing.exposureWindows.samples must be an array.");
+    timing.exposureWindows.samples.forEach((sample, index) => {
+        requireInputObject(sample, "timing.exposureWindows.samples[" + index + "]");
+        requireInputObject(sample.pointNative, "timing.exposureWindows.samples[" + index + "].pointNative");
+    });
+    requireInputObject(point, "destinationPointNative");
     const matches = timing.exposureWindows.samples.filter((sample) => samePoint(sample.pointNative, point));
     if (matches.length !== 1) {
-        throw new InvalidScientificInputError("Each extended-object capture point must match exactly one committed #12 exposure-window sample point.");
+        throw new InvalidScientificInputError("Each extended-object capture point must match exactly one committed exposure-window sample point.");
     }
     return matches[0];
 }
 /**
- * Evaluates extended-object projection at deterministic midpoint nodes inside
- * each point's authoritative #12 local exposure window.
+ * Evaluates extended-object projection at deterministic midpoint time samples
+ * inside each point's local exposure window (from the capture exposure
+ * schedule).
  */
 export function calculateCaptureExtendedObjectTemporalProjection(input) {
+    requireInputKeys(input, "calculateCaptureExtendedObjectTemporalProjection", ["objectId", "timing", "focalLengthMm", "focusDistanceM", "objectTranslationVelocityMps", "cameraTranslationVelocityMps", "temporalSampleCount", "points", "frontoparallelPlane"]);
     requirePositiveInteger("temporalSampleCount", input.temporalSampleCount);
     const objectId = requireNonEmptyString(input.objectId, "objectId");
     const projectionDistanceMm = resolveProjectionDistanceMm(input.focalLengthMm, input.focusDistanceM);
@@ -391,7 +411,7 @@ export function calculateCaptureExtendedObjectTemporalProjection(input) {
         sensorReadoutTimingUsedAsExposureTiming: false,
         timeVaryingDefocusMayBeRequired: relative.z !== 0
     }, "capture-local-extended-object-time-varying-projection", "1.0.0", [
-        "Every point is evaluated at deterministic midpoint nodes in its own authoritative #12 local exposure interval.",
+        "Every point is evaluated at deterministic midpoint nodes in its own authoritative local exposure interval of the exposure-window model.",
         "Sensor data-readout timing is not substituted for exposure time.",
         "Rolling/local exposure may cause different native destinations to integrate different portions of the same rigid object trajectory.",
         "The result remains geometry only and does not authorize endpoint interpolation as a complete visibility/radiance blur solution.",

package/dist/motion/extended-object-projection.js.map

@@ -1 +1 @@
-{"version":3,"file":"extended-object-projection.js","sourceRoot":"","sources":["../../src/motion/extended-object-projection.ts"],"names":[],"mappings":"AAAA,sCAAsC;AAEtC;;;;;;;;;GASG;AAEH,OAAO,EACL,mBAAmB,EAEpB,MAAM,+BAA+B,CAAC;AACvC,OAAO,EACL,2BAA2B,EAC3B,qBAAqB,EACrB,sBAAsB,EACvB,MAAM,uBAAuB,CAAC;AAI/B,OAAO,EACL,8BAA8B,EAC/B,MAAM,wBAAwB,CAAC;AAsNhC,SAAS,qBAAqB,CAC5B,KAAa,EACb,IAAY;IAEZ,IACE,OAAO,KAAK,KAAK,QAAQ;QACzB,KAAK,CAAC,IAAI,EAAE,CAAC,MAAM,KAAK,CAAC,EACzB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,8BAA8B,CACjC,CAAC;IACJ,CAAC;IACD,OAAO,KAAK,CAAC,IAAI,EAAE,CAAC;AACtB,CAAC;AAED,SAAS,mBAAmB,CAC1B,KAAc,EACd,IAAY;IAEZ,KACE,MAAM,IAAI,IACV,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAU,EACxB,CAAC;QACD,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,KAAK,CAAC,IAAI,CAAC,CACZ,EACD,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;gBACF,GAAG;gBACH,IAAI;gBACJ,kBAAkB,CACrB,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO;QACL,GAAG,KAAK;KACT,CAAC;AACJ,CAAC;AAED,SAAS,iBAAiB,CACxB,KAAa,EACb,IAAY;IAEZ,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;QAC5B,MAAM,IAAI,2BAA2B,CACnC,IAAI,GAAG,kBAAkB,CAC1B,CAAC;IACJ,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,kBAAkB,CACzB,CAAS,EACT,CAAS;IAET,MAAM,KAAK,GACT,IAAI,CAAC,GAAG,CACN,CAAC,EACD,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EACX,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CACZ,CAAC;IACJ,OAAO,CACL,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;QACf,MAAM,CAAC,OAAO;YACZ,EAAE;YACF,KAAK,CACR,CAAC;AACJ,CAAC;AAED,SAAS,2BAA2B,CAClC,aAAqB,EACrB,cACoB;IAEpB,qBAAqB,CACnB,eAAe,EACf,aAAa,CACd,CAAC;IACF,OAAO,cAAc;QACnB,SAAS;QACT,CAAC,CAAC,aAAa;QACf,CAAC,CAAC,8BAA8B,CAAC;YAC7B,aAAa;YACb,eAAe,EACb,cAAc;SACjB,CAAC,CAAC,KAAK,CAAC,eAAe,CAAC;AAC/B,CAAC;AAED,SAAS,kBAAkB,CACzB,eACS,EACT,oBAA4B,EAC5B,IAAY;IAKZ,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,eAAe,CAAC,CAAC,CAClB;QACD,eAAe,CAAC,CAAC,IAAI,CAAC,EACtB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,4CAA4C,CAC/C,CAAC;IACJ,CAAC;IAED,MAAM,MAAM,GAAG;QACb,CAAC,EACC,oBAAoB;YACpB,CACE,eAAe,CAAC,CAAC;gBACjB,eAAe,CAAC,CAAC,CAClB;QACH,CAAC,EACC,oBAAoB;YACpB,CACE,eAAe,CAAC,CAAC;gBACjB,eAAe,CAAC,CAAC,CAClB;KACJ,CAAC;IACF,IACE,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC;QAC1B,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAC1B,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,iCAAiC,CACpC,CAAC;IACJ,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,SAAS,oBAAoB,CAC3B,MAAoB;IAQpB,IACE,CAAC,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC;QACtB,MAAM,CAAC,MAAM,KAAK,CAAC,EACnB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,mCAAmC,CACpC,CAAC;IACJ,CAAC;IAED,MAAM,MAAM,GACV,MAAM,CAAC,GAAG,CACR,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE;QACf,MAAM,IAAI,GACR,SAAS;YACT,KAAK;YACL,GAAG,CAAC;QACN,MAAM,OAAO,GACX,qBAAqB,CACnB,KAAK,CAAC,OAAO,EACb,IAAI,GAAG,UAAU,CAClB,CAAC;QACJ,MAAM,iBAAiB,GACrB,mBAAmB,CACjB,KAAK,CAAC,eAAe,EACrB,IAAI;YACF,kBAAkB,CACrB,CAAC;QACJ,IACE,iBAAiB,CAAC,CAAC,IAAI,CAAC,EACxB,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;gBACF,iEAAiE,CACpE,CAAC;QACJ,CAAC;QACD,OAAO;YACL,KAAK;YACL,OAAO;YACP,iBAAiB;SAClB,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,MAAM,GAAG,GACP,MAAM,CAAC,GAAG,CACR,CAAC,KAAK,EAAE,EAAE,CACR,KAAK,CAAC,OAAO,CAChB,CAAC;IACJ,IACE,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI;QACjB,GAAG,CAAC,MAAM,EACV,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,mDAAmD,CACpD,CAAC;IACJ,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,SAAS,mBAAmB,CAC1B,KACmB;IAEnB,IACE,CAAC,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC;QACrB,KAAK,CAAC,MAAM,KAAK,CAAC,EAClB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,4DAA4D,CAC7D,CAAC;IACJ,CAAC;IACD,IAAI,KAAK,GACP,MAAM,CAAC,iBAAiB,CAAC;IAC3B,OAAO,KAAK,CAAC,GAAG,CACd,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE;QACf,MAAM,IAAI,GACR,iBAAiB,CACf,KAAK,EACL,kCAAkC;YAChC,KAAK;YACL,GAAG,CACN,CAAC;QACJ,IAAI,IAAI,IAAI,KAAK,EAAE,CAAC;YAClB,MAAM,IAAI,2BAA2B,CACnC,8DAA8D,CAC/D,CAAC;QACJ,CAAC;QACD,KAAK,GAAG,IAAI,CAAC;QACb,OAAO,IAAI,CAAC;IACd,CAAC,CACF,CAAC;AACJ,CAAC;AAED,SAAS,gBAAgB,CACvB,cACS,EACT,cACS;IAET,OAAO;QACL,CAAC,EACC,cAAc,CAAC,CAAC;YAChB,cAAc,CAAC,CAAC;QAClB,CAAC,EACC,cAAc,CAAC,CAAC;YAChB,cAAc,CAAC,CAAC;QAClB,CAAC,EACC,cAAc,CAAC,CAAC;YAChB,cAAc,CAAC,CAAC;KACnB,CAAC;AACJ,CAAC;AAED,SAAS,cAAc,CACrB,SACS,EACT,QACS,EACT,WAAmB;IAEnB,OAAO;QACL,CAAC,EACC,SAAS,CAAC,CAAC;YACX,QAAQ,CAAC,CAAC;gBACR,WAAW;QACf,CAAC,EACC,SAAS,CAAC,CAAC;YACX,QAAQ,CAAC,CAAC;gBACR,WAAW;QACf,CAAC,EACC,SAAS,CAAC,CAAC;YACX,QAAQ,CAAC,CAAC;gBACR,WAAW;KAChB,CAAC;AACJ,CAAC;AAED,SAAS,yBAAyB,CAChC,WAEW,EACX,MAIK;IAEL,IACE,WAAW,KAAK,SAAS,EACzB,CAAC;QACD,OAAO,IAAI,CAAC;IACd,CAAC;IACD,IACE,WAAW,CAAC,IAAI;QAChB,8BAA8B,EAC9B,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,sCAAsC,CACvC,CAAC;IACJ,CAAC;IACD,qBAAqB,CACnB,qCAAqC,EACrC,WAAW,CAAC,eAAe,CAC5B,CAAC;IACF,KACE,MAAM,KAAK,IAAI,MAAM,EACrB,CAAC;QACD,IACE,CAAC,kBAAkB,CACjB,KAAK,CAAC,iBAAiB,CAAC,CAAC,EACzB,WAAW,CAAC,eAAe,CAC5B,EACD,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,uFAAuF,CACxF,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO,WAAW;SACf,eAAe,CAAC;AACrB,CAAC;AAED,SAAS,qBAAqB,CAC5B,OAAe,EACf,iBACS,EACT,8BACS,EACT,WACmB,EACnB,oBACQ,EACR,qBACe,EACf,IAAY;IAEZ,MAAM,mBAAmB,GACvB,kBAAkB,CAChB,iBAAiB,EACjB,oBAAoB,EACpB,IAAI;QACF,kBAAkB,CACrB,CAAC;IAEJ,MAAM,KAAK,GACT,WAAW,CAAC,GAAG,CACb,CACE,WAAW,EACX,WAAW,EACX,EAAE;QACF,MAAM,QAAQ,GACZ,cAAc,CACZ,iBAAiB,EACjB,8BAA8B,EAC9B,WAAW,CACZ,CAAC;QACJ,MAAM,MAAM,GACV,kBAAkB,CAChB,QAAQ,EACR,oBAAoB,EACpB,IAAI;YACF,iBAAiB,CACpB,CAAC;QACJ,MAAM,MAAM,GACV,MAAM,CAAC,CAAC;YACR,mBAAmB,CAAC,CAAC,CAAC;QACxB,MAAM,MAAM,GACV,MAAM,CAAC,CAAC;YACR,mBAAmB,CAAC,CAAC,CAAC;QAExB,OAAO;YACL,WAAW;YACX,wBAAwB,EACtB,WAAW;YACb,uBAAuB,EACrB,QAAQ;YACV,kBAAkB,EAChB,MAAM;YACR,8BAA8B,EAAE;gBAC9B,CAAC,EAAE,MAAM;gBACT,CAAC,EAAE,MAAM;gBACT,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,MAAM,EACN,MAAM,CACP;aACJ;YACD,MAAM,EACJ,QAAQ,CAAC,CAAC;YACZ,qCAAqC,EACnC,qBAAqB;gBACnB,IAAI;gBACJ,CAAC,CAAC,IAAI;gBACN,CAAC,CAAC,qBAAqB;oBACrB,QAAQ,CAAC,CAAC;SACjB,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,OAAO;QACL,OAAO;QACP,wBAAwB,EACtB,iBAAiB;QACnB,qBAAqB,EACnB,mBAAmB;QACrB,KAAK;KACN,CAAC;AACJ,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,2CAA2C,CACzD,KACkD;IAElD,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,QAAQ,EACd,UAAU,CACX,CAAC;IACJ,MAAM,oBAAoB,GACxB,2BAA2B,CACzB,KAAK,CAAC,aAAa,EACnB,KAAK,CAAC,cAAc,CACrB,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,QAAQ,GACZ,gBAAgB,CACd,cAAc,EACd,cAAc,CACf,CAAC;IACJ,MAAM,WAAW,GACf,mBAAmB,CACjB,KAAK;SACF,+BAA+B,CACnC,CAAC;IACJ,MAAM,MAAM,GACV,oBAAoB,CAClB,KAAK,CAAC,MAAM,CACb,CAAC;IACJ,MAAM,WAAW,GACf,yBAAyB,CACvB,KAAK,CAAC,mBAAmB,EACzB,MAAM,CACP,CAAC;IAEJ,MAAM,iBAAiB,GACrB,MAAM,CAAC,GAAG,CACR,CACE,KAAK,EACL,UAAU,EACV,EAAE,CACF,qBAAqB,CACnB,KAAK,CAAC,OAAO,EACb,KAAK,CAAC,iBAAiB,EACvB,QAAQ,EACR,WAAW,EACX,oBAAoB,EACpB,WAAW,EACX,SAAS;QACP,UAAU;QACV,GAAG,CACN,CACJ,CAAC;IAEJ,MAAM,WAAW,GACf,WAAW,KAAK,IAAI;QAClB,CAAC,CAAC,IAAI;QACN,CAAC,CAAC,WAAW,CAAC,GAAG,CACb,CACE,WAAW,EACX,WAAW,EACX,EAAE;YACF,MAAM,YAAY,GAChB,WAAW;gBACX,QAAQ,CAAC,CAAC;oBACR,WAAW,CAAC;YAChB,IACE,YAAY,IAAI,CAAC,EACjB,CAAC;gBACD,MAAM,IAAI,2BAA2B,CACnC,qEAAqE,CACtE,CAAC;YACJ,CAAC;YACD,OAAO;gBACL,WAAW;gBACX,wBAAwB,EACtB,WAAW;gBACb,kBAAkB,EAChB,WAAW;oBACX,YAAY;aACf,CAAC;QACJ,CAAC,CACF,CAAC;IAER,OAAO,mBAAmB,CACxB;QACE,QAAQ;QACR,aAAa,EACX,wCAAwC;QAC1C,oBAAoB;QACpB,4BAA4B,EAC1B,cAAc;QAChB,4BAA4B,EAC1B,cAAc;QAChB,8BAA8B,EAC5B,QAAQ;QACV,oBAAoB,EAAE,IAAI;QAC1B,iBAAiB;QACjB,6BAA6B,EAC3B,WAAW,KAAK,IAAI;YAClB,CAAC,CAAC,IAAI;YACN,CAAC,CAAC;gBACE,QAAQ,EACN,uCAAuC;gBACzC,eAAe,EACb,WAAY;gBACd,yCAAyC,EACvC,IAAI;gBACN,WAAW;gBACX,8CAA8C,EAC5C,IAAI;gBACN,mCAAmC,EACjC,IAAI;aACP;QACP,wBAAwB,EACtB,IAAI;QACN,6BAA6B,EAC3B,KAAK;QACP,8CAA8C,EAC5C,KAAK;QACP,sBAAsB,EACpB,KAAK;QACP,0BAA0B,EACxB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,mBAAmB,EAAE,KAAK;QAC1B,oBAAoB,EAClB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,+BAA+B,EAC7B,QAAQ,CAAC,CAAC,KAAK,CAAC;KACnB,EACD,yCAAyC,EACzC,OAAO,EACP;QACE,wFAAwF;QACxF,oHAAoH;QACpH,wFAAwF;QACxF,oKAAoK;QACpK,kIAAkI;QAClI,gIAAgI;QAChI,+FAA+F;KAChG,CACF,CAAC;AACJ,CAAC;AAED,SAAS,SAAS,CAChB,CAAc,EACd,CAAc;IAEd,OAAO,CACL,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;QACX,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CACZ,CAAC;AACJ,CAAC;AAED,SAAS,qBAAqB,CAC5B,MAC2B,EAC3B,KACa;IAEb,MAAM,OAAO,GACX,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,MAAM,CACnC,CAAC,MAAM,EAAE,EAAE,CACT,SAAS,CACP,MAAM,CAAC,WAAW,EAClB,KAAK,CACN,CACJ,CAAC;IACJ,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;QACzB,MAAM,IAAI,2BAA2B,CACnC,uGAAuG,CACxG,CAAC;IACJ,CAAC;IACD,OAAO,OAAO,CAAC,CAAC,CAAE,CAAC;AACrB,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,gDAAgD,CAC9D,KACuD;IAEvD,sBAAsB,CACpB,qBAAqB,EACrB,KAAK,CAAC,mBAAmB,CAC1B,CAAC;IACF,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,QAAQ,EACd,UAAU,CACX,CAAC;IACJ,MAAM,oBAAoB,GACxB,2BAA2B,CACzB,KAAK,CAAC,aAAa,EACnB,KAAK,CAAC,cAAc,CACrB,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,QAAQ,GACZ,gBAAgB,CACd,cAAc,EACd,cAAc,CACf,CAAC;IACJ,MAAM,MAAM,GACV,oBAAoB,CAClB,KAAK,CAAC,MAAM,CACb,CAAC;IACJ,MAAM,WAAW,GACf,yBAAyB,CACvB,KAAK,CAAC,mBAAmB,EACzB,MAAM,CACP,CAAC;IAEJ,MAAM,cAAc,GAClB,KAAK,CAAC,mBAAmB;QACzB,MAAM,CAAC,MAAM,CAAC;IAChB,IACE,CAAC,MAAM,CAAC,aAAa,CACnB,cAAc,CACf,EACD,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,iEAAiE,CAClE,CAAC;IACJ,CAAC;IAED,MAAM,iBAAiB,GACrB,MAAM,CAAC,GAAG,CACR,CACE,KAAK,EACL,UAAU,EACV,EAAE;QACF,MAAM,YAAY,GAChB,KAAK,CAAC,KAC4B,CAAC;QACrC,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,MAAM,EACZ,YAAY;aACT,sBAAsB,CAC1B,CAAC;QACJ,MAAM,QAAQ,GACZ,QAAQ;aACL,4BAA4B,CAAC;QAClC,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,QAAQ,CACT;YACD,QAAQ,IAAI,CAAC,EACb,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,wFAAwF,CACzF,CAAC;QACJ,CAAC;QAED,MAAM,KAAK,GACT,KAAK,CAAC,IAAI,CACR;YACE,MAAM,EACJ,KAAK,CAAC,mBAAmB;SAC5B,EACD,CACE,CAAC,EACD,mBAAmB,EACnB,EAAE,CACF,QAAQ;aACL,sCAAsC;YACzC,CACE,mBAAmB;gBACnB,GAAG,CACJ;gBACC,KAAK,CAAC,mBAAmB;gBACzB,QAAQ,CACb,CAAC;QACJ,MAAM,UAAU,GACd,qBAAqB,CACnB,KAAK,CAAC,OAAO,EACb,KAAK,CAAC,iBAAiB,EACvB,QAAQ,EACR,KAAK,EACL,oBAAoB,EACpB,WAAW,EACX,SAAS;YACP,UAAU;YACV,GAAG,CACN,CAAC;QACJ,MAAM,oBAAoB,GACxB,CAAC;YACD,KAAK,CAAC,mBAAmB,CAAC;QAC5B,MAAM,kBAAkB,GACtB,QAAQ;YACR,KAAK,CAAC,mBAAmB,CAAC;QAE5B,OAAO;YACL,OAAO,EACL,KAAK,CAAC,OAAO;YACf,sBAAsB,EAAE;gBACtB,GAAG,YAAY;qBACZ,sBAAsB;aAC1B;YACD,wBAAwB,EACtB,UAAU;iBACP,wBAAwB;YAC7B,qBAAqB,EACnB,UAAU;iBACP,qBAAqB;YAC1B,mBAAmB,EAAE;gBACnB,gCAAgC,EAC9B,QAAQ;qBACL,sCAAsC;gBAC3C,8BAA8B,EAC5B,QAAQ;qBACL,oCAAoC;gBACzC,eAAe,EACb,QAAQ;aACX;YACD,KAAK,EACH,UAAU,CAAC,KAAK,CAAC,GAAG,CAClB,CACE,IAAI,EACJ,mBAAmB,EACnB,EAAE,CAAC,CAAC;gBACJ,GAAG,IAAI;gBACP,kBAAkB,EAChB,CACE,mBAAmB;oBACnB,GAAG,CACJ;oBACD,KAAK;yBACF,mBAAmB;gBACxB,oBAAoB;gBACpB,kBAAkB;aACnB,CAAC,CACH;SACJ,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,OAAO,mBAAmB,CACxB;QACE,QAAQ;QACR,aAAa,EACX,8BAA8B;QAChC,qBAAqB,EAAE;YACrB,SAAS,EACP,KAAK,CAAC,MAAM;iBACT,eAAe;YACpB,cAAc,EACZ,KAAK,CAAC,MAAM;iBACT,oBAAoB;YACzB,aAAa,EACX,KAAK,CAAC,MAAM;iBACT,aAAa;SACnB;QACD,oBAAoB;QACpB,mBAAmB,EACjB,KAAK,CAAC,mBAAmB;QAC3B,4BAA4B,EAC1B,cAAc;QAChB,4BAA4B,EAC1B,cAAc;QAChB,8BAA8B,EAC5B,QAAQ;QACV,oBAAoB,EAAE,IAAI;QAC1B,iBAAiB;QACjB,sCAAsC,EACpC,WAAW,KAAK,IAAI;QACtB,wBAAwB,EACtB,IAAI;QACN,6BAA6B,EAC3B,KAAK;QACP,8CAA8C,EAC5C,KAAK;QACP,sBAAsB,EACpB,KAAK;QACP,0BAA0B,EACxB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,mBAAmB,EAAE,KAAK;QAC1B,oBAAoB,EAClB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,uCAAuC,EACrC,KAAK;QACP,+BAA+B,EAC7B,QAAQ,CAAC,CAAC,KAAK,CAAC;KACnB,EACD,uDAAuD,EACvD,OAAO,EACP;QACE,gHAAgH;QAChH,kEAAkE;QAClE,qIAAqI;QACrI,iIAAiI;QACjI,4IAA4I;QAC5I,kHAAkH;KACnH,CACF,CAAC;AACJ,CAAC"}
+{"version":3,"file":"extended-object-projection.js","sourceRoot":"","sources":["../../src/motion/extended-object-projection.ts"],"names":[],"mappings":"AAAA,sCAAsC;AAEtC;;;;;;;;;;;GAWG;AAEH,OAAO,EACL,mBAAmB,EAEpB,MAAM,+BAA+B,CAAC;AACvC,OAAO,EACL,2BAA2B,EAC3B,qBAAqB,EACrB,sBAAsB,EACvB,MAAM,uBAAuB,CAAC;AAI/B,OAAO,EACL,8BAA8B,EAC/B,MAAM,wBAAwB,CAAC;AAOhC,OAAO,EAAE,gBAAgB,EAAE,kBAAkB,EAAE,MAAM,8BAA8B,CAAC;AACpF,OAAO,EAAE,yBAAyB,EAAE,MAAM,gCAAgC,CAAC;AAgN3E,SAAS,qBAAqB,CAC5B,KAAa,EACb,IAAY;IAEZ,IACE,OAAO,KAAK,KAAK,QAAQ;QACzB,KAAK,CAAC,IAAI,EAAE,CAAC,MAAM,KAAK,CAAC,EACzB,CAAC;QACD,MAAM,IAAI,yBAAyB,CACjC,IAAI;YACF,8BAA8B,CACjC,CAAC;IACJ,CAAC;IACD,OAAO,KAAK,CAAC,IAAI,EAAE,CAAC;AACtB,CAAC;AAED,SAAS,mBAAmB,CAC1B,KAAc,EACd,IAAY;IAEZ,kBAAkB,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;IAChC,KACE,MAAM,IAAI,IACV,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAU,EACxB,CAAC;QACD,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,KAAK,CAAC,IAAI,CAAC,CACZ,EACD,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;gBACF,GAAG;gBACH,IAAI;gBACJ,kBAAkB,CACrB,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO;QACL,GAAG,KAAK;KACT,CAAC;AACJ,CAAC;AAED,SAAS,iBAAiB,CACxB,KAAa,EACb,IAAY;IAEZ,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;QAC5B,MAAM,IAAI,2BAA2B,CACnC,IAAI,GAAG,kBAAkB,CAC1B,CAAC;IACJ,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,kBAAkB,CACzB,CAAS,EACT,CAAS;IAET,MAAM,KAAK,GACT,IAAI,CAAC,GAAG,CACN,CAAC,EACD,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EACX,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CACZ,CAAC;IACJ,OAAO,CACL,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;QACf,MAAM,CAAC,OAAO;YACZ,EAAE;YACF,KAAK,CACR,CAAC;AACJ,CAAC;AAED,SAAS,2BAA2B,CAClC,aAAqB,EACrB,cACoB;IAEpB,qBAAqB,CACnB,eAAe,EACf,aAAa,CACd,CAAC;IACF,OAAO,cAAc;QACnB,SAAS;QACT,CAAC,CAAC,aAAa;QACf,CAAC,CAAC,8BAA8B,CAAC;YAC7B,aAAa;YACb,eAAe,EACb,cAAc;SACjB,CAAC,CAAC,KAAK,CAAC,eAAe,CAAC;AAC/B,CAAC;AAED,SAAS,kBAAkB,CACzB,eACS,EACT,oBAA4B,EAC5B,IAAY;IAKZ,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,eAAe,CAAC,CAAC,CAClB;QACD,eAAe,CAAC,CAAC,IAAI,CAAC,EACtB,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,4CAA4C,CAC/C,CAAC;IACJ,CAAC;IAED,MAAM,MAAM,GAAG;QACb,CAAC,EACC,oBAAoB;YACpB,CACE,eAAe,CAAC,CAAC;gBACjB,eAAe,CAAC,CAAC,CAClB;QACH,CAAC,EACC,oBAAoB;YACpB,CACE,eAAe,CAAC,CAAC;gBACjB,eAAe,CAAC,CAAC,CAClB;KACJ,CAAC;IACF,IACE,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC;QAC1B,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAC1B,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;YACF,iCAAiC,CACpC,CAAC;IACJ,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,SAAS,oBAAoB,CAC3B,MAAoB;IAQpB,IACE,CAAC,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC;QACtB,MAAM,CAAC,MAAM,KAAK,CAAC,EACnB,CAAC;QACD,MAAM,IAAI,yBAAyB,CACjC,mCAAmC,CACpC,CAAC;IACJ,CAAC;IAED,MAAM,MAAM,GACV,MAAM,CAAC,GAAG,CACR,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE;QACf,MAAM,IAAI,GACR,SAAS;YACT,KAAK;YACL,GAAG,CAAC;QACN,kBAAkB,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;QAChC,MAAM,OAAO,GACX,qBAAqB,CACnB,KAAK,CAAC,OAAO,EACb,IAAI,GAAG,UAAU,CAClB,CAAC;QACJ,MAAM,iBAAiB,GACrB,mBAAmB,CACjB,KAAK,CAAC,eAAe,EACrB,IAAI;YACF,kBAAkB,CACrB,CAAC;QACJ,IACE,iBAAiB,CAAC,CAAC,IAAI,CAAC,EACxB,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,IAAI;gBACF,iEAAiE,CACpE,CAAC;QACJ,CAAC;QACD,OAAO;YACL,KAAK;YACL,OAAO;YACP,iBAAiB;SAClB,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,MAAM,GAAG,GACP,MAAM,CAAC,GAAG,CACR,CAAC,KAAK,EAAE,EAAE,CACR,KAAK,CAAC,OAAO,CAChB,CAAC;IACJ,IACE,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI;QACjB,GAAG,CAAC,MAAM,EACV,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,mDAAmD,CACpD,CAAC;IACJ,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,SAAS,mBAAmB,CAC1B,KACmB;IAEnB,IACE,CAAC,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC;QACrB,KAAK,CAAC,MAAM,KAAK,CAAC,EAClB,CAAC;QACD,MAAM,IAAI,yBAAyB,CACjC,4DAA4D,CAC7D,CAAC;IACJ,CAAC;IACD,IAAI,KAAK,GACP,MAAM,CAAC,iBAAiB,CAAC;IAC3B,OAAO,KAAK,CAAC,GAAG,CACd,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE;QACf,MAAM,IAAI,GACR,iBAAiB,CACf,KAAK,EACL,kCAAkC;YAChC,KAAK;YACL,GAAG,CACN,CAAC;QACJ,IAAI,IAAI,IAAI,KAAK,EAAE,CAAC;YAClB,MAAM,IAAI,2BAA2B,CACnC,8DAA8D,CAC/D,CAAC;QACJ,CAAC;QACD,KAAK,GAAG,IAAI,CAAC;QACb,OAAO,IAAI,CAAC;IACd,CAAC,CACF,CAAC;AACJ,CAAC;AAED,SAAS,gBAAgB,CACvB,cACS,EACT,cACS;IAET,OAAO;QACL,CAAC,EACC,cAAc,CAAC,CAAC;YAChB,cAAc,CAAC,CAAC;QAClB,CAAC,EACC,cAAc,CAAC,CAAC;YAChB,cAAc,CAAC,CAAC;QAClB,CAAC,EACC,cAAc,CAAC,CAAC;YAChB,cAAc,CAAC,CAAC;KACnB,CAAC;AACJ,CAAC;AAED,SAAS,cAAc,CACrB,SACS,EACT,QACS,EACT,WAAmB;IAEnB,OAAO;QACL,CAAC,EACC,SAAS,CAAC,CAAC;YACX,QAAQ,CAAC,CAAC;gBACR,WAAW;QACf,CAAC,EACC,SAAS,CAAC,CAAC;YACX,QAAQ,CAAC,CAAC;gBACR,WAAW;QACf,CAAC,EACC,SAAS,CAAC,CAAC;YACX,QAAQ,CAAC,CAAC;gBACR,WAAW;KAChB,CAAC;AACJ,CAAC;AAED,SAAS,yBAAyB,CAChC,WAEW,EACX,MAIK;IAEL,IACE,WAAW,KAAK,SAAS,EACzB,CAAC;QACD,OAAO,IAAI,CAAC;IACd,CAAC;IACD,kBAAkB,CAAC,WAAW,EAAE,qBAAqB,CAAC,CAAC;IACvD,IACE,WAAW,CAAC,IAAI;QAChB,8BAA8B,EAC9B,CAAC;QACD,MAAM,IAAI,yBAAyB,CACjC,sCAAsC,CACvC,CAAC;IACJ,CAAC;IACD,qBAAqB,CACnB,qCAAqC,EACrC,WAAW,CAAC,eAAe,CAC5B,CAAC;IACF,KACE,MAAM,KAAK,IAAI,MAAM,EACrB,CAAC;QACD,IACE,CAAC,kBAAkB,CACjB,KAAK,CAAC,iBAAiB,CAAC,CAAC,EACzB,WAAW,CAAC,eAAe,CAC5B,EACD,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,uFAAuF,CACxF,CAAC;QACJ,CAAC;IACH,CAAC;IACD,OAAO,WAAW;SACf,eAAe,CAAC;AACrB,CAAC;AAED,SAAS,qBAAqB,CAC5B,OAAe,EACf,iBACS,EACT,8BACS,EACT,WACmB,EACnB,oBACQ,EACR,qBACe,EACf,IAAY;IAEZ,MAAM,mBAAmB,GACvB,kBAAkB,CAChB,iBAAiB,EACjB,oBAAoB,EACpB,IAAI;QACF,kBAAkB,CACrB,CAAC;IAEJ,MAAM,KAAK,GACT,WAAW,CAAC,GAAG,CACb,CACE,WAAW,EACX,WAAW,EACX,EAAE;QACF,MAAM,QAAQ,GACZ,cAAc,CACZ,iBAAiB,EACjB,8BAA8B,EAC9B,WAAW,CACZ,CAAC;QACJ,MAAM,MAAM,GACV,kBAAkB,CAChB,QAAQ,EACR,oBAAoB,EACpB,IAAI;YACF,iBAAiB,CACpB,CAAC;QACJ,MAAM,MAAM,GACV,MAAM,CAAC,CAAC;YACR,mBAAmB,CAAC,CAAC,CAAC;QACxB,MAAM,MAAM,GACV,MAAM,CAAC,CAAC;YACR,mBAAmB,CAAC,CAAC,CAAC;QAExB,OAAO;YACL,WAAW;YACX,wBAAwB,EACtB,WAAW;YACb,uBAAuB,EACrB,QAAQ;YACV,kBAAkB,EAChB,MAAM;YACR,8BAA8B,EAAE;gBAC9B,CAAC,EAAE,MAAM;gBACT,CAAC,EAAE,MAAM;gBACT,QAAQ,EACN,IAAI,CAAC,KAAK,CACR,MAAM,EACN,MAAM,CACP;aACJ;YACD,MAAM,EACJ,QAAQ,CAAC,CAAC;YACZ,qCAAqC,EACnC,qBAAqB;gBACnB,IAAI;gBACJ,CAAC,CAAC,IAAI;gBACN,CAAC,CAAC,qBAAqB;oBACrB,QAAQ,CAAC,CAAC;SACjB,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,OAAO;QACL,OAAO;QACP,wBAAwB,EACtB,iBAAiB;QACnB,qBAAqB,EACnB,mBAAmB;QACrB,KAAK;KACN,CAAC;AACJ,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,UAAU,2CAA2C,CACzD,KACkD;IAElD,gBAAgB,CAAC,KAAK,EAAE,6CAA6C,EAAE,CAAC,UAAU,EAAE,eAAe,EAAE,gBAAgB,EAAE,8BAA8B,EAAE,8BAA8B,EAAE,iCAAiC,EAAE,QAAQ,EAAE,qBAAqB,CAAC,CAAC,CAAC;IAC5P,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,QAAQ,EACd,UAAU,CACX,CAAC;IACJ,MAAM,oBAAoB,GACxB,2BAA2B,CACzB,KAAK,CAAC,aAAa,EACnB,KAAK,CAAC,cAAc,CACrB,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,QAAQ,GACZ,gBAAgB,CACd,cAAc,EACd,cAAc,CACf,CAAC;IACJ,MAAM,WAAW,GACf,mBAAmB,CACjB,KAAK;SACF,+BAA+B,CACnC,CAAC;IACJ,MAAM,MAAM,GACV,oBAAoB,CAClB,KAAK,CAAC,MAAM,CACb,CAAC;IACJ,MAAM,WAAW,GACf,yBAAyB,CACvB,KAAK,CAAC,mBAAmB,EACzB,MAAM,CACP,CAAC;IAEJ,MAAM,iBAAiB,GACrB,MAAM,CAAC,GAAG,CACR,CACE,KAAK,EACL,UAAU,EACV,EAAE,CACF,qBAAqB,CACnB,KAAK,CAAC,OAAO,EACb,KAAK,CAAC,iBAAiB,EACvB,QAAQ,EACR,WAAW,EACX,oBAAoB,EACpB,WAAW,EACX,SAAS;QACP,UAAU;QACV,GAAG,CACN,CACJ,CAAC;IAEJ,MAAM,WAAW,GACf,WAAW,KAAK,IAAI;QAClB,CAAC,CAAC,IAAI;QACN,CAAC,CAAC,WAAW,CAAC,GAAG,CACb,CACE,WAAW,EACX,WAAW,EACX,EAAE;YACF,MAAM,YAAY,GAChB,WAAW;gBACX,QAAQ,CAAC,CAAC;oBACR,WAAW,CAAC;YAChB,IACE,YAAY,IAAI,CAAC,EACjB,CAAC;gBACD,MAAM,IAAI,2BAA2B,CACnC,qEAAqE,CACtE,CAAC;YACJ,CAAC;YACD,OAAO;gBACL,WAAW;gBACX,wBAAwB,EACtB,WAAW;gBACb,kBAAkB,EAChB,WAAW;oBACX,YAAY;aACf,CAAC;QACJ,CAAC,CACF,CAAC;IAER,OAAO,mBAAmB,CACxB;QACE,QAAQ;QACR,aAAa,EACX,wCAAwC;QAC1C,oBAAoB;QACpB,4BAA4B,EAC1B,cAAc;QAChB,4BAA4B,EAC1B,cAAc;QAChB,8BAA8B,EAC5B,QAAQ;QACV,oBAAoB,EAAE,IAAI;QAC1B,iBAAiB;QACjB,6BAA6B,EAC3B,WAAW,KAAK,IAAI;YAClB,CAAC,CAAC,IAAI;YACN,CAAC,CAAC;gBACE,QAAQ,EACN,uCAAuC;gBACzC,eAAe,EACb,WAAY;gBACd,yCAAyC,EACvC,IAAI;gBACN,WAAW;gBACX,8CAA8C,EAC5C,IAAI;gBACN,mCAAmC,EACjC,IAAI;aACP;QACP,wBAAwB,EACtB,IAAI;QACN,6BAA6B,EAC3B,KAAK;QACP,8CAA8C,EAC5C,KAAK;QACP,sBAAsB,EACpB,KAAK;QACP,0BAA0B,EACxB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,mBAAmB,EAAE,KAAK;QAC1B,oBAAoB,EAClB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,+BAA+B,EAC7B,QAAQ,CAAC,CAAC,KAAK,CAAC;KACnB,EACD,yCAAyC,EACzC,OAAO,EACP;QACE,wFAAwF;QACxF,oHAAoH;QACpH,wFAAwF;QACxF,oKAAoK;QACpK,kIAAkI;QAClI,gIAAgI;QAChI,+FAA+F;KAChG,CACF,CAAC;AACJ,CAAC;AAED,SAAS,SAAS,CAChB,CAAc,EACd,CAAc;IAEd,OAAO,CACL,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;QACX,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CACZ,CAAC;AACJ,CAAC;AAED,SAAS,qBAAqB,CAC5B,MAC2B,EAC3B,KACa;IAEb,kBAAkB,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;IACrC,kBAAkB,CAAC,MAAM,CAAC,eAAe,EAAE,wBAAwB,CAAC,CAAC;IACrE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC;QAAE,MAAM,IAAI,yBAAyB,CAAC,kDAAkD,CAAC,CAAC;IAC5I,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,OAAO,CAAC,CAAC,MAAM,EAAE,KAAK,EAAE,EAAE;QACvD,kBAAkB,CAAC,MAAM,EAAE,iCAAiC,GAAG,KAAK,GAAG,GAAG,CAAC,CAAC;QAC5E,kBAAkB,CAAC,MAAM,CAAC,WAAW,EAAE,iCAAiC,GAAG,KAAK,GAAG,eAAe,CAAC,CAAC;IACtG,CAAC,CAAC,CAAC;IACH,kBAAkB,CAAC,KAAK,EAAE,wBAAwB,CAAC,CAAC;IACpD,MAAM,OAAO,GACX,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,MAAM,CACnC,CAAC,MAAM,EAAE,EAAE,CACT,SAAS,CACP,MAAM,CAAC,WAAW,EAClB,KAAK,CACN,CACJ,CAAC;IACJ,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;QACzB,MAAM,IAAI,2BAA2B,CACnC,mGAAmG,CACpG,CAAC;IACJ,CAAC;IACD,OAAO,OAAO,CAAC,CAAC,CAAE,CAAC;AACrB,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,gDAAgD,CAC9D,KACuD;IAEvD,gBAAgB,CAAC,KAAK,EAAE,kDAAkD,EAAE,CAAC,UAAU,EAAE,QAAQ,EAAE,eAAe,EAAE,gBAAgB,EAAE,8BAA8B,EAAE,8BAA8B,EAAE,qBAAqB,EAAE,QAAQ,EAAE,qBAAqB,CAAC,CAAC,CAAC;IAC/P,sBAAsB,CACpB,qBAAqB,EACrB,KAAK,CAAC,mBAAmB,CAC1B,CAAC;IACF,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,QAAQ,EACd,UAAU,CACX,CAAC;IACJ,MAAM,oBAAoB,GACxB,2BAA2B,CACzB,KAAK,CAAC,aAAa,EACnB,KAAK,CAAC,cAAc,CACrB,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,cAAc,GAClB,mBAAmB,CACjB,KAAK;SACF,4BAA4B,EAC/B,8BAA8B,CAC/B,CAAC;IACJ,MAAM,QAAQ,GACZ,gBAAgB,CACd,cAAc,EACd,cAAc,CACf,CAAC;IACJ,MAAM,MAAM,GACV,oBAAoB,CAClB,KAAK,CAAC,MAAM,CACb,CAAC;IACJ,MAAM,WAAW,GACf,yBAAyB,CACvB,KAAK,CAAC,mBAAmB,EACzB,MAAM,CACP,CAAC;IAEJ,MAAM,cAAc,GAClB,KAAK,CAAC,mBAAmB;QACzB,MAAM,CAAC,MAAM,CAAC;IAChB,IACE,CAAC,MAAM,CAAC,aAAa,CACnB,cAAc,CACf,EACD,CAAC;QACD,MAAM,IAAI,2BAA2B,CACnC,iEAAiE,CAClE,CAAC;IACJ,CAAC;IAED,MAAM,iBAAiB,GACrB,MAAM,CAAC,GAAG,CACR,CACE,KAAK,EACL,UAAU,EACV,EAAE;QACF,MAAM,YAAY,GAChB,KAAK,CAAC,KAC4B,CAAC;QACrC,MAAM,QAAQ,GACZ,qBAAqB,CACnB,KAAK,CAAC,MAAM,EACZ,YAAY;aACT,sBAAsB,CAC1B,CAAC;QACJ,MAAM,QAAQ,GACZ,QAAQ;aACL,4BAA4B,CAAC;QAClC,IACE,CAAC,MAAM,CAAC,QAAQ,CACd,QAAQ,CACT;YACD,QAAQ,IAAI,CAAC,EACb,CAAC;YACD,MAAM,IAAI,2BAA2B,CACnC,wFAAwF,CACzF,CAAC;QACJ,CAAC;QAED,MAAM,KAAK,GACT,KAAK,CAAC,IAAI,CACR;YACE,MAAM,EACJ,KAAK,CAAC,mBAAmB;SAC5B,EACD,CACE,CAAC,EACD,mBAAmB,EACnB,EAAE,CACF,QAAQ;aACL,sCAAsC;YACzC,CACE,mBAAmB;gBACnB,GAAG,CACJ;gBACC,KAAK,CAAC,mBAAmB;gBACzB,QAAQ,CACb,CAAC;QACJ,MAAM,UAAU,GACd,qBAAqB,CACnB,KAAK,CAAC,OAAO,EACb,KAAK,CAAC,iBAAiB,EACvB,QAAQ,EACR,KAAK,EACL,oBAAoB,EACpB,WAAW,EACX,SAAS;YACP,UAAU;YACV,GAAG,CACN,CAAC;QACJ,MAAM,oBAAoB,GACxB,CAAC;YACD,KAAK,CAAC,mBAAmB,CAAC;QAC5B,MAAM,kBAAkB,GACtB,QAAQ;YACR,KAAK,CAAC,mBAAmB,CAAC;QAE5B,OAAO;YACL,OAAO,EACL,KAAK,CAAC,OAAO;YACf,sBAAsB,EAAE;gBACtB,GAAG,YAAY;qBACZ,sBAAsB;aAC1B;YACD,wBAAwB,EACtB,UAAU;iBACP,wBAAwB;YAC7B,qBAAqB,EACnB,UAAU;iBACP,qBAAqB;YAC1B,mBAAmB,EAAE;gBACnB,gCAAgC,EAC9B,QAAQ;qBACL,sCAAsC;gBAC3C,8BAA8B,EAC5B,QAAQ;qBACL,oCAAoC;gBACzC,eAAe,EACb,QAAQ;aACX;YACD,KAAK,EACH,UAAU,CAAC,KAAK,CAAC,GAAG,CAClB,CACE,IAAI,EACJ,mBAAmB,EACnB,EAAE,CAAC,CAAC;gBACJ,GAAG,IAAI;gBACP,kBAAkB,EAChB,CACE,mBAAmB;oBACnB,GAAG,CACJ;oBACD,KAAK;yBACF,mBAAmB;gBACxB,oBAAoB;gBACpB,kBAAkB;aACnB,CAAC,CACH;SACJ,CAAC;IACJ,CAAC,CACF,CAAC;IAEJ,OAAO,mBAAmB,CACxB;QACE,QAAQ;QACR,aAAa,EACX,8BAA8B;QAChC,qBAAqB,EAAE;YACrB,SAAS,EACP,KAAK,CAAC,MAAM;iBACT,eAAe;YACpB,cAAc,EACZ,KAAK,CAAC,MAAM;iBACT,oBAAoB;YACzB,aAAa,EACX,KAAK,CAAC,MAAM;iBACT,aAAa;SACnB;QACD,oBAAoB;QACpB,mBAAmB,EACjB,KAAK,CAAC,mBAAmB;QAC3B,4BAA4B,EAC1B,cAAc;QAChB,4BAA4B,EAC1B,cAAc;QAChB,8BAA8B,EAC5B,QAAQ;QACV,oBAAoB,EAAE,IAAI;QAC1B,iBAAiB;QACjB,sCAAsC,EACpC,WAAW,KAAK,IAAI;QACtB,wBAAwB,EACtB,IAAI;QACN,6BAA6B,EAC3B,KAAK;QACP,8CAA8C,EAC5C,KAAK;QACP,sBAAsB,EACpB,KAAK;QACP,0BAA0B,EACxB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,mBAAmB,EAAE,KAAK;QAC1B,oBAAoB,EAClB,KAAK;QACP,kBAAkB,EAAE,KAAK;QACzB,uCAAuC,EACrC,KAAK;QACP,+BAA+B,EAC7B,QAAQ,CAAC,CAAC,KAAK,CAAC;KACnB,EACD,uDAAuD,EACvD,OAAO,EACP;QACE,yIAAyI;QACzI,kEAAkE;QAClE,qIAAqI;QACrI,iIAAiI;QACjI,4IAA4I;QAC5I,kHAAkH;KACnH,CACF,CAAC;AACJ,CAAC","sourcesContent":["// SPDX-License-Identifier: Apache-2.0\n\n/**\n * Projection of an extended object: several explicit points (in metres) on one rigid object that\n * moves in a straight line.\n *\n * The points are evaluated at deterministic physical times, or at deterministic midpoint time\n * samples inside each point's local exposure window (from the capture exposure schedule).\n *\n * This is geometry only. It does not build a blur kernel, decide visibility, integrate radiance,\n * deform the object, rotate the camera or apply a universal scale.\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 CalculationResult\n} from \"../core/calculation-result.js\";\nimport {\n  InvalidScientificInputError,\n  requirePositiveFinite,\n  requirePositiveInteger\n} from \"../core/validation.js\";\nimport type {\n  RasterPoint\n} from \"../output/capture-geometry.js\";\nimport {\n  calculateThinLensImageDistance\n} from \"../optics/thin-lens.js\";\nimport type {\n  Vector3\n} from \"../schema/scene.js\";\nimport type {\n  ResolvedCaptureModeTiming\n} from \"../sensor/capture-mode-timing.js\";\nimport { requireInputKeys, requireInputObject } from \"../core/record-validation.js\";\nimport { InvalidConfigurationError } from \"../core/configuration-error.js\";\n\nexport interface ExtendedObjectMetricPoint {\n  pointId: string;\n  /**\n   * Point in camera space, in metres, at the shared reference phase.\n   *\n   * +X right, +Y up, +Z forward/away from the camera.\n   */\n  positionCameraM: Vector3;\n}\n\nexport interface ExtendedObjectFrontoparallelPlaneDeclaration {\n  kind: \"fronto-parallel-planar-patch\";\n  referenceDepthM: number;\n}\n\nexport interface CalculateExtendedObjectProjectionTrajectoryInput {\n  objectId: string;\n  focalLengthMm: number;\n  focusDistanceM?: number;\n  objectTranslationVelocityMps:\n    Vector3;\n  cameraTranslationVelocityMps:\n    Vector3;\n  sampleTimesSecondsFromReference:\n    readonly number[];\n  points:\n    readonly ExtendedObjectMetricPoint[];\n  frontoparallelPlane?:\n    ExtendedObjectFrontoparallelPlaneDeclaration;\n}\n\nexport interface ExtendedObjectProjectionNode {\n  sampleIndex: number;\n  timeSecondsFromReference: number;\n  relativePositionCameraM:\n    Vector3;\n  mappedImagePointMm: {\n    x: number;\n    y: number;\n  };\n  deltaFromReferenceImagePlaneMm: {\n    x: number;\n    y: number;\n    distance: number;\n  };\n  depthM: number;\n  planarMagnificationScaleFromReference:\n    number | null;\n}\n\nexport interface ExtendedObjectPointProjectionTrajectory {\n  pointId: string;\n  referencePositionCameraM:\n    Vector3;\n  referenceImagePointMm: {\n    x: number;\n    y: number;\n  };\n  nodes:\n    readonly ExtendedObjectProjectionNode[];\n}\n\nexport interface ExtendedObjectPlanarMagnificationDiagnostic {\n  geometry:\n    \"declared-fronto-parallel-planar-patch\";\n  referenceDepthM: number;\n  uniformScaleAuthorizedWithinDeclaredPatch:\n    true;\n  scaleByTime:\n    readonly {\n      sampleIndex: number;\n      timeSecondsFromReference:\n        number;\n      scaleFromReference: number;\n    }[];\n  lateralRigidTranslationDoesNotChangePatchScale:\n    true;\n  notAuthorizedForArbitrary3dGeometry:\n    true;\n}\n\nexport interface ExtendedObjectProjectionTrajectory {\n  objectId: string;\n  timeReference:\n    \"caller-declared-common-reference-phase\";\n  projectionDistanceMm: number;\n  objectTranslationVelocityMps:\n    Vector3;\n  cameraTranslationVelocityMps:\n    Vector3;\n  relativeTranslationVelocityMps:\n    Vector3;\n  rigidTranslationOnly: true;\n  pointTrajectories:\n    readonly ExtendedObjectPointProjectionTrajectory[];\n  planarMagnificationDiagnostic:\n    ExtendedObjectPlanarMagnificationDiagnostic | null;\n  metricSceneDepthRequired: true;\n  oneGlobalHomographyAuthorized:\n    false;\n  oneGlobalScaleAuthorizedForArbitrary3dGeometry:\n    false;\n  cameraRotationComposed: false;\n  visibilityOcclusionModeled: false;\n  deformationModeled: false;\n  accelerationModeled: false;\n  blurKernelCalculated: false;\n  radianceIntegrated: false;\n  timeVaryingDefocusMayBeRequired:\n    boolean;\n}\n\nexport interface CaptureExtendedObjectMetricPoint\n  extends ExtendedObjectMetricPoint {\n  /**\n   * Native destination point. It selects the local exposure window (from the\n   * capture exposure schedule) for this object point.\n   */\n  destinationPointNative:\n    RasterPoint;\n}\n\nexport interface CalculateCaptureExtendedObjectTemporalProjectionInput {\n  objectId: string;\n  timing:\n    ResolvedCaptureModeTiming;\n  focalLengthMm: number;\n  focusDistanceM?: number;\n  objectTranslationVelocityMps:\n    Vector3;\n  cameraTranslationVelocityMps:\n    Vector3;\n  temporalSampleCount: number;\n  points:\n    readonly CaptureExtendedObjectMetricPoint[];\n  frontoparallelPlane?:\n    ExtendedObjectFrontoparallelPlaneDeclaration;\n}\n\nexport interface CaptureExtendedObjectTemporalNode\n  extends ExtendedObjectProjectionNode {\n  localExposurePhase: number;\n  normalizedTimeWeight: number;\n  timeMeasureSeconds: number;\n}\n\nexport interface CaptureExtendedObjectPointTrajectory {\n  pointId: string;\n  destinationPointNative:\n    RasterPoint;\n  referencePositionCameraM:\n    Vector3;\n  referenceImagePointMm: {\n    x: number;\n    y: number;\n  };\n  localExposureWindow: {\n    startSecondsFromCaptureReference:\n      number;\n    endSecondsFromCaptureReference:\n      number;\n    durationSeconds: number;\n  };\n  nodes:\n    readonly CaptureExtendedObjectTemporalNode[];\n}\n\nexport interface CaptureExtendedObjectTemporalProjection {\n  objectId: string;\n  timeReference:\n    \"first-opening-boundary-phase\";\n  timingProfileIdentity: {\n    profileId: string;\n    profileVersion: string;\n    captureModeId: string;\n  };\n  projectionDistanceMm: number;\n  temporalSampleCount: number;\n  objectTranslationVelocityMps:\n    Vector3;\n  cameraTranslationVelocityMps:\n    Vector3;\n  relativeTranslationVelocityMps:\n    Vector3;\n  rigidTranslationOnly: true;\n  pointTrajectories:\n    readonly CaptureExtendedObjectPointTrajectory[];\n  planarMagnificationDiagnosticAvailable:\n    boolean;\n  metricSceneDepthRequired: true;\n  oneGlobalHomographyAuthorized:\n    false;\n  oneGlobalScaleAuthorizedForArbitrary3dGeometry:\n    false;\n  cameraRotationComposed: false;\n  visibilityOcclusionModeled: false;\n  deformationModeled: false;\n  accelerationModeled: false;\n  blurKernelCalculated: false;\n  radianceIntegrated: false;\n  sensorReadoutTimingUsedAsExposureTiming:\n    false;\n  timeVaryingDefocusMayBeRequired:\n    boolean;\n}\n\nfunction requireNonEmptyString(\n  value: string,\n  path: string\n): string {\n  if (\n    typeof value !== \"string\" ||\n    value.trim().length === 0\n  ) {\n    throw new InvalidConfigurationError(\n      path +\n        \" must be a non-empty string.\"\n    );\n  }\n  return value.trim();\n}\n\nfunction requireFiniteVector(\n  value: Vector3,\n  path: string\n): Vector3 {\n  requireInputObject(value, path);\n  for (\n    const axis of\n    [\"x\", \"y\", \"z\"] as const\n  ) {\n    if (\n      !Number.isFinite(\n        value[axis]\n      )\n    ) {\n      throw new InvalidScientificInputError(\n        path +\n          \".\" +\n          axis +\n          \" must be finite.\"\n      );\n    }\n  }\n  return {\n    ...value\n  };\n}\n\nfunction requireFiniteTime(\n  value: number,\n  path: string\n): number {\n  if (!Number.isFinite(value)) {\n    throw new InvalidScientificInputError(\n      path + \" must be finite.\"\n    );\n  }\n  return value;\n}\n\nfunction approximatelyEqual(\n  a: number,\n  b: number\n): boolean {\n  const scale =\n    Math.max(\n      1,\n      Math.abs(a),\n      Math.abs(b)\n    );\n  return (\n    Math.abs(a - b) <=\n    Number.EPSILON *\n      32 *\n      scale\n  );\n}\n\nfunction resolveProjectionDistanceMm(\n  focalLengthMm: number,\n  focusDistanceM:\n    number | undefined\n): number {\n  requirePositiveFinite(\n    \"focalLengthMm\",\n    focalLengthMm\n  );\n  return focusDistanceM ===\n    undefined\n    ? focalLengthMm\n    : calculateThinLensImageDistance({\n        focalLengthMm,\n        objectDistanceM:\n          focusDistanceM\n      }).value.imageDistanceMm;\n}\n\nfunction projectMetricPoint(\n  positionCameraM:\n    Vector3,\n  projectionDistanceMm: number,\n  path: string\n): {\n  x: number;\n  y: number;\n} {\n  if (\n    !Number.isFinite(\n      positionCameraM.z\n    ) ||\n    positionCameraM.z <= 0\n  ) {\n    throw new InvalidScientificInputError(\n      path +\n        \" must remain in front of the camera plane.\"\n    );\n  }\n\n  const mapped = {\n    x:\n      projectionDistanceMm *\n      (\n        positionCameraM.x /\n        positionCameraM.z\n      ),\n    y:\n      projectionDistanceMm *\n      (\n        positionCameraM.y /\n        positionCameraM.z\n      )\n  };\n  if (\n    !Number.isFinite(mapped.x) ||\n    !Number.isFinite(mapped.y)\n  ) {\n    throw new InvalidScientificInputError(\n      path +\n        \" projection must remain finite.\"\n    );\n  }\n  return mapped;\n}\n\nfunction validateUniquePoints<T extends ExtendedObjectMetricPoint>(\n  points: readonly T[]\n): readonly {\n  point:\n    T;\n  pointId: string;\n  referencePosition:\n    Vector3;\n}[] {\n  if (\n    !Array.isArray(points) ||\n    points.length === 0\n  ) {\n    throw new InvalidConfigurationError(\n      \"points must be a non-empty array.\"\n    );\n  }\n\n  const parsed =\n    points.map(\n      (point, index) => {\n        const path =\n          \"points[\" +\n          index +\n          \"]\";\n        requireInputObject(point, path);\n        const pointId =\n          requireNonEmptyString(\n            point.pointId,\n            path + \".pointId\"\n          );\n        const referencePosition =\n          requireFiniteVector(\n            point.positionCameraM,\n            path +\n              \".positionCameraM\"\n          );\n        if (\n          referencePosition.z <= 0\n        ) {\n          throw new InvalidScientificInputError(\n            path +\n              \".positionCameraM.z must place the point in front of the camera.\"\n          );\n        }\n        return {\n          point,\n          pointId,\n          referencePosition\n        };\n      }\n    );\n\n  const ids =\n    parsed.map(\n      (entry) =>\n        entry.pointId\n    );\n  if (\n    new Set(ids).size !==\n    ids.length\n  ) {\n    throw new InvalidScientificInputError(\n      \"points must not contain duplicate pointId values.\"\n    );\n  }\n  return parsed;\n}\n\nfunction validateSampleTimes(\n  times:\n    readonly number[]\n): readonly number[] {\n  if (\n    !Array.isArray(times) ||\n    times.length === 0\n  ) {\n    throw new InvalidConfigurationError(\n      \"sampleTimesSecondsFromReference must be a non-empty array.\"\n    );\n  }\n  let prior =\n    Number.NEGATIVE_INFINITY;\n  return times.map(\n    (value, index) => {\n      const time =\n        requireFiniteTime(\n          value,\n          \"sampleTimesSecondsFromReference[\" +\n            index +\n            \"]\"\n        );\n      if (time <= prior) {\n        throw new InvalidScientificInputError(\n          \"sampleTimesSecondsFromReference must be strictly increasing.\"\n        );\n      }\n      prior = time;\n      return time;\n    }\n  );\n}\n\nfunction relativeVelocity(\n  objectVelocity:\n    Vector3,\n  cameraVelocity:\n    Vector3\n): Vector3 {\n  return {\n    x:\n      objectVelocity.x -\n      cameraVelocity.x,\n    y:\n      objectVelocity.y -\n      cameraVelocity.y,\n    z:\n      objectVelocity.z -\n      cameraVelocity.z\n  };\n}\n\nfunction positionAtTime(\n  reference:\n    Vector3,\n  velocity:\n    Vector3,\n  timeSeconds: number\n): Vector3 {\n  return {\n    x:\n      reference.x +\n      velocity.x *\n        timeSeconds,\n    y:\n      reference.y +\n      velocity.y *\n        timeSeconds,\n    z:\n      reference.z +\n      velocity.z *\n        timeSeconds\n  };\n}\n\nfunction validatePlanarDeclaration(\n  declaration:\n    ExtendedObjectFrontoparallelPlaneDeclaration |\n    undefined,\n  points:\n    readonly {\n      referencePosition:\n        Vector3;\n    }[]\n): number | null {\n  if (\n    declaration === undefined\n  ) {\n    return null;\n  }\n  requireInputObject(declaration, \"frontoparallelPlane\");\n  if (\n    declaration.kind !==\n    \"fronto-parallel-planar-patch\"\n  ) {\n    throw new InvalidConfigurationError(\n      \"frontoparallelPlane.kind is invalid.\"\n    );\n  }\n  requirePositiveFinite(\n    \"frontoparallelPlane.referenceDepthM\",\n    declaration.referenceDepthM\n  );\n  for (\n    const entry of points\n  ) {\n    if (\n      !approximatelyEqual(\n        entry.referencePosition.z,\n        declaration.referenceDepthM\n      )\n    ) {\n      throw new InvalidScientificInputError(\n        \"Every declared fronto-parallel point must lie at frontoparallelPlane.referenceDepthM.\"\n      );\n    }\n  }\n  return declaration\n    .referenceDepthM;\n}\n\nfunction createPointTrajectory(\n  pointId: string,\n  referencePosition:\n    Vector3,\n  relativeTranslationVelocityMps:\n    Vector3,\n  sampleTimes:\n    readonly number[],\n  projectionDistanceMm:\n    number,\n  planarReferenceDepthM:\n    number | null,\n  path: string\n): ExtendedObjectPointProjectionTrajectory {\n  const referenceImagePoint =\n    projectMetricPoint(\n      referencePosition,\n      projectionDistanceMm,\n      path +\n        \".positionCameraM\"\n    );\n\n  const nodes =\n    sampleTimes.map(\n      (\n        timeSeconds,\n        sampleIndex\n      ) => {\n        const position =\n          positionAtTime(\n            referencePosition,\n            relativeTranslationVelocityMps,\n            timeSeconds\n          );\n        const mapped =\n          projectMetricPoint(\n            position,\n            projectionDistanceMm,\n            path +\n              \".positionAtTime\"\n          );\n        const deltaX =\n          mapped.x -\n          referenceImagePoint.x;\n        const deltaY =\n          mapped.y -\n          referenceImagePoint.y;\n\n        return {\n          sampleIndex,\n          timeSecondsFromReference:\n            timeSeconds,\n          relativePositionCameraM:\n            position,\n          mappedImagePointMm:\n            mapped,\n          deltaFromReferenceImagePlaneMm: {\n            x: deltaX,\n            y: deltaY,\n            distance:\n              Math.hypot(\n                deltaX,\n                deltaY\n              )\n          },\n          depthM:\n            position.z,\n          planarMagnificationScaleFromReference:\n            planarReferenceDepthM ===\n              null\n              ? null\n              : planarReferenceDepthM /\n                position.z\n        };\n      }\n    );\n\n  return {\n    pointId,\n    referencePositionCameraM:\n      referencePosition,\n    referenceImagePointMm:\n      referenceImagePoint,\n    nodes\n  };\n}\n\n/**\n * Evaluates multiple explicit metric points on one rigidly translating object\n * at deterministic physical times.\n *\n * This is geometry only. It does not build a blur kernel, decide visibility,\n * integrate radiance, deform the object, rotate the camera or apply a\n * universal scale.\n */\nexport function calculateExtendedObjectProjectionTrajectory(\n  input:\n    CalculateExtendedObjectProjectionTrajectoryInput\n): CalculationResult<ExtendedObjectProjectionTrajectory> {\n  requireInputKeys(input, \"calculateExtendedObjectProjectionTrajectory\", [\"objectId\", \"focalLengthMm\", \"focusDistanceM\", \"objectTranslationVelocityMps\", \"cameraTranslationVelocityMps\", \"sampleTimesSecondsFromReference\", \"points\", \"frontoparallelPlane\"]);\n  const objectId =\n    requireNonEmptyString(\n      input.objectId,\n      \"objectId\"\n    );\n  const projectionDistanceMm =\n    resolveProjectionDistanceMm(\n      input.focalLengthMm,\n      input.focusDistanceM\n    );\n  const objectVelocity =\n    requireFiniteVector(\n      input\n        .objectTranslationVelocityMps,\n      \"objectTranslationVelocityMps\"\n    );\n  const cameraVelocity =\n    requireFiniteVector(\n      input\n        .cameraTranslationVelocityMps,\n      \"cameraTranslationVelocityMps\"\n    );\n  const relative =\n    relativeVelocity(\n      objectVelocity,\n      cameraVelocity\n    );\n  const sampleTimes =\n    validateSampleTimes(\n      input\n        .sampleTimesSecondsFromReference\n    );\n  const points =\n    validateUniquePoints(\n      input.points\n    );\n  const planarDepth =\n    validatePlanarDeclaration(\n      input.frontoparallelPlane,\n      points\n    );\n\n  const pointTrajectories =\n    points.map(\n      (\n        entry,\n        pointIndex\n      ) =>\n        createPointTrajectory(\n          entry.pointId,\n          entry.referencePosition,\n          relative,\n          sampleTimes,\n          projectionDistanceMm,\n          planarDepth,\n          \"points[\" +\n            pointIndex +\n            \"]\"\n        )\n    );\n\n  const scaleByTime =\n    planarDepth === null\n      ? null\n      : sampleTimes.map(\n          (\n            timeSeconds,\n            sampleIndex\n          ) => {\n            const currentDepth =\n              planarDepth +\n              relative.z *\n                timeSeconds;\n            if (\n              currentDepth <= 0\n            ) {\n              throw new InvalidScientificInputError(\n                \"Declared fronto-parallel patch reaches or crosses the camera plane.\"\n              );\n            }\n            return {\n              sampleIndex,\n              timeSecondsFromReference:\n                timeSeconds,\n              scaleFromReference:\n                planarDepth /\n                currentDepth\n            };\n          }\n        );\n\n  return approximationResult(\n    {\n      objectId,\n      timeReference:\n        \"caller-declared-common-reference-phase\",\n      projectionDistanceMm,\n      objectTranslationVelocityMps:\n        objectVelocity,\n      cameraTranslationVelocityMps:\n        cameraVelocity,\n      relativeTranslationVelocityMps:\n        relative,\n      rigidTranslationOnly: true,\n      pointTrajectories,\n      planarMagnificationDiagnostic:\n        scaleByTime === null\n          ? null\n          : {\n              geometry:\n                \"declared-fronto-parallel-planar-patch\",\n              referenceDepthM:\n                planarDepth!,\n              uniformScaleAuthorizedWithinDeclaredPatch:\n                true,\n              scaleByTime,\n              lateralRigidTranslationDoesNotChangePatchScale:\n                true,\n              notAuthorizedForArbitrary3dGeometry:\n                true\n            },\n      metricSceneDepthRequired:\n        true,\n      oneGlobalHomographyAuthorized:\n        false,\n      oneGlobalScaleAuthorizedForArbitrary3dGeometry:\n        false,\n      cameraRotationComposed:\n        false,\n      visibilityOcclusionModeled:\n        false,\n      deformationModeled: false,\n      accelerationModeled: false,\n      blurKernelCalculated:\n        false,\n      radianceIntegrated: false,\n      timeVaryingDefocusMayBeRequired:\n        relative.z !== 0\n    },\n    \"extended-object-time-varying-projection\",\n    \"1.0.0\",\n    [\n      \"Every object point is projected independently from explicit metric camera-space depth.\",\n      \"Object and camera translation remain separate inputs and compose only as object-minus-camera relative translation.\",\n      \"One global homography or one global scale is not authorized for arbitrary 3D geometry.\",\n      \"A uniform magnification diagnostic is emitted only for an explicitly declared and validated fronto-parallel planar patch under the shared rigid-translation model.\",\n      \"Constant rigid translation is the only object motion modeled; acceleration, rotation, articulation and deformation are excluded.\",\n      \"Visibility, occlusion/disocclusion, frame-boundary coverage, radiance integration and blur-kernel synthesis remain downstream.\",\n      \"When relative Z translation is nonzero, downstream defocus/PSF state may also vary with time.\"\n    ]\n  );\n}\n\nfunction samePoint(\n  a: RasterPoint,\n  b: RasterPoint\n): boolean {\n  return (\n    a.x === b.x &&\n    a.y === b.y\n  );\n}\n\nfunction localExposureForPoint(\n  timing:\n    ResolvedCaptureModeTiming,\n  point:\n    RasterPoint\n): ResolvedCaptureModeTiming[\"exposureWindows\"][\"samples\"][number] {\n  requireInputObject(timing, \"timing\");\n  requireInputObject(timing.exposureWindows, \"timing.exposureWindows\");\n  if (!Array.isArray(timing.exposureWindows.samples)) throw new InvalidConfigurationError(\"timing.exposureWindows.samples must be an array.\");\n  timing.exposureWindows.samples.forEach((sample, index) => {\n    requireInputObject(sample, \"timing.exposureWindows.samples[\" + index + \"]\");\n    requireInputObject(sample.pointNative, \"timing.exposureWindows.samples[\" + index + \"].pointNative\");\n  });\n  requireInputObject(point, \"destinationPointNative\");\n  const matches =\n    timing.exposureWindows.samples.filter(\n      (sample) =>\n        samePoint(\n          sample.pointNative,\n          point\n        )\n    );\n  if (matches.length !== 1) {\n    throw new InvalidScientificInputError(\n      \"Each extended-object capture point must match exactly one committed exposure-window sample point.\"\n    );\n  }\n  return matches[0]!;\n}\n\n/**\n * Evaluates extended-object projection at deterministic midpoint time samples\n * inside each point's local exposure window (from the capture exposure\n * schedule).\n */\nexport function calculateCaptureExtendedObjectTemporalProjection(\n  input:\n    CalculateCaptureExtendedObjectTemporalProjectionInput\n): CalculationResult<CaptureExtendedObjectTemporalProjection> {\n  requireInputKeys(input, \"calculateCaptureExtendedObjectTemporalProjection\", [\"objectId\", \"timing\", \"focalLengthMm\", \"focusDistanceM\", \"objectTranslationVelocityMps\", \"cameraTranslationVelocityMps\", \"temporalSampleCount\", \"points\", \"frontoparallelPlane\"]);\n  requirePositiveInteger(\n    \"temporalSampleCount\",\n    input.temporalSampleCount\n  );\n  const objectId =\n    requireNonEmptyString(\n      input.objectId,\n      \"objectId\"\n    );\n  const projectionDistanceMm =\n    resolveProjectionDistanceMm(\n      input.focalLengthMm,\n      input.focusDistanceM\n    );\n  const objectVelocity =\n    requireFiniteVector(\n      input\n        .objectTranslationVelocityMps,\n      \"objectTranslationVelocityMps\"\n    );\n  const cameraVelocity =\n    requireFiniteVector(\n      input\n        .cameraTranslationVelocityMps,\n      \"cameraTranslationVelocityMps\"\n    );\n  const relative =\n    relativeVelocity(\n      objectVelocity,\n      cameraVelocity\n    );\n  const points =\n    validateUniquePoints(\n      input.points\n    );\n  const planarDepth =\n    validatePlanarDeclaration(\n      input.frontoparallelPlane,\n      points\n    );\n\n  const totalNodeCount =\n    input.temporalSampleCount *\n    points.length;\n  if (\n    !Number.isSafeInteger(\n      totalNodeCount\n    )\n  ) {\n    throw new InvalidScientificInputError(\n      \"temporalSampleCount × points.length must remain a safe integer.\"\n    );\n  }\n\n  const pointTrajectories =\n    points.map(\n      (\n        entry,\n        pointIndex\n      ) => {\n        const capturePoint =\n          entry.point as\n            CaptureExtendedObjectMetricPoint;\n        const exposure =\n          localExposureForPoint(\n            input.timing,\n            capturePoint\n              .destinationPointNative\n          );\n        const duration =\n          exposure\n            .localExposureDurationSeconds;\n        if (\n          !Number.isFinite(\n            duration\n          ) ||\n          duration <= 0\n        ) {\n          throw new InvalidScientificInputError(\n            \"Extended-object capture projection requires a positive finite local exposure duration.\"\n          );\n        }\n\n        const times =\n          Array.from(\n            {\n              length:\n                input.temporalSampleCount\n            },\n            (\n              _,\n              temporalSampleIndex\n            ) =>\n              exposure\n                .startOffsetSecondsFromOpeningReference +\n              (\n                temporalSampleIndex +\n                0.5\n              ) /\n                input.temporalSampleCount *\n                duration\n          );\n        const trajectory =\n          createPointTrajectory(\n            entry.pointId,\n            entry.referencePosition,\n            relative,\n            times,\n            projectionDistanceMm,\n            planarDepth,\n            \"points[\" +\n              pointIndex +\n              \"]\"\n          );\n        const normalizedTimeWeight =\n          1 /\n          input.temporalSampleCount;\n        const timeMeasureSeconds =\n          duration /\n          input.temporalSampleCount;\n\n        return {\n          pointId:\n            entry.pointId,\n          destinationPointNative: {\n            ...capturePoint\n              .destinationPointNative\n          },\n          referencePositionCameraM:\n            trajectory\n              .referencePositionCameraM,\n          referenceImagePointMm:\n            trajectory\n              .referenceImagePointMm,\n          localExposureWindow: {\n            startSecondsFromCaptureReference:\n              exposure\n                .startOffsetSecondsFromOpeningReference,\n            endSecondsFromCaptureReference:\n              exposure\n                .endOffsetSecondsFromOpeningReference,\n            durationSeconds:\n              duration\n          },\n          nodes:\n            trajectory.nodes.map(\n              (\n                node,\n                temporalSampleIndex\n              ) => ({\n                ...node,\n                localExposurePhase:\n                  (\n                    temporalSampleIndex +\n                    0.5\n                  ) /\n                  input\n                    .temporalSampleCount,\n                normalizedTimeWeight,\n                timeMeasureSeconds\n              })\n            )\n        };\n      }\n    );\n\n  return approximationResult(\n    {\n      objectId,\n      timeReference:\n        \"first-opening-boundary-phase\",\n      timingProfileIdentity: {\n        profileId:\n          input.timing\n            .timingProfileId,\n        profileVersion:\n          input.timing\n            .timingProfileVersion,\n        captureModeId:\n          input.timing\n            .captureModeId\n      },\n      projectionDistanceMm,\n      temporalSampleCount:\n        input.temporalSampleCount,\n      objectTranslationVelocityMps:\n        objectVelocity,\n      cameraTranslationVelocityMps:\n        cameraVelocity,\n      relativeTranslationVelocityMps:\n        relative,\n      rigidTranslationOnly: true,\n      pointTrajectories,\n      planarMagnificationDiagnosticAvailable:\n        planarDepth !== null,\n      metricSceneDepthRequired:\n        true,\n      oneGlobalHomographyAuthorized:\n        false,\n      oneGlobalScaleAuthorizedForArbitrary3dGeometry:\n        false,\n      cameraRotationComposed:\n        false,\n      visibilityOcclusionModeled:\n        false,\n      deformationModeled: false,\n      accelerationModeled: false,\n      blurKernelCalculated:\n        false,\n      radianceIntegrated: false,\n      sensorReadoutTimingUsedAsExposureTiming:\n        false,\n      timeVaryingDefocusMayBeRequired:\n        relative.z !== 0\n    },\n    \"capture-local-extended-object-time-varying-projection\",\n    \"1.0.0\",\n    [\n      \"Every point is evaluated at deterministic midpoint nodes in its own authoritative local exposure interval of the exposure-window model.\",\n      \"Sensor data-readout timing is not substituted for exposure time.\",\n      \"Rolling/local exposure may cause different native destinations to integrate different portions of the same rigid object trajectory.\",\n      \"The result remains geometry only and does not authorize endpoint interpolation as a complete visibility/radiance blur solution.\",\n      \"Camera rotation and subject deformation remain separate; object and camera translation compose only through explicit relative translation.\",\n      \"When relative depth changes, downstream defocus/PSF evaluation may need to vary at the same physical-time nodes.\"\n    ]\n  );\n}\n"]}

package/dist/motion/projected-motion.d.ts

@@ -1,13 +1,15 @@
 /**
- * Module boundary and integration notes.
- * Calculates sensor-plane motion during an exposure using ideal rectilinear projection and constant
- * linear object velocity. Without focusDistanceM, nominal focal length is the backwards-compatible
- * pinhole projection distance. With focusDistanceM, the selected thin-lens sensor-plane image distance
- * is used. The calculation projects the object's shutter-open and shutter-close positions onto the
- * image plane and measures the displacement between them. It therefore handles lateral and
- * depth-direction motion without relying on a generic "subject speed" category.
- * @see docs/MOTION_AND_SIGNAL.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * How far a moving object travels across the sensor during an exposure. Uses ideal rectilinear
+ * projection and a constant straight-line object velocity.
+ * - Without focusDistanceM, the projection distance is the nominal focal length (the older pinhole
+ *   behaviour).
+ * - With focusDistanceM, it is the thin-lens image distance for that focus.
+ *
+ * The object's positions when the shutter opens and closes are both projected onto the image plane,
+ * and the distance between them is measured. So sideways motion and motion toward or away from the
+ * camera are both handled, without a generic "subject speed" category.
+ * @see docs/MOTION_AND_SIGNAL.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
  */
 import { type CalculationResult } from "../core/calculation-result.js";
 import type { Vector3 } from "../schema/scene.js";
@@ -36,17 +38,16 @@ export interface ProjectedMotionBlur {
  * Calculates sensor-plane motion during an exposure using ideal rectilinear
  * projection and constant linear object velocity.
  *
- * Without focusDistanceM, nominal focal length is the backwards-compatible
- * pinhole projection distance. With focusDistanceM, the selected thin-lens
- * sensor-plane image distance is used.
+ * Without focusDistanceM, the projection distance is the nominal focal length
+ * (the older pinhole behaviour). With focusDistanceM, it is the thin-lens
+ * image distance for that focus.
  *
- * The calculation projects the object's shutter-open and shutter-close
- * positions onto the image plane and measures the displacement between them.
- * It therefore handles lateral and depth-direction motion without relying on a
- * generic "subject speed" category.
+ * The object's positions when the shutter opens and closes are both projected
+ * onto the image plane, and the distance between them is measured. So
+ * sideways motion and motion toward or away from the camera are both handled,
+ * without a generic "subject speed" category.
  *
  * @param input Camera, exposure, object-position, and velocity inputs.
  * @returns Projected sensor-plane displacement.
  */
 export declare function calculateProjectedMotionBlur(input: CalculateProjectedMotionBlurInput): CalculationResult<ProjectedMotionBlur>;
-//# sourceMappingURL=projected-motion.d.ts.map