@photivra/engine 1.5.0 → 2.0.0

package/dist/camera/lens-projection.js

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+// SPDX-License-Identifier: Apache-2.0
+/**
+ * Ideal lens projection (mapping) functions. They convert between a scene direction and a point on the
+ * image plane.
+ *
+ * A radial projection maps the field angle theta (the angle from the optical axis) to the image
+ * radius r:
+ *   rectilinear       r = f tan(theta)          (gnomonic / pinhole)
+ *   equidistant       r = f theta               ("f-theta" fisheye)
+ *   equisolid-angle   r = 2 f sin(theta / 2)    (equal-area fisheye)
+ *   stereographic     r = 2 f tan(theta / 2)    (conformal fisheye)
+ *   orthographic      r = f sin(theta)
+ * The image point keeps the direction's azimuth about the optical axis, so every radial projection is
+ * rotationally symmetric. Equirectangular (spherical, or cylindrical equidistant) is not radial:
+ * x = f * longitude, y = f * latitude, where f is the image distance per radian.
+ *
+ * Sources: Kannala & Brandt 2006 (IEEE TPAMI 28:1335, generic camera model listing these
+ * projections, eqs. 1-5; free author copy); Miyamoto 1964 (JOSA 54:1060, fish-eye projection
+ * functions); Snyder 1987 (Map Projections - A Working Manual, USGS PP 1395, free) for the
+ * equirectangular and stereographic projections. Also see: Kingslake 1989 (A History of the
+ * Photographic Lens, ch. on fish-eye lenses); Ray 2002 (Applied Photographic Optics, 3rd ed., ch. 6
+ * and 47).
+ *
+ * These are ideal mapping functions. Real fisheye lenses deviate from them. Modelling a real lens
+ * would need a calibrated polynomial (for example Kannala-Brandt) with defensible provenance.
+ *
+ * Camera frame: +X right, +Y up, +Z along the optical axis toward the scene. Image-plane coordinates
+ * use the same non-inverted +X right / +Y up convention as the rest of the engine.
+ * @see docs/PHYSICS_FOUNDATION.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
+ */
+import { calculatedResult } from "../core/calculation-result.js";
+import { InvalidScientificInputError, requirePositiveFinite } from "../core/validation.js";
+import { rejectUnknownFields, requireInputKeys } from "../core/record-validation.js";
+import { InvalidConfigurationError } from "../core/configuration-error.js";
+export const LENS_PROJECTION_MODELS = Object.freeze([
+    "rectilinear",
+    "fisheye-equidistant",
+    "fisheye-equisolid-angle",
+    "fisheye-stereographic",
+    "fisheye-orthographic",
+    "equirectangular"
+]);
+const HALF_PI = Math.PI / 2;
+/** Runtime parser for the projection discriminator. Rejects (fails closed on) unknown values. */
+export function parseLensProjectionModel(value) {
+    if (typeof value !== "string" ||
+        !LENS_PROJECTION_MODELS.includes(value)) {
+        throw new InvalidConfigurationError("projectionModel must be one of " +
+            LENS_PROJECTION_MODELS.join(", ") +
+            ".");
+    }
+    return value;
+}
+function requireRecord(name, value) {
+    if (typeof value !== "object" || value === null || Array.isArray(value)) {
+        throw new InvalidConfigurationError(`${name} must be an object.`);
+    }
+}
+function requireFinite(name, value) {
+    if (typeof value !== "number" || !Number.isFinite(value)) {
+        throw new InvalidScientificInputError(`${name} must be a finite number.`);
+    }
+    return value;
+}
+/**
+ * Largest field angle (radians) a radial model maps, and whether the model can reach it.
+ * Rectilinear, stereographic, equidistant and equisolid exclude the limit: the radius there is
+ * infinite, or the azimuth of the backward direction is undefined. Orthographic reaches 90 degrees.
+ */
+function radialFieldAngleLimit(model) {
+    switch (model) {
+        case "rectilinear":
+            return { radians: HALF_PI, inclusive: false };
+        case "fisheye-orthographic":
+            return { radians: HALF_PI, inclusive: true };
+        default:
+            return { radians: Math.PI, inclusive: false };
+    }
+}
+/** Image radius r(theta) for one radial model. */
+export function radialProjectionImageRadius(model, focalLengthMm, fieldAngleRadians) {
+    switch (model) {
+        case "rectilinear":
+            return focalLengthMm * Math.tan(fieldAngleRadians);
+        case "fisheye-equidistant":
+            return focalLengthMm * fieldAngleRadians;
+        case "fisheye-equisolid-angle":
+            return 2 * focalLengthMm * Math.sin(fieldAngleRadians / 2);
+        case "fisheye-stereographic":
+            return 2 * focalLengthMm * Math.tan(fieldAngleRadians / 2);
+        case "fisheye-orthographic":
+            return focalLengthMm * Math.sin(fieldAngleRadians);
+    }
+}
+/**
+ * Largest image radius a radial model reaches inside its field-angle domain, in mm
+ * (Infinity for rectilinear and stereographic).
+ */
+function radialImageRadiusLimit(model, focalLengthMm) {
+    switch (model) {
+        case "rectilinear":
+        case "fisheye-stereographic":
+            return { radiusMm: Number.POSITIVE_INFINITY, inclusive: false };
+        case "fisheye-equidistant":
+            return { radiusMm: Math.PI * focalLengthMm, inclusive: false };
+        case "fisheye-equisolid-angle":
+            return { radiusMm: 2 * focalLengthMm, inclusive: false };
+        case "fisheye-orthographic":
+            return { radiusMm: focalLengthMm, inclusive: true };
+    }
+}
+/** Inverse theta(r) for one radial model; throws outside the image circle. */
+export function radialProjectionFieldAngle(model, focalLengthMm, imageRadiusMm) {
+    const limit = radialImageRadiusLimit(model, focalLengthMm);
+    if (imageRadiusMm < 0 ||
+        imageRadiusMm > limit.radiusMm ||
+        (!limit.inclusive && imageRadiusMm === limit.radiusMm)) {
+        throw new InvalidScientificInputError(`Image radius lies outside the ${model} image circle.`);
+    }
+    switch (model) {
+        case "rectilinear":
+            return Math.atan(imageRadiusMm / focalLengthMm);
+        case "fisheye-equidistant":
+            return imageRadiusMm / focalLengthMm;
+        case "fisheye-equisolid-angle":
+            return 2 * Math.asin(imageRadiusMm / (2 * focalLengthMm));
+        case "fisheye-stereographic":
+            return 2 * Math.atan(imageRadiusMm / (2 * focalLengthMm));
+        case "fisheye-orthographic":
+            return Math.asin(Math.min(1, imageRadiusMm / focalLengthMm));
+    }
+}
+function assumptions(model) {
+    const common = [
+        "Ideal mapping function of a perfect projection; real lenses deviate from it and need calibrated distortion data",
+        "Camera frame +X right, +Y up, +Z toward the scene; image plane +X right, +Y up (non-inverted)"
+    ];
+    if (model === "equirectangular") {
+        return [
+            "Equirectangular (spherical) projection: x = f * longitude, y = f * latitude, longitude measured about +Y from +Z",
+            ...common
+        ];
+    }
+    return [
+        `Radial projection ${model}; image azimuth equals scene azimuth about the optical axis`,
+        ...common
+    ];
+}
+function validateCommon(input, name) {
+    requireRecord(name, input);
+    const model = parseLensProjectionModel(input.projectionModel);
+    requirePositiveFinite("focalLengthMm", input.focalLengthMm);
+    return model;
+}
+/**
+ * Maps one camera-frame scene direction to its ideal image-plane point under the declared
+ * projection model.
+ */
+export function calculateLensProjectionImagePoint(input) {
+    requireInputKeys(input, "calculateLensProjectionImagePoint", ["projectionModel", "focalLengthMm", "direction"]);
+    const model = validateCommon(input, "input");
+    requireRecord("direction", input.direction);
+    rejectUnknownFields(input.direction, ["x", "y", "z"], "direction");
+    const x = requireFinite("direction.x", input.direction.x);
+    const y = requireFinite("direction.y", input.direction.y);
+    const z = requireFinite("direction.z", input.direction.z);
+    const length = Math.hypot(x, y, z);
+    if (!(length > 0) || !Number.isFinite(length)) {
+        throw new InvalidScientificInputError("direction must be a finite non-zero vector.");
+    }
+    const { imagePointMm, fieldAngleRadians } = lensProjectionImagePointValue(model, input.focalLengthMm, x, y, z);
+    return calculatedResult({
+        projectionModel: model,
+        imagePointMm,
+        fieldAngleRadians,
+        imageRadiusMm: Math.hypot(imagePointMm.x, imagePointMm.y)
+    }, `${model}-lens-projection`, "1.0.0", assumptions(model));
+}
+/**
+ * Inverse-maps one image-plane point to its unit camera-frame scene direction under the declared
+ * projection model. It rejects points outside the model's image circle. For equirectangular, it
+ * rejects points outside +/-pi longitude and +/-pi/2 latitude.
+ */
+export function calculateLensProjectionDirection(input) {
+    requireInputKeys(input, "calculateLensProjectionDirection", ["projectionModel", "focalLengthMm", "imagePointMm"]);
+    const model = validateCommon(input, "input");
+    requireRecord("imagePointMm", input.imagePointMm);
+    rejectUnknownFields(input.imagePointMm, ["x", "y"], "imagePointMm");
+    const px = requireFinite("imagePointMm.x", input.imagePointMm.x);
+    const py = requireFinite("imagePointMm.y", input.imagePointMm.y);
+    const imageRadiusMm = Math.hypot(px, py);
+    const direction = lensProjectionDirectionValue(model, input.focalLengthMm, px, py);
+    return calculatedResult({
+        projectionModel: model,
+        direction,
+        fieldAngleRadians: Math.atan2(Math.hypot(direction.x, direction.y), direction.z),
+        imageRadiusMm
+    }, `inverse-${model}-lens-projection`, "1.0.0", assumptions(model));
+}
+/** Signed angle subtended along one axis through the optical axis for a signed coordinate. */
+function signedAxisAngle(model, focalLengthMm, coordinateMm) {
+    if (model === "equirectangular") {
+        // Along a horizontal or vertical line through the centre the angle is linear in position.
+        return coordinateMm / focalLengthMm;
+    }
+    const theta = radialProjectionFieldAngle(model, focalLengthMm, Math.abs(coordinateMm));
+    return coordinateMm < 0 ? -theta : theta;
+}
+/**
+ * Angular field of view across a centred sensor dimension along one axis through the optical
+ * axis: 2 * theta(d / 2) for radial models and d / f for equirectangular.
+ *
+ * For equirectangular, the result is the longitude span for a horizontal dimension and the latitude
+ * span for a vertical one. A sensor dimension larger than a fisheye's image circle is rejected, not
+ * clipped.
+ */
+export function calculateLensProjectionFieldOfView(input) {
+    requireInputKeys(input, "calculateLensProjectionFieldOfView", ["projectionModel", "focalLengthMm", "sensorDimensionMm"]);
+    const model = validateCommon(input, "input");
+    requirePositiveFinite("sensorDimensionMm", input.sensorDimensionMm);
+    const radians = 2 *
+        signedAxisAngle(model, input.focalLengthMm, input.sensorDimensionMm / 2);
+    if (model === "equirectangular" && radians > 2 * Math.PI) {
+        throw new InvalidScientificInputError("sensorDimensionMm exceeds the full 360-degree equirectangular span.");
+    }
+    return calculatedResult({
+        projectionModel: model,
+        radians,
+        degrees: (radians * 180) / Math.PI,
+        projectionDistanceMm: input.focalLengthMm
+    }, `${model}-field-of-view`, "1.0.0", [
+        ...assumptions(model),
+        "Field of view is measured along one axis through the optical axis"
+    ]);
+}
+/**
+ * Asymmetric angular span between two signed sensor coordinates on one axis through the optical
+ * axis, for off-centre crops.
+ */
+export function calculateLensProjectionFieldOfViewBounds(input) {
+    requireInputKeys(input, "calculateLensProjectionFieldOfViewBounds", ["projectionModel", "focalLengthMm", "minimumSensorCoordinateMm", "maximumSensorCoordinateMm"]);
+    const model = validateCommon(input, "input");
+    const minimum = requireFinite("minimumSensorCoordinateMm", input.minimumSensorCoordinateMm);
+    const maximum = requireFinite("maximumSensorCoordinateMm", input.maximumSensorCoordinateMm);
+    if (maximum <= minimum) {
+        throw new InvalidScientificInputError("maximumSensorCoordinateMm must be greater than minimumSensorCoordinateMm.");
+    }
+    const minimumRadians = signedAxisAngle(model, input.focalLengthMm, minimum);
+    const maximumRadians = signedAxisAngle(model, input.focalLengthMm, maximum);
+    const radians = maximumRadians - minimumRadians;
+    if (model === "equirectangular" && radians > 2 * Math.PI) {
+        throw new InvalidScientificInputError("Sensor bounds exceed the full 360-degree equirectangular span.");
+    }
+    return calculatedResult({
+        projectionModel: model,
+        minimumRadians,
+        maximumRadians,
+        radians,
+        minimumDegrees: (minimumRadians * 180) / Math.PI,
+        maximumDegrees: (maximumRadians * 180) / Math.PI,
+        degrees: (radians * 180) / Math.PI,
+        projectionDistanceMm: input.focalLengthMm
+    }, `asymmetric-${model}-field-of-view`, "1.0.0", [
+        ...assumptions(model),
+        "Signed sensor-plane bounds are measured relative to the optical axis along one axis through it"
+    ]);
+}
+/**
+ * @internal Image point of a non-zero camera-frame direction under one model (no envelope).
+ * Shared by the public mapping, geometric remaps and the environment ray query.
+ */
+export function lensProjectionImagePointValue(model, focalLengthMm, x, y, z) {
+    const length = Math.hypot(x, y, z);
+    const f = focalLengthMm;
+    const transverse = Math.hypot(x, y);
+    const fieldAngleRadians = Math.atan2(transverse, z);
+    let imagePointMm;
+    if (model === "equirectangular") {
+        const latitude = Math.asin(Math.max(-1, Math.min(1, y / length)));
+        const horizontal = Math.hypot(x, z);
+        if (horizontal === 0) {
+            // Poles have an undefined longitude; the projection is singular there.
+            throw new InvalidScientificInputError("Equirectangular projection is undefined at the poles (direction parallel to +/-Y).");
+        }
+        const longitude = Math.atan2(x, z);
+        imagePointMm = { x: f * longitude, y: f * latitude };
+    }
+    else {
+        const limit = radialFieldAngleLimit(model);
+        if (fieldAngleRadians > limit.radians ||
+            (!limit.inclusive && fieldAngleRadians === limit.radians)) {
+            throw new InvalidScientificInputError(`direction lies outside the ${model} projection domain.`);
+        }
+        const radius = radialProjectionImageRadius(model, f, fieldAngleRadians);
+        imagePointMm =
+            transverse === 0
+                ? { x: 0, y: 0 }
+                : { x: (radius * x) / transverse, y: (radius * y) / transverse };
+    }
+    return { imagePointMm, fieldAngleRadians };
+}
+/** @internal Unit camera-frame direction of one image point under one model (no envelope). */
+export function lensProjectionDirectionValue(model, focalLengthMm, px, py) {
+    const f = focalLengthMm;
+    const imageRadiusMm = Math.hypot(px, py);
+    let direction;
+    if (model === "equirectangular") {
+        const longitude = px / f;
+        const latitude = py / f;
+        if (Math.abs(longitude) > Math.PI || Math.abs(latitude) > HALF_PI) {
+            throw new InvalidScientificInputError("imagePointMm lies outside the equirectangular longitude/latitude domain.");
+        }
+        const cosLatitude = Math.cos(latitude);
+        direction = {
+            x: cosLatitude * Math.sin(longitude),
+            y: Math.sin(latitude),
+            z: cosLatitude * Math.cos(longitude)
+        };
+    }
+    else {
+        const theta = radialProjectionFieldAngle(model, f, imageRadiusMm);
+        const sinTheta = Math.sin(theta);
+        direction =
+            imageRadiusMm === 0
+                ? { x: 0, y: 0, z: 1 }
+                : {
+                    x: (sinTheta * px) / imageRadiusMm,
+                    y: (sinTheta * py) / imageRadiusMm,
+                    z: Math.cos(theta)
+                };
+    }
+    return direction;
+}
+/** d r / d theta of a radial model. */
+function radialDerivative(model, f, theta) {
+    switch (model) {
+        case "rectilinear":
+            return f / Math.cos(theta) ** 2;
+        case "fisheye-equidistant":
+            return f;
+        case "fisheye-equisolid-angle":
+            return f * Math.cos(theta / 2);
+        case "fisheye-stereographic":
+            return f / Math.cos(theta / 2) ** 2;
+        case "fisheye-orthographic":
+            return f * Math.cos(theta);
+    }
+}
+/** Unit direction of an image point and its derivative d(direction)/d(point) (3 x 2). */
+function directionWithDerivative(model, f, px, py) {
+    const direction = lensProjectionDirectionValue(model, f, px, py);
+    if (model === "equirectangular") {
+        const lambda = px / f;
+        const phi = py / f;
+        const cp = Math.cos(phi);
+        const sp = Math.sin(phi);
+        const cl = Math.cos(lambda);
+        const sl = Math.sin(lambda);
+        return {
+            direction,
+            derivative: [
+                [(cp * cl) / f, (-sp * sl) / f],
+                [0, cp / f],
+                [(-cp * sl) / f, (-sp * cl) / f]
+            ]
+        };
+    }
+    const rho = Math.hypot(px, py);
+    if (rho === 0) {
+        const a = 1 / radialDerivative(model, f, 0);
+        return { direction, derivative: [[a, 0], [0, a], [0, 0]] };
+    }
+    const theta = radialProjectionFieldAngle(model, f, rho);
+    const dTheta = 1 / radialDerivative(model, f, theta);
+    const a = Math.sin(theta) / rho;
+    const aPrime = (Math.cos(theta) * dTheta * rho - Math.sin(theta)) / (rho * rho);
+    const ux = px / rho;
+    const uy = py / rho;
+    const dz = -Math.sin(theta) * dTheta;
+    return {
+        direction,
+        derivative: [
+            [a + aPrime * px * ux, aPrime * px * uy],
+            [aPrime * py * ux, a + aPrime * py * uy],
+            [dz * ux, dz * uy]
+        ]
+    };
+}
+/** Image point of a unit direction and its derivative d(point)/d(direction) (2 x 3). */
+function imagePointWithDerivative(model, f, v) {
+    const point = lensProjectionImagePointValue(model, f, v.x, v.y, v.z).imagePointMm;
+    if (model === "equirectangular") {
+        const h2 = v.x * v.x + v.z * v.z;
+        const c = Math.sqrt(Math.max(0, 1 - v.y * v.y));
+        return {
+            point,
+            derivative: [
+                [(f * v.z) / h2, 0, (-f * v.x) / h2],
+                [0, f / c, 0]
+            ]
+        };
+    }
+    const t = Math.hypot(v.x, v.y);
+    const theta = Math.atan2(t, v.z);
+    if (theta < 1e-9) {
+        const g = radialDerivative(model, f, 0);
+        return { point, derivative: [[g, 0, 0], [0, g, 0]] };
+    }
+    const s = Math.sin(theta);
+    const g = radialProjectionImageRadius(model, f, theta);
+    const b = g / s;
+    const bPrime = (radialDerivative(model, f, theta) * s - g * Math.cos(theta)) / (s * s);
+    // q = b(theta) (vx, vy); on the unit sphere d theta = -d vz / sin theta.
+    const k = -bPrime / s;
+    return {
+        point,
+        derivative: [
+            [b, 0, k * v.x],
+            [0, b, k * v.y]
+        ]
+    };
+}
+/**
+ * @internal Destination-to-source remap between two ideal projections: the destination point is
+ * unprojected with the destination model and reprojected with the source model. Returns the
+ * source point and the 2 x 2 Jacobian d(source)/d(destination), row-major.
+ */
+export function lensProjectionRemapValue(destinationModel, destinationFocalLengthMm, sourceModel, sourceFocalLengthMm, px, py) {
+    const inverse = directionWithDerivative(destinationModel, destinationFocalLengthMm, px, py);
+    const forward = imagePointWithDerivative(sourceModel, sourceFocalLengthMm, inverse.direction);
+    const d = inverse.derivative;
+    const q = forward.derivative;
+    const j = (row, column) => q[row][0] * d[0][column] + q[row][1] * d[1][column] + q[row][2] * d[2][column];
+    return {
+        sourcePointMm: forward.point,
+        jacobian: [j(0, 0), j(0, 1), j(1, 0), j(1, 1)]
+    };
+}
+/** @internal Signed angle along one axis through the optical axis (exported for sampling plans). */
+export function lensProjectionSignedAxisAngle(model, focalLengthMm, coordinateMm) {
+    return signedAxisAngle(model, focalLengthMm, coordinateMm);
+}
+//# sourceMappingURL=lens-projection.js.map

package/dist/camera/lens-projection.js.map

@@ -0,0 +1 @@
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SPDX-License-Identifier: Apache-2.0\n\n/**\n * Ideal lens projection (mapping) functions. They convert between a scene direction and a point on the\n * image plane.\n *\n * A radial projection maps the field angle theta (the angle from the optical axis) to the image\n * radius r:\n *   rectilinear       r = f tan(theta)          (gnomonic / pinhole)\n *   equidistant       r = f theta               (\"f-theta\" fisheye)\n *   equisolid-angle   r = 2 f sin(theta / 2)    (equal-area fisheye)\n *   stereographic     r = 2 f tan(theta / 2)    (conformal fisheye)\n *   orthographic      r = f sin(theta)\n * The image point keeps the direction's azimuth about the optical axis, so every radial projection is\n * rotationally symmetric. Equirectangular (spherical, or cylindrical equidistant) is not radial:\n * x = f * longitude, y = f * latitude, where f is the image distance per radian.\n *\n * Sources: Kannala & Brandt 2006 (IEEE TPAMI 28:1335, generic camera model listing these\n * projections, eqs. 1-5; free author copy); Miyamoto 1964 (JOSA 54:1060, fish-eye projection\n * functions); Snyder 1987 (Map Projections - A Working Manual, USGS PP 1395, free) for the\n * equirectangular and stereographic projections. Also see: Kingslake 1989 (A History of the\n * Photographic Lens, ch. on fish-eye lenses); Ray 2002 (Applied Photographic Optics, 3rd ed., ch. 6\n * and 47).\n *\n * These are ideal mapping functions. Real fisheye lenses deviate from them. Modelling a real lens\n * would need a calibrated polynomial (for example Kannala-Brandt) with defensible provenance.\n *\n * Camera frame: +X right, +Y up, +Z along the optical axis toward the scene. Image-plane coordinates\n * use the same non-inverted +X right / +Y up convention as the rest of the engine.\n * @see docs/PHYSICS_FOUNDATION.md for the equations, units, coordinate conventions, known blockers\n * and support limits.\n */\n\nimport {\n  calculatedResult,\n  type CalculationResult\n} from \"../core/calculation-result.js\";\nimport {\n  InvalidScientificInputError,\n  requirePositiveFinite\n} from \"../core/validation.js\";\nimport { rejectUnknownFields, requireInputKeys } from \"../core/record-validation.js\";\nimport { InvalidConfigurationError } from \"../core/configuration-error.js\";\n\n/** Ideal projection model discriminator. `rectilinear` is the engine default. */\nexport type LensProjectionModel =\n  | \"rectilinear\"\n  | \"fisheye-equidistant\"\n  | \"fisheye-equisolid-angle\"\n  | \"fisheye-stereographic\"\n  | \"fisheye-orthographic\"\n  | \"equirectangular\";\n\n/** Radial (rotationally symmetric) projection models. */\nexport type RadialLensProjectionModel = Exclude<\n  LensProjectionModel,\n  \"equirectangular\"\n>;\n\nexport const LENS_PROJECTION_MODELS: readonly LensProjectionModel[] =\n  Object.freeze([\n    \"rectilinear\",\n    \"fisheye-equidistant\",\n    \"fisheye-equisolid-angle\",\n    \"fisheye-stereographic\",\n    \"fisheye-orthographic\",\n    \"equirectangular\"\n  ]);\n\nexport interface LensDirection {\n  /** Camera-frame direction component, +X right. Any positive length. */\n  x: number;\n  /** Camera-frame direction component, +Y up. */\n  y: number;\n  /** Camera-frame direction component along the optical axis toward the scene. */\n  z: number;\n}\n\nexport interface CalculateLensProjectionImagePointInput {\n  projectionModel: LensProjectionModel;\n  /**\n   * Projection scale in millimetres: the focal length f of the mapping function, or for\n   * equirectangular the image distance per radian.\n   */\n  focalLengthMm: number;\n  /** Scene direction in the camera frame. Need not be normalized; must be non-zero. */\n  direction: LensDirection;\n}\n\nexport interface LensProjectionImagePoint {\n  projectionModel: LensProjectionModel;\n  imagePointMm: { x: number; y: number };\n  /** Angle between the direction and the optical axis, in radians. */\n  fieldAngleRadians: number;\n  /** Distance of the image point from the optical axis, in millimetres. */\n  imageRadiusMm: number;\n}\n\nexport interface CalculateLensProjectionDirectionInput {\n  projectionModel: LensProjectionModel;\n  focalLengthMm: number;\n  /** Image-plane point relative to the optical axis, in millimetres. */\n  imagePointMm: { x: number; y: number };\n}\n\nexport interface LensProjectionDirection {\n  projectionModel: LensProjectionModel;\n  /** Unit direction in the camera frame. */\n  direction: LensDirection;\n  fieldAngleRadians: number;\n  imageRadiusMm: number;\n}\n\nexport interface CalculateLensProjectionFieldOfViewInput {\n  projectionModel: LensProjectionModel;\n  focalLengthMm: number;\n  /** Centred sensor/capture dimension along one axis through the optical axis, in mm. */\n  sensorDimensionMm: number;\n}\n\nexport interface CalculateLensProjectionFieldOfViewBoundsInput {\n  projectionModel: LensProjectionModel;\n  focalLengthMm: number;\n  /** Signed minimum sensor coordinate along one axis through the optical axis, in mm. */\n  minimumSensorCoordinateMm: number;\n  /** Signed maximum sensor coordinate along the same axis, in mm. */\n  maximumSensorCoordinateMm: number;\n}\n\nexport interface LensProjectionFieldOfView {\n  projectionModel: LensProjectionModel;\n  degrees: number;\n  radians: number;\n  /** Projection scale used by the mapping, in millimetres. */\n  projectionDistanceMm: number;\n}\n\nexport interface LensProjectionFieldOfViewBounds {\n  projectionModel: LensProjectionModel;\n  minimumRadians: number;\n  maximumRadians: number;\n  radians: number;\n  minimumDegrees: number;\n  maximumDegrees: number;\n  degrees: number;\n  projectionDistanceMm: number;\n}\n\nconst HALF_PI = Math.PI / 2;\n\n/** Runtime parser for the projection discriminator. Rejects (fails closed on) unknown values. */\nexport function parseLensProjectionModel(\n  value: unknown\n): LensProjectionModel {\n  if (\n    typeof value !== \"string\" ||\n    !(LENS_PROJECTION_MODELS as readonly string[]).includes(value)\n  ) {\n    throw new InvalidConfigurationError(\n      \"projectionModel must be one of \" +\n        LENS_PROJECTION_MODELS.join(\", \") +\n        \".\"\n    );\n  }\n  return value as LensProjectionModel;\n}\n\nfunction requireRecord(name: string, value: unknown): void {\n  if (typeof value !== \"object\" || value === null || Array.isArray(value)) {\n    throw new InvalidConfigurationError(`${name} must be an object.`);\n  }\n}\n\nfunction requireFinite(name: string, value: unknown): number {\n  if (typeof value !== \"number\" || !Number.isFinite(value)) {\n    throw new InvalidScientificInputError(`${name} must be a finite number.`);\n  }\n  return value;\n}\n\n/**\n * Largest field angle (radians) a radial model maps, and whether the model can reach it.\n * Rectilinear, stereographic, equidistant and equisolid exclude the limit: the radius there is\n * infinite, or the azimuth of the backward direction is undefined. Orthographic reaches 90 degrees.\n */\nfunction radialFieldAngleLimit(model: RadialLensProjectionModel): {\n  radians: number;\n  inclusive: boolean;\n} {\n  switch (model) {\n    case \"rectilinear\":\n      return { radians: HALF_PI, inclusive: false };\n    case \"fisheye-orthographic\":\n      return { radians: HALF_PI, inclusive: true };\n    default:\n      return { radians: Math.PI, inclusive: false };\n  }\n}\n\n/** Image radius r(theta) for one radial model. */\nexport function radialProjectionImageRadius(\n  model: RadialLensProjectionModel,\n  focalLengthMm: number,\n  fieldAngleRadians: number\n): number {\n  switch (model) {\n    case \"rectilinear\":\n      return focalLengthMm * Math.tan(fieldAngleRadians);\n    case \"fisheye-equidistant\":\n      return focalLengthMm * fieldAngleRadians;\n    case \"fisheye-equisolid-angle\":\n      return 2 * focalLengthMm * Math.sin(fieldAngleRadians / 2);\n    case \"fisheye-stereographic\":\n      return 2 * focalLengthMm * Math.tan(fieldAngleRadians / 2);\n    case \"fisheye-orthographic\":\n      return focalLengthMm * Math.sin(fieldAngleRadians);\n  }\n}\n\n/**\n * Largest image radius a radial model reaches inside its field-angle domain, in mm\n * (Infinity for rectilinear and stereographic).\n */\nfunction radialImageRadiusLimit(\n  model: RadialLensProjectionModel,\n  focalLengthMm: number\n): { radiusMm: number; inclusive: boolean } {\n  switch (model) {\n    case \"rectilinear\":\n    case \"fisheye-stereographic\":\n      return { radiusMm: Number.POSITIVE_INFINITY, inclusive: false };\n    case \"fisheye-equidistant\":\n      return { radiusMm: Math.PI * focalLengthMm, inclusive: false };\n    case \"fisheye-equisolid-angle\":\n      return { radiusMm: 2 * focalLengthMm, inclusive: false };\n    case \"fisheye-orthographic\":\n      return { radiusMm: focalLengthMm, inclusive: true };\n  }\n}\n\n/** Inverse theta(r) for one radial model; throws outside the image circle. */\nexport function radialProjectionFieldAngle(\n  model: RadialLensProjectionModel,\n  focalLengthMm: number,\n  imageRadiusMm: number\n): number {\n  const limit = radialImageRadiusLimit(model, focalLengthMm);\n  if (\n    imageRadiusMm < 0 ||\n    imageRadiusMm > limit.radiusMm ||\n    (!limit.inclusive && imageRadiusMm === limit.radiusMm)\n  ) {\n    throw new InvalidScientificInputError(\n      `Image radius lies outside the ${model} image circle.`\n    );\n  }\n  switch (model) {\n    case \"rectilinear\":\n      return Math.atan(imageRadiusMm / focalLengthMm);\n    case \"fisheye-equidistant\":\n      return imageRadiusMm / focalLengthMm;\n    case \"fisheye-equisolid-angle\":\n      return 2 * Math.asin(imageRadiusMm / (2 * focalLengthMm));\n    case \"fisheye-stereographic\":\n      return 2 * Math.atan(imageRadiusMm / (2 * focalLengthMm));\n    case \"fisheye-orthographic\":\n      return Math.asin(Math.min(1, imageRadiusMm / focalLengthMm));\n  }\n}\n\nfunction assumptions(model: LensProjectionModel): readonly string[] {\n  const common = [\n    \"Ideal mapping function of a perfect projection; real lenses deviate from it and need calibrated distortion data\",\n    \"Camera frame +X right, +Y up, +Z toward the scene; image plane +X right, +Y up (non-inverted)\"\n  ];\n  if (model === \"equirectangular\") {\n    return [\n      \"Equirectangular (spherical) projection: x = f * longitude, y = f * latitude, longitude measured about +Y from +Z\",\n      ...common\n    ];\n  }\n  return [\n    `Radial projection ${model}; image azimuth equals scene azimuth about the optical axis`,\n    ...common\n  ];\n}\n\nfunction validateCommon(\n  input: { projectionModel: unknown; focalLengthMm: number },\n  name: string\n): LensProjectionModel {\n  requireRecord(name, input);\n  const model = parseLensProjectionModel(input.projectionModel);\n  requirePositiveFinite(\"focalLengthMm\", input.focalLengthMm);\n  return model;\n}\n\n/**\n * Maps one camera-frame scene direction to its ideal image-plane point under the declared\n * projection model.\n */\nexport function calculateLensProjectionImagePoint(\n  input: CalculateLensProjectionImagePointInput\n): CalculationResult<LensProjectionImagePoint> {\n  requireInputKeys(input, \"calculateLensProjectionImagePoint\", [\"projectionModel\", \"focalLengthMm\", \"direction\"]);\n  const model = validateCommon(input, \"input\");\n  requireRecord(\"direction\", input.direction);\n  rejectUnknownFields(input.direction, [\"x\", \"y\", \"z\"], \"direction\");\n  const x = requireFinite(\"direction.x\", input.direction.x);\n  const y = requireFinite(\"direction.y\", input.direction.y);\n  const z = requireFinite(\"direction.z\", input.direction.z);\n  const length = Math.hypot(x, y, z);\n  if (!(length > 0) || !Number.isFinite(length)) {\n    throw new InvalidScientificInputError(\n      \"direction must be a finite non-zero vector.\"\n    );\n  }\n  const { imagePointMm, fieldAngleRadians } = lensProjectionImagePointValue(\n    model,\n    input.focalLengthMm,\n    x,\n    y,\n    z\n  );\n\n  return calculatedResult(\n    {\n      projectionModel: model,\n      imagePointMm,\n      fieldAngleRadians,\n      imageRadiusMm: Math.hypot(imagePointMm.x, imagePointMm.y)\n    },\n    `${model}-lens-projection`,\n    \"1.0.0\",\n    assumptions(model)\n  );\n}\n\n/**\n * Inverse-maps one image-plane point to its unit camera-frame scene direction under the declared\n * projection model. It rejects points outside the model's image circle. For equirectangular, it\n * rejects points outside +/-pi longitude and +/-pi/2 latitude.\n */\nexport function calculateLensProjectionDirection(\n  input: CalculateLensProjectionDirectionInput\n): CalculationResult<LensProjectionDirection> {\n  requireInputKeys(input, \"calculateLensProjectionDirection\", [\"projectionModel\", \"focalLengthMm\", \"imagePointMm\"]);\n  const model = validateCommon(input, \"input\");\n  requireRecord(\"imagePointMm\", input.imagePointMm);\n  rejectUnknownFields(input.imagePointMm, [\"x\", \"y\"], \"imagePointMm\");\n  const px = requireFinite(\"imagePointMm.x\", input.imagePointMm.x);\n  const py = requireFinite(\"imagePointMm.y\", input.imagePointMm.y);\n  const imageRadiusMm = Math.hypot(px, py);\n  const direction = lensProjectionDirectionValue(\n    model,\n    input.focalLengthMm,\n    px,\n    py\n  );\n\n  return calculatedResult(\n    {\n      projectionModel: model,\n      direction,\n      fieldAngleRadians: Math.atan2(\n        Math.hypot(direction.x, direction.y),\n        direction.z\n      ),\n      imageRadiusMm\n    },\n    `inverse-${model}-lens-projection`,\n    \"1.0.0\",\n    assumptions(model)\n  );\n}\n\n/** Signed angle subtended along one axis through the optical axis for a signed coordinate. */\nfunction signedAxisAngle(\n  model: LensProjectionModel,\n  focalLengthMm: number,\n  coordinateMm: number\n): number {\n  if (model === \"equirectangular\") {\n    // Along a horizontal or vertical line through the centre the angle is linear in position.\n    return coordinateMm / focalLengthMm;\n  }\n  const theta = radialProjectionFieldAngle(\n    model,\n    focalLengthMm,\n    Math.abs(coordinateMm)\n  );\n  return coordinateMm < 0 ? -theta : theta;\n}\n\n/**\n * Angular field of view across a centred sensor dimension along one axis through the optical\n * axis: 2 * theta(d / 2) for radial models and d / f for equirectangular.\n *\n * For equirectangular, the result is the longitude span for a horizontal dimension and the latitude\n * span for a vertical one. A sensor dimension larger than a fisheye's image circle is rejected, not\n * clipped.\n */\nexport function calculateLensProjectionFieldOfView(\n  input: CalculateLensProjectionFieldOfViewInput\n): CalculationResult<LensProjectionFieldOfView> {\n  requireInputKeys(input, \"calculateLensProjectionFieldOfView\", [\"projectionModel\", \"focalLengthMm\", \"sensorDimensionMm\"]);\n  const model = validateCommon(input, \"input\");\n  requirePositiveFinite(\"sensorDimensionMm\", input.sensorDimensionMm);\n  const radians =\n    2 *\n    signedAxisAngle(model, input.focalLengthMm, input.sensorDimensionMm / 2);\n  if (model === \"equirectangular\" && radians > 2 * Math.PI) {\n    throw new InvalidScientificInputError(\n      \"sensorDimensionMm exceeds the full 360-degree equirectangular span.\"\n    );\n  }\n  return calculatedResult(\n    {\n      projectionModel: model,\n      radians,\n      degrees: (radians * 180) / Math.PI,\n      projectionDistanceMm: input.focalLengthMm\n    },\n    `${model}-field-of-view`,\n    \"1.0.0\",\n    [\n      ...assumptions(model),\n      \"Field of view is measured along one axis through the optical axis\"\n    ]\n  );\n}\n\n/**\n * Asymmetric angular span between two signed sensor coordinates on one axis through the optical\n * axis, for off-centre crops.\n */\nexport function calculateLensProjectionFieldOfViewBounds(\n  input: CalculateLensProjectionFieldOfViewBoundsInput\n): CalculationResult<LensProjectionFieldOfViewBounds> {\n  requireInputKeys(input, \"calculateLensProjectionFieldOfViewBounds\", [\"projectionModel\", \"focalLengthMm\", \"minimumSensorCoordinateMm\", \"maximumSensorCoordinateMm\"]);\n  const model = validateCommon(input, \"input\");\n  const minimum = requireFinite(\n    \"minimumSensorCoordinateMm\",\n    input.minimumSensorCoordinateMm\n  );\n  const maximum = requireFinite(\n    \"maximumSensorCoordinateMm\",\n    input.maximumSensorCoordinateMm\n  );\n  if (maximum <= minimum) {\n    throw new InvalidScientificInputError(\n      \"maximumSensorCoordinateMm must be greater than minimumSensorCoordinateMm.\"\n    );\n  }\n  const minimumRadians = signedAxisAngle(model, input.focalLengthMm, minimum);\n  const maximumRadians = signedAxisAngle(model, input.focalLengthMm, maximum);\n  const radians = maximumRadians - minimumRadians;\n  if (model === \"equirectangular\" && radians > 2 * Math.PI) {\n    throw new InvalidScientificInputError(\n      \"Sensor bounds exceed the full 360-degree equirectangular span.\"\n    );\n  }\n  return calculatedResult(\n    {\n      projectionModel: model,\n      minimumRadians,\n      maximumRadians,\n      radians,\n      minimumDegrees: (minimumRadians * 180) / Math.PI,\n      maximumDegrees: (maximumRadians * 180) / Math.PI,\n      degrees: (radians * 180) / Math.PI,\n      projectionDistanceMm: input.focalLengthMm\n    },\n    `asymmetric-${model}-field-of-view`,\n    \"1.0.0\",\n    [\n      ...assumptions(model),\n      \"Signed sensor-plane bounds are measured relative to the optical axis along one axis through it\"\n    ]\n  );\n}\n\n/**\n * @internal Image point of a non-zero camera-frame direction under one model (no envelope).\n * Shared by the public mapping, geometric remaps and the environment ray query.\n */\nexport function lensProjectionImagePointValue(\n  model: LensProjectionModel,\n  focalLengthMm: number,\n  x: number,\n  y: number,\n  z: number\n): { imagePointMm: { x: number; y: number }; fieldAngleRadians: number } {\n  const length = Math.hypot(x, y, z);\n  const f = focalLengthMm;\n  const transverse = Math.hypot(x, y);\n  const fieldAngleRadians = Math.atan2(transverse, z);\n\n  let imagePointMm: { x: number; y: number };\n  if (model === \"equirectangular\") {\n    const latitude = Math.asin(Math.max(-1, Math.min(1, y / length)));\n    const horizontal = Math.hypot(x, z);\n    if (horizontal === 0) {\n      // Poles have an undefined longitude; the projection is singular there.\n      throw new InvalidScientificInputError(\n        \"Equirectangular projection is undefined at the poles (direction parallel to +/-Y).\"\n      );\n    }\n    const longitude = Math.atan2(x, z);\n    imagePointMm = { x: f * longitude, y: f * latitude };\n  } else {\n    const limit = radialFieldAngleLimit(model);\n    if (\n      fieldAngleRadians > limit.radians ||\n      (!limit.inclusive && fieldAngleRadians === limit.radians)\n    ) {\n      throw new InvalidScientificInputError(\n        `direction lies outside the ${model} projection domain.`\n      );\n    }\n    const radius = radialProjectionImageRadius(model, f, fieldAngleRadians);\n    imagePointMm =\n      transverse === 0\n        ? { x: 0, y: 0 }\n        : { x: (radius * x) / transverse, y: (radius * y) / transverse };\n  }\n\n  return { imagePointMm, fieldAngleRadians };\n}\n\n/** @internal Unit camera-frame direction of one image point under one model (no envelope). */\nexport function lensProjectionDirectionValue(\n  model: LensProjectionModel,\n  focalLengthMm: number,\n  px: number,\n  py: number\n): LensDirection {\n  const f = focalLengthMm;\n  const imageRadiusMm = Math.hypot(px, py);\n\n  let direction: LensDirection;\n  if (model === \"equirectangular\") {\n    const longitude = px / f;\n    const latitude = py / f;\n    if (Math.abs(longitude) > Math.PI || Math.abs(latitude) > HALF_PI) {\n      throw new InvalidScientificInputError(\n        \"imagePointMm lies outside the equirectangular longitude/latitude domain.\"\n      );\n    }\n    const cosLatitude = Math.cos(latitude);\n    direction = {\n      x: cosLatitude * Math.sin(longitude),\n      y: Math.sin(latitude),\n      z: cosLatitude * Math.cos(longitude)\n    };\n  } else {\n    const theta = radialProjectionFieldAngle(model, f, imageRadiusMm);\n    const sinTheta = Math.sin(theta);\n    direction =\n      imageRadiusMm === 0\n        ? { x: 0, y: 0, z: 1 }\n        : {\n            x: (sinTheta * px) / imageRadiusMm,\n            y: (sinTheta * py) / imageRadiusMm,\n            z: Math.cos(theta)\n          };\n  }\n\n  return direction;\n}\n\n/** d r / d theta of a radial model. */\nfunction radialDerivative(\n  model: RadialLensProjectionModel,\n  f: number,\n  theta: number\n): number {\n  switch (model) {\n    case \"rectilinear\":\n      return f / Math.cos(theta) ** 2;\n    case \"fisheye-equidistant\":\n      return f;\n    case \"fisheye-equisolid-angle\":\n      return f * Math.cos(theta / 2);\n    case \"fisheye-stereographic\":\n      return f / Math.cos(theta / 2) ** 2;\n    case \"fisheye-orthographic\":\n      return f * Math.cos(theta);\n  }\n}\n\ntype Matrix32 = readonly [readonly [number, number], readonly [number, number], readonly [number, number]];\n\n/** Unit direction of an image point and its derivative d(direction)/d(point) (3 x 2). */\nfunction directionWithDerivative(\n  model: LensProjectionModel,\n  f: number,\n  px: number,\n  py: number\n): { direction: LensDirection; derivative: Matrix32 } {\n  const direction = lensProjectionDirectionValue(model, f, px, py);\n  if (model === \"equirectangular\") {\n    const lambda = px / f;\n    const phi = py / f;\n    const cp = Math.cos(phi);\n    const sp = Math.sin(phi);\n    const cl = Math.cos(lambda);\n    const sl = Math.sin(lambda);\n    return {\n      direction,\n      derivative: [\n        [(cp * cl) / f, (-sp * sl) / f],\n        [0, cp / f],\n        [(-cp * sl) / f, (-sp * cl) / f]\n      ]\n    };\n  }\n  const rho = Math.hypot(px, py);\n  if (rho === 0) {\n    const a = 1 / radialDerivative(model, f, 0);\n    return { direction, derivative: [[a, 0], [0, a], [0, 0]] };\n  }\n  const theta = radialProjectionFieldAngle(model, f, rho);\n  const dTheta = 1 / radialDerivative(model, f, theta);\n  const a = Math.sin(theta) / rho;\n  const aPrime = (Math.cos(theta) * dTheta * rho - Math.sin(theta)) / (rho * rho);\n  const ux = px / rho;\n  const uy = py / rho;\n  const dz = -Math.sin(theta) * dTheta;\n  return {\n    direction,\n    derivative: [\n      [a + aPrime * px * ux, aPrime * px * uy],\n      [aPrime * py * ux, a + aPrime * py * uy],\n      [dz * ux, dz * uy]\n    ]\n  };\n}\n\n/** Image point of a unit direction and its derivative d(point)/d(direction) (2 x 3). */\nfunction imagePointWithDerivative(\n  model: LensProjectionModel,\n  f: number,\n  v: LensDirection\n): { point: { x: number; y: number }; derivative: readonly [readonly [number, number, number], readonly [number, number, number]] } {\n  const point = lensProjectionImagePointValue(model, f, v.x, v.y, v.z).imagePointMm;\n  if (model === \"equirectangular\") {\n    const h2 = v.x * v.x + v.z * v.z;\n    const c = Math.sqrt(Math.max(0, 1 - v.y * v.y));\n    return {\n      point,\n      derivative: [\n        [(f * v.z) / h2, 0, (-f * v.x) / h2],\n        [0, f / c, 0]\n      ]\n    };\n  }\n  const t = Math.hypot(v.x, v.y);\n  const theta = Math.atan2(t, v.z);\n  if (theta < 1e-9) {\n    const g = radialDerivative(model, f, 0);\n    return { point, derivative: [[g, 0, 0], [0, g, 0]] };\n  }\n  const s = Math.sin(theta);\n  const g = radialProjectionImageRadius(model, f, theta);\n  const b = g / s;\n  const bPrime = (radialDerivative(model, f, theta) * s - g * Math.cos(theta)) / (s * s);\n  // q = b(theta) (vx, vy); on the unit sphere d theta = -d vz / sin theta.\n  const k = -bPrime / s;\n  return {\n    point,\n    derivative: [\n      [b, 0, k * v.x],\n      [0, b, k * v.y]\n    ]\n  };\n}\n\n/**\n * @internal Destination-to-source remap between two ideal projections: the destination point is\n * unprojected with the destination model and reprojected with the source model. Returns the\n * source point and the 2 x 2 Jacobian d(source)/d(destination), row-major.\n */\nexport function lensProjectionRemapValue(\n  destinationModel: LensProjectionModel,\n  destinationFocalLengthMm: number,\n  sourceModel: LensProjectionModel,\n  sourceFocalLengthMm: number,\n  px: number,\n  py: number\n): { sourcePointMm: { x: number; y: number }; jacobian: readonly [number, number, number, number] } {\n  const inverse = directionWithDerivative(destinationModel, destinationFocalLengthMm, px, py);\n  const forward = imagePointWithDerivative(sourceModel, sourceFocalLengthMm, inverse.direction);\n  const d = inverse.derivative;\n  const q = forward.derivative;\n  const j = (row: 0 | 1, column: 0 | 1): number =>\n    q[row][0] * d[0][column] + q[row][1] * d[1][column] + q[row][2] * d[2][column];\n  return {\n    sourcePointMm: forward.point,\n    jacobian: [j(0, 0), j(0, 1), j(1, 0), j(1, 1)]\n  };\n}\n\n/** @internal Signed angle along one axis through the optical axis (exported for sampling plans). */\nexport function lensProjectionSignedAxisAngle(\n  model: LensProjectionModel,\n  focalLengthMm: number,\n  coordinateMm: number\n): number {\n  return signedAxisAngle(model, focalLengthMm, coordinateMm);\n}\n"]}

package/dist/camera/projected-object-size.d.ts

@@ -1,10 +1,9 @@
 /**
- * Module boundary and integration notes.
- * Calculates the projected size of a fronto-parallel object plane. Without focusDistanceM, the
- * function preserves ideal pinhole projection using nominal focal length. With focusDistanceM, it
- * projects to the ideal thin-lens sensor plane selected by that focus distance.
- * @see docs/PHYSICS_FOUNDATION.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Projected size, on the sensor, of a flat object that faces the camera (fronto-parallel).
+ * - Without focusDistanceM, it uses ideal pinhole projection with the nominal focal length.
+ * - With focusDistanceM, it projects onto the ideal thin-lens sensor plane for that focus distance.
+ * @see docs/PHYSICS_FOUNDATION.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
  */
 import { type CalculationResult } from "../core/calculation-result.js";
 export interface CalculateProjectedObjectSizeInput {
@@ -29,14 +28,14 @@ export interface ProjectedObjectSize {
     heightPixels?: number;
 }
 /**
- * Calculates the projected size of a fronto-parallel object plane.
+ * Calculates the projected size of a flat object that faces the camera
+ * (fronto-parallel).
  *
- * Without focusDistanceM, the function preserves ideal pinhole projection
- * using nominal focal length. With focusDistanceM, it projects to the ideal
- * thin-lens sensor plane selected by that focus distance.
+ * Without focusDistanceM, it uses ideal pinhole projection with the nominal
+ * focal length. With focusDistanceM, it projects onto the ideal thin-lens
+ * sensor plane for that focus distance.
  *
  * @param input Lens, object-size, distance, optional focus, and optional pixel-pitch inputs.
  * @returns Projected object dimensions at the sensor plane.
  */
 export declare function calculateProjectedObjectSize(input: CalculateProjectedObjectSizeInput): CalculationResult<ProjectedObjectSize>;
-//# sourceMappingURL=projected-object-size.d.ts.map

package/dist/camera/projected-object-size.js

@@ -1,26 +1,28 @@
 // SPDX-License-Identifier: Apache-2.0
 /**
- * Module boundary and integration notes.
- * Calculates the projected size of a fronto-parallel object plane. Without focusDistanceM, the
- * function preserves ideal pinhole projection using nominal focal length. With focusDistanceM, it
- * projects to the ideal thin-lens sensor plane selected by that focus distance.
- * @see docs/PHYSICS_FOUNDATION.md for equations, coordinate/unit conventions, blockers and support
- * limits.
+ * Projected size, on the sensor, of a flat object that faces the camera (fronto-parallel).
+ * - Without focusDistanceM, it uses ideal pinhole projection with the nominal focal length.
+ * - With focusDistanceM, it projects onto the ideal thin-lens sensor plane for that focus distance.
+ * @see docs/PHYSICS_FOUNDATION.md for the equations, units, coordinate conventions, known blockers
+ * and support limits.
  */
 import { calculatedResult } from "../core/calculation-result.js";
 import { requirePositiveFinite } from "../core/validation.js";
 import { calculateThinLensImageDistance } from "../optics/thin-lens.js";
+import { requireInputKeys } from "../core/record-validation.js";
 /**
- * Calculates the projected size of a fronto-parallel object plane.
+ * Calculates the projected size of a flat object that faces the camera
+ * (fronto-parallel).
  *
- * Without focusDistanceM, the function preserves ideal pinhole projection
- * using nominal focal length. With focusDistanceM, it projects to the ideal
- * thin-lens sensor plane selected by that focus distance.
+ * Without focusDistanceM, it uses ideal pinhole projection with the nominal
+ * focal length. With focusDistanceM, it projects onto the ideal thin-lens
+ * sensor plane for that focus distance.
  *
  * @param input Lens, object-size, distance, optional focus, and optional pixel-pitch inputs.
  * @returns Projected object dimensions at the sensor plane.
  */
 export function calculateProjectedObjectSize(input) {
+    requireInputKeys(input, "calculateProjectedObjectSize", ["focalLengthMm", "objectWidthM", "objectHeightM", "distanceM", "focusDistanceM", "pixelPitchMicrometers"]);
     requirePositiveFinite("focalLengthMm", input.focalLengthMm);
     requirePositiveFinite("objectWidthM", input.objectWidthM);
     requirePositiveFinite("objectHeightM", input.objectHeightM);

package/dist/camera/projected-object-size.js.map

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With focusDistanceM, it projects onto the ideal thin-lens\n * sensor plane for that focus distance.\n *\n * @param input Lens, object-size, distance, optional focus, and optional pixel-pitch inputs.\n * @returns Projected object dimensions at the sensor plane.\n */\nexport function calculateProjectedObjectSize(\n  input: CalculateProjectedObjectSizeInput\n): CalculationResult<ProjectedObjectSize> {\n  requireInputKeys(input, \"calculateProjectedObjectSize\", [\"focalLengthMm\", \"objectWidthM\", \"objectHeightM\", \"distanceM\", \"focusDistanceM\", \"pixelPitchMicrometers\"]);\n  requirePositiveFinite(\"focalLengthMm\", input.focalLengthMm);\n  requirePositiveFinite(\"objectWidthM\", input.objectWidthM);\n  requirePositiveFinite(\"objectHeightM\", input.objectHeightM);\n  requirePositiveFinite(\"distanceM\", input.distanceM);\n\n  const focusProjection =\n    input.focusDistanceM === undefined\n      ? undefined\n      : calculateThinLensImageDistance({\n          focalLengthMm: input.focalLengthMm,\n          objectDistanceM: input.focusDistanceM\n        });\n  const projectionDistanceMm =\n    focusProjection?.value.imageDistanceMm ?? input.focalLengthMm;\n  const widthMm =\n    projectionDistanceMm * (input.objectWidthM / input.distanceM);\n  const heightMm =\n    projectionDistanceMm * (input.objectHeightM / input.distanceM);\n  const model =\n    focusProjection === undefined\n      ? \"fronto-parallel-pinhole-object-size\"\n      : \"focus-aware-thin-lens-object-size\";\n  const assumptions =\n    focusProjection === undefined\n      ? [\n          \"Ideal pinhole projection\",\n          \"Object plane is fronto-parallel to the sensor\",\n          \"Physical object dimensions are supplied by the caller\"\n        ]\n      : [\n          \"Ideal paraxial thin-lens projection to the selected sensor plane\",\n          \"Object plane is fronto-parallel to the sensor\",\n          \"Physical object dimensions are supplied by the caller\",\n          \"Real-lens focus breathing and pupil magnification are not modeled\"\n        ];\n\n  if (input.pixelPitchMicrometers === undefined) {\n    return calculatedResult(\n      { widthMm, heightMm, projectionDistanceMm },\n      model,\n      \"1.0.0\",\n      assumptions\n    );\n  }\n\n  requirePositiveFinite(\n    \"pixelPitchMicrometers\",\n    input.pixelPitchMicrometers\n  );\n  const pitchMm = input.pixelPitchMicrometers / 1000;\n\n  return calculatedResult(\n    {\n      widthMm,\n      heightMm,\n      projectionDistanceMm,\n      widthPixels: widthMm / pitchMm,\n      heightPixels: heightMm / pitchMm\n    },\n    model,\n    \"1.0.0\",\n    assumptions\n  );\n}\n"]}