Function getCameraIntrinsics

src/utils/cameraIntrinsics.ts:42–79

(camera: Camera)

 * callers MUST gate on `cameraModelHasPinholeIntrinsics` before using these.
 */
export function getCameraIntrinsics(camera: Camera): CameraIntrinsics {
  const intrinsics: CameraIntrinsics = {
    fx: 1, fy: 1, cx: 0, cy: 0,
    k1: 0, k2: 0, k3: 0, k4: 0, k5: 0, k6: 0,
    p1: 0, p2: 0, omega: 0, sx1: 0, sy1: 0, sx2: 0, sy2: 0,
    alpha: 0, beta: 0, kDiv: 0,
  };

  if (!cameraModelHasPinholeIntrinsics(camera.modelId)) {
    return intrinsics;
  }

  const projClass = getCameraModelProjectionClass(camera.modelId);
  const isDivision = projClass === 'division';

  const paramNames = getCameraModelParamNames(camera.modelId);
  for (let i = 0; i < paramNames.length; i++) {
    const name = paramNames[i];
    const value = camera.params[i] ?? 0;

    // 'k' is ambiguous: DIVISION models use it for kDiv; all others use k1.
    if (name === 'k') {
      if (isDivision) {
        intrinsics.kDiv = value;
      } else {
        intrinsics.k1 = value;
      }
      continue;
    }

    const setter = INTRINSIC_PARAM_SETTERS[name];
    if (setter !== undefined) {
      setter(intrinsics, value);
    }
  }

  return intrinsics;
}