Function projectPoint

src/utils/cameraModelProjection.ts:72–80

* Project undistorted pinhole-normalised coordinates (X/Z, Y/Z) to pixel * coordinates by delegating distortion application to the canonical * `distortNormalized` from `cameraUndistortion.ts`.

(
  camera: Camera,
  nx: number,
  ny: number
)

 * `distortNormalized` from `cameraUndistortion.ts`.
 */
function projectPoint(
  camera: Camera,
  nx: number,
  ny: number
): { x: number; y: number } | null {
  const i = getCameraIntrinsics(camera);
  const d = distortNormalized({ x: nx, y: ny }, i, camera.modelId);
  return { x: d.x * i.fx + i.cx, y: d.y * i.fy + i.cy };
}