Function unprojectPoint

src/utils/cameraModelProjection.ts:54–65

* Unproject a pixel coordinate to undistorted pinhole-normalised coordinates * (X/Z, Y/Z) by delegating distortion removal to the canonical * `undistortNormalized` from `cameraUndistortion.ts`. * * Returns null when the ray falls outside the representable domain (e.g. a * fisheye ray past ~90°,

(
  camera: Camera,
  px: number,
  py: number
)

 * fisheye ray past ~90°, or a FOV ray past the tangent singularity).
 */
function unprojectPoint(
  camera: Camera,
  px: number,
  py: number
): { x: number; y: number } | null {
  const i = getCameraIntrinsics(camera);
  const xd = (px - i.cx) / i.fx;
  const yd = (py - i.cy) / i.fy;
  const result = undistortNormalized({ x: xd, y: yd }, i, camera.modelId);
  if (!result.valid) return null;
  return { x: result.x, y: result.y };
}

/**
 * Project undistorted pinhole-normalised coordinates (X/Z, Y/Z) to pixel