CAHVORE Transformation Utilities

Set of functions for converting a 2D camera coordinate to a camera ray ported from the original C implementation (JPL internal only).

Original implementation by Todd Litwin.

See also https://github.com/NASA-AMMOS/CameraModelUtilsJS/tree/main/src/cahvore-utilities

API

Functions

cmod_cahvore_2d_to_3d_general

cmod_cahvore_2d_to_3d_general(
	pos2 : Vector2, 
	linearity : Number, 
	c : Vector3, 
	a : Vector3, 
	h : Vector3, 
	v : Vector3, 
	o : Vector3, 
	r : Vector3, 
	e : Vector3, 
	pos3 : Vector3 = null, 
	uvec3 : Vector3 = null
) : { pos3, uvec3 }

Algorithm by Todd Litwin Partially ported from cmod_cahvore.

This function projects a 2D image point out into 3D using the camera model parameters provided. Note this port does not calculate partial derivatives of pos3 to pos2 or uvec3 to uvec2

cmod_cahv_2d_to_3d

cmod_cahv_2d_to_3d(
	pos2 : Vector2, 
	c : Vector3, 
	a : Vector3, 
	h : Vector3, 
	v : Vector3, 
	pos3 : Vector3 = null, 
	uvec3 : Vector3 = null
) : { pos3, uvec3 }

Algorithm by Todd Litwin Partially ported from cmod_cahv.

Uses the Yakimovsky & Cunningham camera model known locally as CAHV This function projects a 2D image point out into 3D using the camera model parameters provided. Note it does not output the partial derivative of uvec3 to pos2

cmod_cahvor_2d_to_3d

cmod_cahvor_2d_to_3d(
	pos2 : Vector2, 
	c : Vector3, 
	a : Vector3, 
	h : Vector3, 
	v : Vector3, 
	o : Vector3, 
	r : Vector3, 
	pos3 : Vector3 = null, 
	uvec3 : Vector3 = null
) : { pos3, uvec3 }

Algorithm by Todd Litwin Partially ported from cmod_cahvor.

Uses the Yakimovsky & Cunningham camera model known locally as CAHVOR This function projects a 2D image point out into 3D using the camera model parameters provided. Note it does not output the partial derivative of uvec3 to pos2

getRay

getRay( model : Object, sample : Vector2, outRay : Ray ) : void

Returns the outgoing ray from the camera model given an image sample coordinate. Internally calls the appropriate camera model to ray function.

getLinearFrustumInfo

getLinearFrustumInfo( model : Object ) : LinearFrustumInfo

Function takes a camera model and returns an object describing the resulting local camera frame and minimum and maximum frustums.

frameBoundsToProjectionMatrix

frameBoundsToProjectionMatrix(
	frameBounds : FrameBounds, 
	near : Number, 
	far : Number, 
	target : Matrix4
) : target

Function that takes a frame bounds description of a bounding box 1m out in the camera frame and sets the "target" matrix to an off axis projection matrix with the apex at the current origin.

FrameBounds

left

left : Number

right

right : Number

top

top : Number

bottom

bottom : Number

LinearFrustumInfo

frame

frame : Matrix4

The transformation frame of the linear camera model frustums. Equivalent to "Camera.matrix".

minFrameBounds

minFrameBounds : FrameBounds

The bounds that are completely encompassed the cahvore model at the minimal extents 1m out in the given frame.

maxFrameBounds

maxFrameBounds : FrameBounds

The bounds that completely encompass the cahvore model at the maximum extents 1m out in the given frame.