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lardon3d/prompt/10_CAMERA_MODEL.md
fy59 b8c5dc8eb1 docs: add final execution contract
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10 — Camera Model

Status

CAMERA_MODEL_V1=FROZEN

Authority

docs/architecture/sparse_sfm.md and calibration contracts.

FROZEN

Sparse SfM v1 is known-calibration only.

The v1 model is binary64 pinhole with zero skew and OpenCV-compatible distortion:

fx, fy, cx, cy
k1, k2, p1, p2

or explicit zero distortion.

Image coordinates: top-left origin, +x right, +y down.

Camera frame: x right, y down, z forward.

Pose is world-to-camera:

Xc = R_cw * Xw + t_cw
Cw = -transpose(R_cw) * t_cw

Higher-order lens models are outside this FROZEN v1 boundary unless separately authorized and scientifically contracted.

Canonical-reference rule

When implementation enters this area, read the cited canonical document in full before editing. If this prompt summary and the canonical document appear to conflict, do not silently choose the shorter text: determine whether this file is stale or whether a real contract contradiction exists, then apply the STOP rules where necessary.