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I know the position of the camera (center), the direction of the optical axis, the line of the conditional horizon, and the viewing angles horizontally and vertically. The task is to calculate the vector corresponding to each pixel. For example, I have a camera with normal lens (orthoscopic/rectilinear) and barrel distortion. How do I calculate the vector corresponding to a pixel?

I know the position of the camera (center), the direction of the optical axis, the line of the conditional horizon, and the viewing angles horizontally and vertically. The task is to calculate the world vector corresponding to each pixel. For example, I have a camera with normal lens (orthoscopic/rectilinear) and barrel distortion. How do I calculate the world vector corresponding to a pixel?