@gyeonghokim/fisheye.js 1.0.2 → 1.1.0

package/README.md

@@ -6,6 +6,10 @@ DEMO: https://gyeonghokim.github.io/fisheye.js/
 
 fisheye.js processes [VideoFrame](https://developer.mozilla.org/en-US/docs/Web/API/VideoFrame)s with **WebGPU compute shaders**—no canvas 2D—and corrects fisheye lens distortion using the **OpenCV fisheye model** (Kannala–Brandt–style polynomial in angle θ with coefficients k1–k4). This is the same model as in [OpenCV’s fisheye module](https://docs.opencv.org/4.x/db/d58/group__calib3d__fisheye.html), not UCM (Unified Camera Model) or a simple radial model.
 
+## Learning Docs
+
+See the full educational curriculum in `doc/index.md`.
+
 ## Features
 
 - **WebGPU GPGPU**: Compute-shader pipeline via [TypeGPU](https://www.npmjs.com/package/typegpu); input/output as textures and readback to VideoFrame—no canvas element for dewarping

package/dist/index.d.ts

@@ -126,12 +126,13 @@ export declare interface CreateVideoFrameOptions {
  * @example
  * ```ts
  * const dewarper = new Fisheye({
- *   distortion: 0.5,
  *   width: 1920,
  *   height: 1080,
+ *   fov: 180,
+ *   projection: "rectilinear",
  * });
  *
- * const dewarpedFrame = await dewarper.dewarp(videoFrame);
+ * const dewarpedFrame = await dewarper.dewarp(inputVideoFrame);
  * ```
  */
 export declare class Fisheye {
@@ -209,58 +210,113 @@ export declare class Fisheye {
 export declare interface FisheyeConfig extends Required<FisheyeOptions> {
 }
 
+/**
+ * Camera mount position. Affects which view range is meaningful (e.g. ceiling → 360° azimuth).
+ * Used for defaults or validation when combined with projection.
+ */
+export declare type FisheyeMount = "ceiling" | "wall" | "desk";
+
+/**
+ * **Presets for UI:** Combine `mount` + `projection` (+ `fov`) and expose them to end users
+ * as preset names instead of raw options. Example mapping:
+ *
+ * | User-facing name        | mount   | projection     | fov                  |
+ * |-------------------------|---------|----------------|----------------------|
+ * | Panoramic 180           | any     | equirectangular| 180                  |
+ * | 360° Panorama           | ceiling | equirectangular| 360                  |
+ * | Normal / PTZ view       | any     | rectilinear    | e.g. 90              |
+ * | Quad (4 panes)          | ceiling | rectilinear ×4 | 90 per pane (layout) |
+ *
+ * The library does not define preset names; the app chooses labels and maps them to
+ * `FisheyeOptions` (and, for Quad, to multiple Fisheye instances or a layout pipeline).
+ */
 /**
  * Options for configuring the Fisheye dewarper
  */
 export declare interface FisheyeOptions {
     /**
-     * Fisheye distortion coefficient k1.
+     * Fisheye distortion coefficient k1 (OpenCV fisheye / Kannala–Brandt).
+     * From calibration; omit or 0 for ideal equidistant.
+     * @default 0
      */
     k1?: number;
     /**
      * Fisheye distortion coefficient k2.
+     * @default 0
      */
     k2?: number;
     /**
      * Fisheye distortion coefficient k3.
+     * @default 0
      */
     k3?: number;
     /**
      * Fisheye distortion coefficient k4.
+     * @default 0
      */
     k4?: number;
     /**
-     * Canvas width for output
+     * Output image width in pixels.
      * @default 300
      */
     width?: number;
     /**
-     * Canvas height for output
+     * Output image height in pixels.
      * @default 150
      */
     height?: number;
     /**
-     * Field of view in degrees
+     * Field of view in degrees.
+     * For rectilinear: angular diameter of the output. For equirectangular: horizontal span.
      * @default 180
      */
     fov?: number;
     /**
-     * X offset of the lens center (normalized, -1.0 to 1.0)
+     * Projection used to map corrected angles to output pixels.
+     * @default "rectilinear"
+     */
+    projection?: FisheyeProjection;
+    /**
+     * Camera mount position. Optional; can affect default FOV or valid range when projection is equirectangular.
+     * @default "ceiling"
+     */
+    mount?: FisheyeMount;
+    /**
+     * X offset of the lens center (normalized, -1.0 to 1.0).
      * @default 0
      */
     centerX?: number;
     /**
-     * Y offset of the lens center (normalized, -1.0 to 1.0)
+     * Y offset of the lens center (normalized, -1.0 to 1.0).
      * @default 0
      */
     centerY?: number;
     /**
-     * Zoom factor
+     * Zoom factor applied after distortion correction.
      * @default 1.0
      */
     zoom?: number;
 }
 
+/**
+ * How the corrected ray directions are mapped to the output image.
+ *
+ * - **rectilinear**: Standard perspective (like a normal camera). Straight lines in the
+ *   scene stay straight; the center is natural, edges are compressed. With wide FOV (e.g.
+ *   180°) the edges look very squished. One "window" view.
+ *
+ * - **equirectangular**: Horizontal axis = azimuth (longitude), vertical = elevation
+ *   (latitude). The full horizontal span (e.g. 180°) maps linearly to the width, so you
+ *   get a wide panoramic strip: left = one side, right = the other. Classic panorama look.
+ *
+ * Commercial equivalents:
+ * - "Panoramic 180" / "180° Panorama" → equirectangular with 180° horizontal.
+ * - "Panoramic" / "360° Panorama" → equirectangular with 360° horizontal (ceiling mount).
+ * - "Normal" / "PTZ view" / single window → rectilinear (often with ~90° FOV per pane).
+ * - "Panoramic with 4 panes" / "Quad" → layout of four rectilinear ~90° views, not one projection.
+ */
+export declare type FisheyeProjection = "rectilinear" | "equirectangular";
+
 /**
  * Supported YUV pixel formats for VideoFrame creation
  */

package/dist/index.js

@@ -1,7 +1,7 @@
-import M from "typegpu";
+import Y from "typegpu";
 import * as i from "typegpu/data";
-import * as b from "typegpu/std";
-const D = (globalThis.__TYPEGPU_AUTONAME__ ?? ((s) => s))(i.struct({
+import * as l from "typegpu/std";
+const G = (globalThis.__TYPEGPU_AUTONAME__ ?? ((s) => s))(i.struct({
   k1: i.f32,
   k2: i.f32,
   k3: i.f32,
@@ -14,13 +14,15 @@ const D = (globalThis.__TYPEGPU_AUTONAME__ ?? ((s) => s))(i.struct({
   height: i.f32,
   inputWidth: i.f32,
   inputHeight: i.f32,
+  projection: i.f32,
+  // 0 = rectilinear, 1 = equirectangular
   padding: i.f32
-}), "FisheyeUniforms"), P = (globalThis.__TYPEGPU_AUTONAME__ ?? ((s) => s))(M.bindGroupLayout({
+}), "FisheyeUniforms"), z = (globalThis.__TYPEGPU_AUTONAME__ ?? ((s) => s))(Y.bindGroupLayout({
   inputTexture: { texture: i.texture2d() },
   outputTexture: { storageTexture: i.textureStorage2d("rgba8unorm") },
-  uniforms: { uniform: D }
+  uniforms: { uniform: G }
 }), "fisheyeLayout");
-class X {
+class $ {
   config;
   root = null;
   uniformBuffer = null;
@@ -53,6 +55,8 @@ class X {
       width: t.width ?? 300,
       height: t.height ?? 150,
       fov: t.fov ?? 180,
+      projection: t.projection ?? "rectilinear",
+      mount: t.mount ?? "ceiling",
       centerX: t.centerX ?? 0,
       centerY: t.centerY ?? 0,
       zoom: t.zoom ?? 1
@@ -62,29 +66,35 @@ class X {
    * Initialize TypeGPU root and resources
    */
   async initialize() {
-    this.root || (this.root = await M.init(), this.uniformBuffer = (globalThis.__TYPEGPU_AUTONAME__ ?? ((t) => t))(this.root.createBuffer(D, this.getUniformData()).$usage("uniform"), "uniformBuffer"), this.dewarpPipeline = (globalThis.__TYPEGPU_AUTONAME__ ?? ((t) => t))(this.root["~unstable"].createGuardedComputePipeline(
+    this.root || (this.root = await Y.init(), this.uniformBuffer = (globalThis.__TYPEGPU_AUTONAME__ ?? ((t) => t))(this.root.createBuffer(G, this.getUniformData()).$usage("uniform"), "uniformBuffer"), this.dewarpPipeline = (globalThis.__TYPEGPU_AUTONAME__ ?? ((t) => t))(this.root["~unstable"].createGuardedComputePipeline(
       ((t) => (globalThis.__TYPEGPU_META__ ??= /* @__PURE__ */ new WeakMap()).set(t.f = ((o, r) => {
         "use gpu";
-        const e = P.$.uniforms, n = e.width, c = e.height, a = e.inputWidth, p = e.inputHeight, l = i.vec2i(o, r);
-        if (i.f32(o) >= n || i.f32(r) >= c)
+        const e = z.$.uniforms, n = e.width, h = e.height, u = e.inputWidth, x = e.inputHeight, p = i.vec2i(o, r);
+        if (i.f32(o) >= n || i.f32(r) >= h)
           return;
-        const x = i.vec2f(
-          (i.f32(l.x) / n - 0.5) * 2,
-          (i.f32(l.y) / c - 0.5) * 2
-        ), m = e.centerX, g = e.centerY, u = x.sub(i.vec2f(m, g)), f = b.length(u), k = Math.SQRT2, U = b.min(e.fov * 0.017453293, 3.1), A = b.tan(U * 0.5) / k, H = b.min(A, 1), G = f * H, d = b.atan(G), h = d * d, y = h * h, T = y * h, R = y * y, B = d * (1 + e.k1 * h + e.k2 * y + e.k3 * T + e.k4 * R) / e.zoom;
-        let v = i.vec2f(u.x, u.y);
-        f > 1e-4 && (v = i.vec2f(u.x * (B / f), u.y * (B / f)));
-        const w = v.add(i.vec2f(m, g)).mul(0.5).add(0.5);
-        if (w.x >= 0 && w.x <= 1 && w.y >= 0 && w.y <= 1) {
-          const I = i.vec2i(i.i32(w.x * a), i.i32(w.y * p)), z = b.textureLoad(P.$.inputTexture, I, 0);
-          b.textureStore(P.$.outputTexture, l, z);
+        const b = e.centerX, w = e.centerY;
+        let c = i.vec2f(0, 0);
+        if (e.projection < 0.5) {
+          const a = i.vec2f(
+            (i.f32(p.x) / n - 0.5) * 2,
+            (i.f32(p.y) / h - 0.5) * 2
+          ).sub(i.vec2f(b, w)), k = l.length(a), B = Math.SQRT2, P = l.min(e.fov * (Math.PI / 180), 3.1), v = l.tan(P * 0.5) / B, T = l.min(v, 1), g = k * T, d = l.atan(g), y = d * d, m = y * y, U = m * y, R = m * m, S = d * (1 + e.k1 * y + e.k2 * m + e.k3 * U + e.k4 * R) / e.zoom;
+          let A = i.vec2f(a.x, a.y);
+          k > 1e-4 && (A = i.vec2f(a.x * (S / k), a.y * (S / k))), c = A.add(i.vec2f(b, w)).mul(0.5).add(0.5);
+        } else {
+          const f = e.fov * (Math.PI / 180), a = (i.f32(p.x) / n - 0.5) * f, k = (i.f32(p.y) / h - 0.5) * Math.PI, B = l.sin(k), P = l.acos(l.min(l.max(B, -1), 1)), v = P * P, T = v * v, g = T * v, d = T * T, m = P * (1 + e.k1 * v + e.k2 * T + e.k3 * g + e.k4 * d) / e.zoom, U = b + m * l.cos(a), R = w + m * l.sin(a);
+          c = i.vec2f(U * 0.5 + 0.5, R * 0.5 + 0.5);
+        }
+        if (c.x >= 0 && c.x <= 1 && c.y >= 0 && c.y <= 1) {
+          const f = i.vec2i(i.i32(c.x * u), i.i32(c.y * x)), a = l.textureLoad(z.$.inputTexture, f, 0);
+          l.textureStore(z.$.outputTexture, p, a);
         } else
-          b.textureStore(P.$.outputTexture, l, i.vec4f(0, 0, 0, 1));
+          l.textureStore(z.$.outputTexture, p, i.vec4f(0, 0, 0, 1));
       }), {
         v: 1,
         name: void 0,
-        ast: { params: [{ type: "i", name: "x" }, { type: "i", name: "y" }], body: [0, [[13, "p", [7, [7, "fisheyeLayout", "$"], "uniforms"]], [13, "outputW", [7, "p", "width"]], [13, "outputH", [7, "p", "height"]], [13, "inputW", [7, "p", "inputWidth"]], [13, "inputH", [7, "p", "inputHeight"]], [13, "coord", [6, [7, "d", "vec2i"], ["x", "y"]]], [11, [3, [1, [6, [7, "d", "f32"], ["x"]], ">=", "outputW"], "||", [1, [6, [7, "d", "f32"], ["y"]], ">=", "outputH"]], [0, [[10]]]], [13, "uv", [6, [7, "d", "vec2f"], [[1, [1, [1, [6, [7, "d", "f32"], [[7, "coord", "x"]]], "/", "outputW"], "-", [5, "0.5"]], "*", [5, "2"]], [1, [1, [1, [6, [7, "d", "f32"], [[7, "coord", "y"]]], "/", "outputH"], "-", [5, "0.5"]], "*", [5, "2"]]]]], [13, "centerX", [7, "p", "centerX"]], [13, "centerY", [7, "p", "centerY"]], [13, "centered", [6, [7, "uv", "sub"], [[6, [7, "d", "vec2f"], ["centerX", "centerY"]]]]], [13, "r", [6, [7, "std", "length"], ["centered"]]], [13, "cornerNorm", [7, "Math", "SQRT2"]], [13, "fovRad", [6, [7, "std", "min"], [[1, [7, "p", "fov"], "*", [5, "0.017453293"]], [5, "3.1"]]]], [13, "scaleRaw", [1, [6, [7, "std", "tan"], [[1, "fovRad", "*", [5, "0.5"]]]], "/", "cornerNorm"]], [13, "scale", [6, [7, "std", "min"], ["scaleRaw", [5, "1"]]]], [13, "rScaledForFov", [1, "r", "*", "scale"]], [13, "theta", [6, [7, "std", "atan"], ["rScaledForFov"]]], [13, "theta2", [1, "theta", "*", "theta"]], [13, "theta4", [1, "theta2", "*", "theta2"]], [13, "theta6", [1, "theta4", "*", "theta2"]], [13, "theta8", [1, "theta4", "*", "theta4"]], [13, "thetaDistorted", [1, "theta", "*", [1, [1, [1, [1, [5, "1"], "+", [1, [7, "p", "k1"], "*", "theta2"]], "+", [1, [7, "p", "k2"], "*", "theta4"]], "+", [1, [7, "p", "k3"], "*", "theta6"]], "+", [1, [7, "p", "k4"], "*", "theta8"]]]], [13, "rDistorted", "thetaDistorted"], [13, "rScaled", [1, "rDistorted", "/", [7, "p", "zoom"]]], [12, "distortedUv", [6, [7, "d", "vec2f"], [[7, "centered", "x"], [7, "centered", "y"]]]], [11, [1, "r", ">", [5, "0.0001"]], [0, [[2, "distortedUv", "=", [6, [7, "d", "vec2f"], [[1, [7, "centered", "x"], "*", [1, "rScaled", "/", "r"]], [1, [7, "centered", "y"], "*", [1, "rScaled", "/", "r"]]]]]]]], [13, "finalUv", [6, [7, [6, [7, [6, [7, "distortedUv", "add"], [[6, [7, "d", "vec2f"], ["centerX", "centerY"]]]], "mul"], [[5, "0.5"]]], "add"], [[5, "0.5"]]]], [11, [3, [3, [3, [1, [7, "finalUv", "x"], ">=", [5, "0"]], "&&", [1, [7, "finalUv", "x"], "<=", [5, "1"]]], "&&", [1, [7, "finalUv", "y"], ">=", [5, "0"]]], "&&", [1, [7, "finalUv", "y"], "<=", [5, "1"]]], [0, [[13, "sampleCoord", [6, [7, "d", "vec2i"], [[6, [7, "d", "i32"], [[1, [7, "finalUv", "x"], "*", "inputW"]]], [6, [7, "d", "i32"], [[1, [7, "finalUv", "y"], "*", "inputH"]]]]]], [13, "color", [6, [7, "std", "textureLoad"], [[7, [7, "fisheyeLayout", "$"], "inputTexture"], "sampleCoord", [5, "0"]]]], [6, [7, "std", "textureStore"], [[7, [7, "fisheyeLayout", "$"], "outputTexture"], "coord", "color"]]]], [0, [[6, [7, "std", "textureStore"], [[7, [7, "fisheyeLayout", "$"], "outputTexture"], "coord", [6, [7, "d", "vec4f"], [[5, "0"], [5, "0"], [5, "0"], [5, "1"]]]]]]]]]], externalNames: ["fisheyeLayout", "d", "std", "Math"] },
-        externals: () => ({ fisheyeLayout: P, d: i, std: b, Math })
+        ast: { params: [{ type: "i", name: "x" }, { type: "i", name: "y" }], body: [0, [[13, "p", [7, [7, "fisheyeLayout", "$"], "uniforms"]], [13, "outputW", [7, "p", "width"]], [13, "outputH", [7, "p", "height"]], [13, "inputW", [7, "p", "inputWidth"]], [13, "inputH", [7, "p", "inputHeight"]], [13, "coord", [6, [7, "d", "vec2i"], ["x", "y"]]], [11, [3, [1, [6, [7, "d", "f32"], ["x"]], ">=", "outputW"], "||", [1, [6, [7, "d", "f32"], ["y"]], ">=", "outputH"]], [0, [[10]]]], [13, "centerX", [7, "p", "centerX"]], [13, "centerY", [7, "p", "centerY"]], [12, "finalUv", [6, [7, "d", "vec2f"], [[5, "0"], [5, "0"]]]], [11, [1, [7, "p", "projection"], "<", [5, "0.5"]], [0, [[13, "uv", [6, [7, "d", "vec2f"], [[1, [1, [1, [6, [7, "d", "f32"], [[7, "coord", "x"]]], "/", "outputW"], "-", [5, "0.5"]], "*", [5, "2"]], [1, [1, [1, [6, [7, "d", "f32"], [[7, "coord", "y"]]], "/", "outputH"], "-", [5, "0.5"]], "*", [5, "2"]]]]], [13, "centered", [6, [7, "uv", "sub"], [[6, [7, "d", "vec2f"], ["centerX", "centerY"]]]]], [13, "r", [6, [7, "std", "length"], ["centered"]]], [13, "cornerNorm", [7, "Math", "SQRT2"]], [13, "fovRad", [6, [7, "std", "min"], [[1, [7, "p", "fov"], "*", [1, [7, "Math", "PI"], "/", [5, "180"]]], [5, "3.1"]]]], [13, "scaleRaw", [1, [6, [7, "std", "tan"], [[1, "fovRad", "*", [5, "0.5"]]]], "/", "cornerNorm"]], [13, "scale", [6, [7, "std", "min"], ["scaleRaw", [5, "1"]]]], [13, "rScaledForFov", [1, "r", "*", "scale"]], [13, "theta", [6, [7, "std", "atan"], ["rScaledForFov"]]], [13, "theta2", [1, "theta", "*", "theta"]], [13, "theta4", [1, "theta2", "*", "theta2"]], [13, "theta6", [1, "theta4", "*", "theta2"]], [13, "theta8", [1, "theta4", "*", "theta4"]], [13, "thetaDistorted", [1, "theta", "*", [1, [1, [1, [1, [5, "1"], "+", [1, [7, "p", "k1"], "*", "theta2"]], "+", [1, [7, "p", "k2"], "*", "theta4"]], "+", [1, [7, "p", "k3"], "*", "theta6"]], "+", [1, [7, "p", "k4"], "*", "theta8"]]]], [13, "rDistorted", "thetaDistorted"], [13, "rScaled", [1, "rDistorted", "/", [7, "p", "zoom"]]], [12, "distortedUv", [6, [7, "d", "vec2f"], [[7, "centered", "x"], [7, "centered", "y"]]]], [11, [1, "r", ">", [5, "0.0001"]], [0, [[2, "distortedUv", "=", [6, [7, "d", "vec2f"], [[1, [7, "centered", "x"], "*", [1, "rScaled", "/", "r"]], [1, [7, "centered", "y"], "*", [1, "rScaled", "/", "r"]]]]]]]], [2, "finalUv", "=", [6, [7, [6, [7, [6, [7, "distortedUv", "add"], [[6, [7, "d", "vec2f"], ["centerX", "centerY"]]]], "mul"], [[5, "0.5"]]], "add"], [[5, "0.5"]]]]]], [0, [[13, "fovRad", [1, [7, "p", "fov"], "*", [1, [7, "Math", "PI"], "/", [5, "180"]]]], [13, "lon", [1, [1, [1, [6, [7, "d", "f32"], [[7, "coord", "x"]]], "/", "outputW"], "-", [5, "0.5"]], "*", "fovRad"]], [13, "lat", [1, [1, [1, [6, [7, "d", "f32"], [[7, "coord", "y"]]], "/", "outputH"], "-", [5, "0.5"]], "*", [7, "Math", "PI"]]], [13, "sinLat", [6, [7, "std", "sin"], ["lat"]]], [13, "theta", [6, [7, "std", "acos"], [[6, [7, "std", "min"], [[6, [7, "std", "max"], ["sinLat", [4, "-", [5, "1"]]]], [5, "1"]]]]]], [13, "theta2", [1, "theta", "*", "theta"]], [13, "theta4", [1, "theta2", "*", "theta2"]], [13, "theta6", [1, "theta4", "*", "theta2"]], [13, "theta8", [1, "theta4", "*", "theta4"]], [13, "rDistorted", [1, "theta", "*", [1, [1, [1, [1, [5, "1"], "+", [1, [7, "p", "k1"], "*", "theta2"]], "+", [1, [7, "p", "k2"], "*", "theta4"]], "+", [1, [7, "p", "k3"], "*", "theta6"]], "+", [1, [7, "p", "k4"], "*", "theta8"]]]], [13, "rScaled", [1, "rDistorted", "/", [7, "p", "zoom"]]], [13, "uNorm", [1, "centerX", "+", [1, "rScaled", "*", [6, [7, "std", "cos"], ["lon"]]]]], [13, "vNorm", [1, "centerY", "+", [1, "rScaled", "*", [6, [7, "std", "sin"], ["lon"]]]]], [2, "finalUv", "=", [6, [7, "d", "vec2f"], [[1, [1, "uNorm", "*", [5, "0.5"]], "+", [5, "0.5"]], [1, [1, "vNorm", "*", [5, "0.5"]], "+", [5, "0.5"]]]]]]]], [11, [3, [3, [3, [1, [7, "finalUv", "x"], ">=", [5, "0"]], "&&", [1, [7, "finalUv", "x"], "<=", [5, "1"]]], "&&", [1, [7, "finalUv", "y"], ">=", [5, "0"]]], "&&", [1, [7, "finalUv", "y"], "<=", [5, "1"]]], [0, [[13, "sampleCoord", [6, [7, "d", "vec2i"], [[6, [7, "d", "i32"], [[1, [7, "finalUv", "x"], "*", "inputW"]]], [6, [7, "d", "i32"], [[1, [7, "finalUv", "y"], "*", "inputH"]]]]]], [13, "color", [6, [7, "std", "textureLoad"], [[7, [7, "fisheyeLayout", "$"], "inputTexture"], "sampleCoord", [5, "0"]]]], [6, [7, "std", "textureStore"], [[7, [7, "fisheyeLayout", "$"], "outputTexture"], "coord", "color"]]]], [0, [[6, [7, "std", "textureStore"], [[7, [7, "fisheyeLayout", "$"], "outputTexture"], "coord", [6, [7, "d", "vec4f"], [[5, "0"], [5, "0"], [5, "0"], [5, "1"]]]]]]]]]], externalNames: ["fisheyeLayout", "d", "std", "Math"] },
+        externals: () => ({ fisheyeLayout: z, d: i, std: l, Math })
       }) && t.f)({})
     ), "dewarpPipeline"));
   }
@@ -105,6 +115,7 @@ class X {
       height: this.config.height,
       inputWidth: this.uniformInputWidth,
       inputHeight: this.uniformInputHeight,
+      projection: this.config.projection === "equirectangular" ? 1 : 0,
       padding: 0
     };
   }
@@ -118,26 +129,26 @@ class X {
     const e = this.readbackBuffers;
     if (!e)
       throw new Error("Readback buffer not initialized");
-    const n = this.readbackIndex, c = 1 - n, a = e[n], p = e[c];
-    if (!a || !p)
+    const n = this.readbackIndex, h = 1 - n, u = e[n], x = e[h];
+    if (!u || !x)
       throw new Error("Readback buffer not initialized");
-    const l = t.createCommandEncoder();
-    l.copyTextureToBuffer(
+    const p = t.createCommandEncoder();
+    p.copyTextureToBuffer(
       { texture: o },
-      { buffer: a, bytesPerRow: this.readbackBytesPerRow },
+      { buffer: u, bytesPerRow: this.readbackBytesPerRow },
       [this.config.width, this.config.height]
-    ), t.queue.submit([l.finish()]), await t.queue.onSubmittedWorkDone(), this.readbackHasData[n] = !0, this.readbackIndex = c;
-    const x = this.readbackHasData[c] ? p : a;
-    await x.mapAsync(GPUMapMode.READ);
-    const m = x.getMappedRange(), g = this.pixelBuffer ?? new Uint8Array(this.config.width * this.config.height * 4), u = new Uint8Array(m);
-    for (let f = 0; f < this.config.height; f++) {
-      const k = f * this.readbackBytesPerRow, U = f * this.readbackActualBytesPerRow;
-      g.set(
-        u.subarray(k, k + this.readbackActualBytesPerRow),
-        U
+    ), t.queue.submit([p.finish()]), await t.queue.onSubmittedWorkDone(), this.readbackHasData[n] = !0, this.readbackIndex = h;
+    const b = this.readbackHasData[h] ? x : u;
+    await b.mapAsync(GPUMapMode.READ);
+    const w = b.getMappedRange(), c = this.pixelBuffer ?? new Uint8Array(this.config.width * this.config.height * 4), f = new Uint8Array(w);
+    for (let a = 0; a < this.config.height; a++) {
+      const k = a * this.readbackBytesPerRow, B = a * this.readbackActualBytesPerRow;
+      c.set(
+        f.subarray(k, k + this.readbackActualBytesPerRow),
+        B
       );
     }
-    return x.unmap(), new VideoFrame(g, {
+    return b.unmap(), new VideoFrame(c, {
       format: "RGBA",
       codedWidth: this.config.width,
       codedHeight: this.config.height,
@@ -191,23 +202,24 @@ class X {
     ], this.readbackIndex = 0, this.readbackHasData = [!1, !1], this.outputTextureSize = [this.config.width, this.config.height], this.bindGroup = null);
     const e = this.inputTexture, n = this.outputTexture;
     if (!e || !n) throw new Error("Textures not initialized");
-    e.write(t), this.uniformInputWidth = t.displayWidth, this.uniformInputHeight = t.displayHeight, this.updateUniforms(), this.bindGroup || (this.bindGroup = o.createBindGroup(P, {
+    e.write(t), this.uniformInputWidth = t.displayWidth, this.uniformInputHeight = t.displayHeight, this.updateUniforms(), this.bindGroup || (this.bindGroup = o.createBindGroup(z, {
       inputTexture: e,
       outputTexture: n,
       uniforms: this.uniformBuffer
     }));
-    const c = this.bindGroup, a = this.dewarpPipeline;
-    if (!a || !n)
+    const h = this.bindGroup, u = this.dewarpPipeline;
+    if (!u || !n)
       throw new Error("Compute pipeline or output texture not initialized");
-    a.with(c).dispatchThreads(this.config.width, this.config.height);
-    const p = o.unwrap(n);
-    return this.readbackToVideoFrame(r, p, t.timestamp);
+    u.with(h).dispatchThreads(this.config.width, this.config.height);
+    const x = o.unwrap(n);
+    return this.readbackToVideoFrame(r, x, t.timestamp);
   }
   /**
    * Update configuration
    */
   updateConfig(t) {
-    this.config = this.applyDefaults({ ...this.config, ...t }), this.updateUniforms(), (t.width || t.height) && (this.outputTexture?.destroy(), this.readbackBuffers?.[0]?.destroy(), this.readbackBuffers?.[1]?.destroy(), this.outputTexture = null, this.readbackBuffers = null, this.readbackIndex = 0, this.readbackHasData = [!1, !1], this.outputTextureSize = [0, 0], this.readbackBytesPerRow = 0, this.readbackActualBytesPerRow = 0, this.pixelBuffer = null);
+    const o = this.config.width, r = this.config.height;
+    this.config = this.applyDefaults({ ...this.config, ...t }), this.updateUniforms(), (this.config.width !== o || this.config.height !== r) && (this.outputTexture?.destroy(), this.readbackBuffers?.[0]?.destroy(), this.readbackBuffers?.[1]?.destroy(), this.outputTexture = null, this.readbackBuffers = null, this.readbackIndex = 0, this.readbackHasData = [!1, !1], this.outputTextureSize = [0, 0], this.readbackBytesPerRow = 0, this.readbackActualBytesPerRow = 0, this.pixelBuffer = null);
   }
   /**
    * Clean up GPU resources
@@ -216,60 +228,60 @@ class X {
     this.inputTexture?.destroy(), this.outputTexture?.destroy(), this.readbackBuffers?.[0]?.destroy(), this.readbackBuffers?.[1]?.destroy(), this.root?.destroy(), this.inputTexture = null, this.outputTexture = null, this.readbackBuffers = null, this.readbackIndex = 0, this.readbackHasData = [!1, !1], this.uniformBuffer = null, this.root = null, this.bindGroup = null, this.dewarpPipeline = null, this.readbackBytesPerRow = 0, this.readbackActualBytesPerRow = 0, this.pixelBuffer = null, this.inputTextureSize = [0, 0], this.outputTextureSize = [0, 0];
   }
 }
-function O(s, t) {
+function X(s, t) {
   const {
     format: o,
     width: r,
     height: e,
     timestamp: n,
-    duration: c,
-    displayWidth: a,
-    displayHeight: p,
-    colorSpace: l,
-    transfer: x
+    duration: h,
+    displayWidth: u,
+    displayHeight: x,
+    colorSpace: p,
+    transfer: b
   } = t;
   if (r <= 0 || e <= 0)
     throw new Error("Width and height must be positive integers");
-  const m = $(o, r, e), g = (s instanceof ArrayBuffer, s.byteLength);
-  if (g < m)
+  const w = F(o, r, e), c = (s instanceof ArrayBuffer, s.byteLength);
+  if (c < w)
     throw new Error(
-      `Buffer too small for ${o} format. Expected at least ${m} bytes, got ${g} bytes`
+      `Buffer too small for ${o} format. Expected at least ${w} bytes, got ${c} bytes`
     );
-  const u = {
+  const f = {
     format: o,
     codedWidth: r,
     codedHeight: e,
     timestamp: n
   };
-  if (c !== void 0 && (u.duration = c), a !== void 0 && (u.displayWidth = a), p !== void 0 && (u.displayHeight = p), l !== void 0 && (u.colorSpace = l), x) {
-    const f = s instanceof ArrayBuffer ? s : s.buffer;
-    u.transfer = [f];
+  if (h !== void 0 && (f.duration = h), u !== void 0 && (f.displayWidth = u), x !== void 0 && (f.displayHeight = x), p !== void 0 && (f.colorSpace = p), b) {
+    const a = s instanceof ArrayBuffer ? s : s.buffer;
+    f.transfer = [a];
   }
-  return new VideoFrame(s, u);
+  return new VideoFrame(s, f);
 }
-function N(s, t, o, r = "I420") {
+function O(s, t, o, r = "I420") {
   if (r !== "I420")
     throw new Error(`Unsupported format: ${r}. Only I420 is currently supported.`);
-  const e = t * o, n = t / 2 * (o / 2), c = e + n * 2, a = new Uint8Array(c), p = 0.299, l = 0.587, x = 0.114, m = -0.169, g = -0.331, u = 0.5, f = 0.5, k = -0.419, U = -0.081, A = a.subarray(0, e), H = a.subarray(e, e + n), G = a.subarray(e + n, c);
-  for (let d = 0; d < o; d++)
-    for (let h = 0; h < t; h++) {
-      const y = (d * t + h) * 4, T = s[y], R = s[y + 1], _ = s[y + 2], S = p * T + l * R + x * _;
-      A[d * t + h] = Math.round(Math.max(0, Math.min(255, S)));
+  const e = t * o, n = t / 2 * (o / 2), h = e + n * 2, u = new Uint8Array(h), x = 0.299, p = 0.587, b = 0.114, w = -0.169, c = -0.331, f = 0.5, a = 0.5, k = -0.419, B = -0.081, P = u.subarray(0, e), v = u.subarray(e, e + n), T = u.subarray(e + n, h);
+  for (let g = 0; g < o; g++)
+    for (let d = 0; d < t; d++) {
+      const y = (g * t + d) * 4, m = s[y], U = s[y + 1], R = s[y + 2], _ = x * m + p * U + b * R;
+      P[g * t + d] = Math.round(Math.max(0, Math.min(255, _)));
     }
-  for (let d = 0; d < o / 2; d++)
-    for (let h = 0; h < t / 2; h++) {
-      let y = 0, T = 0;
-      for (let B = 0; B < 2; B++)
-        for (let v = 0; v < 2; v++) {
-          const w = h * 2 + v, z = ((d * 2 + B) * t + w) * 4, Y = s[z], W = s[z + 1], E = s[z + 2], V = m * Y + g * W + u * E + 128, F = f * Y + k * W + U * E + 128;
-          y += V, T += F;
+  for (let g = 0; g < o / 2; g++)
+    for (let d = 0; d < t / 2; d++) {
+      let y = 0, m = 0;
+      for (let I = 0; I < 2; I++)
+        for (let S = 0; S < 2; S++) {
+          const A = d * 2 + S, H = ((g * 2 + I) * t + A) * 4, M = s[H], D = s[H + 1], W = s[H + 2], E = w * M + c * D + f * W + 128, V = a * M + k * D + B * W + 128;
+          y += E, m += V;
         }
-      const R = y / 4, _ = T / 4, S = d * (t / 2) + h;
-      H[S] = Math.round(Math.max(0, Math.min(255, R))), G[S] = Math.round(Math.max(0, Math.min(255, _)));
+      const U = y / 4, R = m / 4, _ = g * (t / 2) + d;
+      v[_] = Math.round(Math.max(0, Math.min(255, U))), T[_] = Math.round(Math.max(0, Math.min(255, R)));
     }
-  return a;
+  return u;
 }
-function $(s, t, o) {
+function F(s, t, o) {
   const r = t * o;
   switch (s) {
     case "I420":
@@ -286,9 +298,9 @@ function $(s, t, o) {
   }
 }
 export {
-  X as Fisheye,
-  $ as calculateYUVDataSize,
-  N as convertRGBAtoYUV,
-  O as createVideoFrameFromYUV
+  $ as Fisheye,
+  F as calculateYUVDataSize,
+  O as convertRGBAtoYUV,
+  X as createVideoFrameFromYUV
 };
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sources":["../src/fisheye.ts","../src/utils.ts"],"sourcesContent":["import tgpu, { type TgpuBuffer, type TgpuTexture } from \"typegpu\";\nimport * as d from \"typegpu/data\";\nimport * as std from \"typegpu/std\";\nimport type { FisheyeConfig, FisheyeOptions } from \"./types\";\n\n/**\n * Uniform struct for fisheye dewarping parameters (type-safe with layout)\n */\nconst FisheyeUniforms = d.struct({\n  k1: d.f32,\n  k2: d.f32,\n  k3: d.f32,\n  k4: d.f32,\n  fov: d.f32,\n  centerX: d.f32,\n  centerY: d.f32,\n  zoom: d.f32,\n  width: d.f32,\n  height: d.f32,\n  inputWidth: d.f32,\n  inputHeight: d.f32,\n  padding: d.f32,\n});\n\ntype TgpuRootType = Awaited<ReturnType<typeof tgpu.init>>;\n\n/**\n * Bind group layout for fisheye dewarping compute shader (type-safe access via layout.$)\n */\nconst fisheyeLayout = tgpu.bindGroupLayout({\n  inputTexture: { texture: d.texture2d() },\n  outputTexture: { storageTexture: d.textureStorage2d(\"rgba8unorm\") },\n  uniforms: { uniform: FisheyeUniforms },\n});\n\n/** Input texture props (sampled + render for write(); per TypeGPU docs) */\ntype InputTextureProps = {\n  size: readonly [number, number];\n  format: \"rgba8unorm\";\n};\n\n/** Output texture props (storage) */\ntype OutputTextureProps = {\n  size: readonly [number, number];\n  format: \"rgba8unorm\";\n};\n\ntype InputTextureType = TgpuTexture<InputTextureProps> & {\n  usableAsSampled: true;\n  usableAsRender: true;\n};\n\ntype OutputTextureType = TgpuTexture<OutputTextureProps> & {\n  usableAsStorage: true;\n};\n\ntype UniformBufferType = TgpuBuffer<typeof FisheyeUniforms> & {\n  usableAsUniform: true;\n};\n\n/**\n * Fisheye dewarper using WebGPU via TypeGPU (Pure GPGPU)\n *\n * @example\n * ```ts\n * const dewarper = new Fisheye({\n *   distortion: 0.5,\n *   width: 1920,\n *   height: 1080,\n * });\n *\n * const dewarpedFrame = await dewarper.dewarp(videoFrame);\n * ```\n */\nexport class Fisheye {\n  private config: FisheyeConfig;\n  private root: TgpuRootType | null = null;\n  private uniformBuffer: UniformBufferType | null = null;\n  private inputTexture: InputTextureType | null = null;\n  private outputTexture: OutputTextureType | null = null;\n  private bindGroup: ReturnType<TgpuRootType[\"createBindGroup\"]> | null = null;\n  private dewarpPipeline: ReturnType<\n    TgpuRootType[\"~unstable\"][\"createGuardedComputePipeline\"]\n  > | null = null;\n  private readbackBuffers: [GPUBuffer | null, GPUBuffer | null] | null = null;\n  private readbackIndex = 0;\n  private readbackHasData: [boolean, boolean] = [false, false];\n  private readbackBytesPerRow = 0;\n  private readbackActualBytesPerRow = 0;\n  private pixelBuffer: Uint8Array | null = null;\n  private inputTextureSize: [number, number] = [0, 0];\n  private outputTextureSize: [number, number] = [0, 0];\n  private uniformInputWidth = 0;\n  private uniformInputHeight = 0;\n\n  constructor(options: FisheyeOptions = {}) {\n    this.config = this.applyDefaults(options);\n  }\n\n  /**\n   * Apply default values to options\n   */\n  private applyDefaults(options: FisheyeOptions): FisheyeConfig {\n    const k1 = options.k1 ?? 0;\n    return {\n      k1,\n      k2: options.k2 ?? 0,\n      k3: options.k3 ?? 0,\n      k4: options.k4 ?? 0,\n      width: options.width ?? 300,\n      height: options.height ?? 150,\n      fov: options.fov ?? 180,\n      centerX: options.centerX ?? 0,\n      centerY: options.centerY ?? 0,\n      zoom: options.zoom ?? 1.0,\n    };\n  }\n\n  /**\n   * Initialize TypeGPU root and resources\n   */\n  private async initialize(): Promise<void> {\n    if (this.root) {\n      return;\n    }\n\n    this.root = await tgpu.init();\n\n    // Create uniform buffer with TypeGPU for type-safe data handling\n    this.uniformBuffer = this.root\n      .createBuffer(FisheyeUniforms, this.getUniformData())\n      .$usage(\"uniform\");\n\n    this.dewarpPipeline = this.root[\"~unstable\"].createGuardedComputePipeline(\n      (x: number, y: number) => {\n        \"use gpu\";\n\n        const p = fisheyeLayout.$.uniforms;\n        const outputW = p.width;\n        const outputH = p.height;\n        const inputW = p.inputWidth;\n        const inputH = p.inputHeight;\n        const coord = d.vec2i(x, y);\n\n        if (d.f32(x) >= outputW || d.f32(y) >= outputH) {\n          return;\n        }\n\n        const uv = d.vec2f(\n          (d.f32(coord.x) / outputW - 0.5) * 2.0,\n          (d.f32(coord.y) / outputH - 0.5) * 2.0,\n        );\n\n        const centerX = p.centerX;\n        const centerY = p.centerY;\n        const centered = uv.sub(d.vec2f(centerX, centerY));\n        const r = std.length(centered);\n        // Scale r so output corner maps to fov/2, but cap so sampling stays inside input (theta_d <= sqrt(2)).\n        const cornerNorm = Math.SQRT2;\n        const fovRad = std.min(p.fov * 0.017453293, 3.1);\n        const scaleRaw = std.tan(fovRad * 0.5) / cornerNorm;\n        const scale = std.min(scaleRaw, 1.0);\n        const rScaledForFov = r * scale;\n\n        const theta = std.atan(rScaledForFov);\n        const theta2 = theta * theta;\n        const theta4 = theta2 * theta2;\n        const theta6 = theta4 * theta2;\n        const theta8 = theta4 * theta4;\n        // OpenCV fisheye: distorted normalized radius = θ_d. x' = (θ_d/r)*a => |(x',y')| = θ_d.\n        const thetaDistorted =\n          theta * (1.0 + p.k1 * theta2 + p.k2 * theta4 + p.k3 * theta6 + p.k4 * theta8);\n        const rDistorted = thetaDistorted;\n        const rScaled = rDistorted / p.zoom;\n\n        let distortedUv = d.vec2f(centered.x, centered.y);\n        if (r > 0.0001) {\n          distortedUv = d.vec2f(centered.x * (rScaled / r), centered.y * (rScaled / r));\n        }\n\n        const finalUv = distortedUv.add(d.vec2f(centerX, centerY)).mul(0.5).add(0.5);\n\n        if (finalUv.x >= 0.0 && finalUv.x <= 1.0 && finalUv.y >= 0.0 && finalUv.y <= 1.0) {\n          const sampleCoord = d.vec2i(d.i32(finalUv.x * inputW), d.i32(finalUv.y * inputH));\n          const color = std.textureLoad(fisheyeLayout.$.inputTexture, sampleCoord, 0);\n          std.textureStore(fisheyeLayout.$.outputTexture, coord, color);\n        } else {\n          std.textureStore(fisheyeLayout.$.outputTexture, coord, d.vec4f(0.0, 0.0, 0.0, 1.0));\n        }\n      },\n    );\n  }\n\n  /**\n   * Get uniform data from current configuration\n   */\n  private getUniformData(): d.Infer<typeof FisheyeUniforms> {\n    return {\n      k1: this.config.k1,\n      k2: this.config.k2,\n      k3: this.config.k3,\n      k4: this.config.k4,\n      fov: this.config.fov,\n      centerX: this.config.centerX,\n      centerY: this.config.centerY,\n      zoom: this.config.zoom,\n      width: this.config.width,\n      height: this.config.height,\n      inputWidth: this.uniformInputWidth,\n      inputHeight: this.uniformInputHeight,\n      padding: 0,\n    };\n  }\n\n  /**\n   * Update uniform buffer with current configuration\n   */\n  private updateUniforms(): void {\n    if (!this.uniformBuffer) {\n      return;\n    }\n    this.uniformBuffer.write(this.getUniformData());\n  }\n\n  private async readbackToVideoFrame(\n    device: GPUDevice,\n    outputTexture: GPUTexture,\n    timestamp: number,\n  ): Promise<VideoFrame> {\n    const readbackBuffers = this.readbackBuffers;\n\n    if (!readbackBuffers) {\n      throw new Error(\"Readback buffer not initialized\");\n    }\n\n    const writeIndex = this.readbackIndex;\n    const readIndex = 1 - writeIndex;\n    const writeBuffer = readbackBuffers[writeIndex];\n    const readBuffer = readbackBuffers[readIndex];\n\n    if (!writeBuffer || !readBuffer) {\n      throw new Error(\"Readback buffer not initialized\");\n    }\n\n    const commandEncoder = device.createCommandEncoder();\n    commandEncoder.copyTextureToBuffer(\n      { texture: outputTexture },\n      { buffer: writeBuffer, bytesPerRow: this.readbackBytesPerRow },\n      [this.config.width, this.config.height],\n    );\n    device.queue.submit([commandEncoder.finish()]);\n    await device.queue.onSubmittedWorkDone();\n\n    this.readbackHasData[writeIndex] = true;\n    this.readbackIndex = readIndex;\n\n    const bufferToRead = this.readbackHasData[readIndex] ? readBuffer : writeBuffer;\n\n    await bufferToRead.mapAsync(GPUMapMode.READ);\n    const mappedData = bufferToRead.getMappedRange();\n\n    const pixelData =\n      this.pixelBuffer ?? new Uint8Array(this.config.width * this.config.height * 4);\n    const srcView = new Uint8Array(mappedData);\n\n    for (let row = 0; row < this.config.height; row++) {\n      const srcOffset = row * this.readbackBytesPerRow;\n      const dstOffset = row * this.readbackActualBytesPerRow;\n      pixelData.set(\n        srcView.subarray(srcOffset, srcOffset + this.readbackActualBytesPerRow),\n        dstOffset,\n      );\n    }\n\n    bufferToRead.unmap();\n\n    return new VideoFrame(pixelData, {\n      format: \"RGBA\",\n      codedWidth: this.config.width,\n      codedHeight: this.config.height,\n      timestamp,\n    });\n  }\n\n  /**\n   * Create input texture (TypeGPU; per official docs: sampled + render for .write(image/VideoFrame)).\n   */\n  private createInputTexture(root: TgpuRootType, width: number, height: number): InputTextureType {\n    const size: readonly [number, number] = [width, height];\n    const format: \"rgba8unorm\" = \"rgba8unorm\";\n    return root[\"~unstable\"].createTexture({ size, format }).$usage(\"sampled\", \"render\");\n  }\n\n  /**\n   * Create output storage texture (TypeGPU; type-safe with layout.$)\n   */\n  private createOutputTexture(\n    root: TgpuRootType,\n    width: number,\n    height: number,\n  ): OutputTextureType {\n    const size: readonly [number, number] = [width, height];\n    const format: \"rgba8unorm\" = \"rgba8unorm\";\n    return root[\"~unstable\"].createTexture({ size, format }).$usage(\"storage\");\n  }\n\n  /**\n   * Calculate bytes per row with proper alignment (256-byte alignment for WebGPU)\n   */\n  private calculateBytesPerRow(width: number): number {\n    const bytesPerPixel = 4; // RGBA8\n    const unalignedBytesPerRow = width * bytesPerPixel;\n    // WebGPU requires 256-byte alignment for buffer copies\n    return Math.ceil(unalignedBytesPerRow / 256) * 256;\n  }\n\n  /**\n   * Create or recreate readback buffer for GPU to CPU data transfer\n   */\n  private createReadbackBuffer(device: GPUDevice, width: number, height: number): GPUBuffer {\n    const bytesPerRow = this.calculateBytesPerRow(width);\n    const bufferSize = bytesPerRow * height;\n\n    return device.createBuffer({\n      size: bufferSize,\n      usage: GPUBufferUsage.COPY_DST | GPUBufferUsage.MAP_READ,\n    });\n  }\n\n  /**\n   * Dewarp a VideoFrame\n   *\n   * @param frame - Input VideoFrame with fisheye distortion\n   * @returns Dewarped VideoFrame\n   */\n  async dewarp(frame: VideoFrame): Promise<VideoFrame> {\n    await this.initialize();\n\n    if (!this.root || !this.uniformBuffer) {\n      throw new Error(\"GPU resources not initialized\");\n    }\n\n    // Capture root for type narrowing\n    const root = this.root;\n    const device = root.device;\n\n    if (\n      !this.inputTexture ||\n      this.inputTextureSize[0] !== frame.displayWidth ||\n      this.inputTextureSize[1] !== frame.displayHeight\n    ) {\n      this.inputTexture?.destroy();\n      this.inputTexture = this.createInputTexture(root, frame.displayWidth, frame.displayHeight);\n      this.inputTextureSize = [frame.displayWidth, frame.displayHeight];\n      this.bindGroup = null;\n    }\n\n    if (\n      !this.outputTexture ||\n      this.outputTextureSize[0] !== this.config.width ||\n      this.outputTextureSize[1] !== this.config.height\n    ) {\n      this.outputTexture?.destroy();\n      this.readbackBuffers?.[0]?.destroy();\n      this.readbackBuffers?.[1]?.destroy();\n\n      this.outputTexture = this.createOutputTexture(root, this.config.width, this.config.height);\n      this.readbackBytesPerRow = this.calculateBytesPerRow(this.config.width);\n      this.readbackActualBytesPerRow = this.config.width * 4;\n      this.pixelBuffer = new Uint8Array(this.config.width * this.config.height * 4);\n      this.readbackBuffers = [\n        this.createReadbackBuffer(device, this.config.width, this.config.height),\n        this.createReadbackBuffer(device, this.config.width, this.config.height),\n      ];\n      this.readbackIndex = 0;\n      this.readbackHasData = [false, false];\n      this.outputTextureSize = [this.config.width, this.config.height];\n      this.bindGroup = null;\n    }\n\n    const inputTexture = this.inputTexture;\n    const outputTexture = this.outputTexture;\n\n    if (!inputTexture || !outputTexture) throw new Error(\"Textures not initialized\");\n\n    inputTexture.write(frame);\n\n    this.uniformInputWidth = frame.displayWidth;\n    this.uniformInputHeight = frame.displayHeight;\n    this.updateUniforms();\n\n    if (!this.bindGroup) {\n      this.bindGroup = root.createBindGroup(fisheyeLayout, {\n        inputTexture,\n        outputTexture,\n        uniforms: this.uniformBuffer,\n      });\n    }\n\n    const bindGroup = this.bindGroup;\n    const dewarpPipeline = this.dewarpPipeline;\n\n    if (!dewarpPipeline || !outputTexture) {\n      throw new Error(\"Compute pipeline or output texture not initialized\");\n    }\n\n    dewarpPipeline.with(bindGroup).dispatchThreads(this.config.width, this.config.height);\n\n    const outputGpuTexture = root.unwrap(outputTexture);\n    return this.readbackToVideoFrame(device, outputGpuTexture, frame.timestamp);\n  }\n\n  /**\n   * Update configuration\n   */\n  updateConfig(options: Partial<FisheyeOptions>): void {\n    this.config = this.applyDefaults({ ...this.config, ...options });\n    this.updateUniforms();\n\n    // Recreate output texture and readback buffer if size changed\n    if (options.width || options.height) {\n      this.outputTexture?.destroy();\n      this.readbackBuffers?.[0]?.destroy();\n      this.readbackBuffers?.[1]?.destroy();\n      this.outputTexture = null;\n      this.readbackBuffers = null;\n      this.readbackIndex = 0;\n      this.readbackHasData = [false, false];\n      this.outputTextureSize = [0, 0];\n      this.readbackBytesPerRow = 0;\n      this.readbackActualBytesPerRow = 0;\n      this.pixelBuffer = null;\n    }\n  }\n\n  /**\n   * Clean up GPU resources\n   */\n  destroy(): void {\n    this.inputTexture?.destroy();\n    this.outputTexture?.destroy();\n    this.readbackBuffers?.[0]?.destroy();\n    this.readbackBuffers?.[1]?.destroy();\n    this.root?.destroy();\n\n    this.inputTexture = null;\n    this.outputTexture = null;\n    this.readbackBuffers = null;\n    this.readbackIndex = 0;\n    this.readbackHasData = [false, false];\n    this.uniformBuffer = null;\n    this.root = null;\n    this.bindGroup = null;\n    this.dewarpPipeline = null;\n    this.readbackBytesPerRow = 0;\n    this.readbackActualBytesPerRow = 0;\n    this.pixelBuffer = null;\n    this.inputTextureSize = [0, 0];\n    this.outputTextureSize = [0, 0];\n  }\n}\n","/**\n * Supported YUV pixel formats for VideoFrame creation\n */\nexport type YUVFormat = \"I420\" | \"I420A\" | \"I422\" | \"I444\" | \"NV12\";\n\n/**\n * Extended VideoFrameBufferInit with transfer support\n * (transfer is part of the spec but may not be in all TypeScript definitions)\n */\ninterface VideoFrameBufferInitExtended extends VideoFrameBufferInit {\n  transfer?: ArrayBuffer[];\n}\n\n/**\n * Options for creating a VideoFrame from YUV data\n */\nexport interface CreateVideoFrameOptions {\n  /**\n   * YUV pixel format\n   * - I420: YUV 4:2:0 planar (Y plane, U plane, V plane)\n   * - I420A: YUV 4:2:0 planar with alpha\n   * - I422: YUV 4:2:2 planar\n   * - I444: YUV 4:4:4 planar\n   * - NV12: YUV 4:2:0 semi-planar (Y plane, interleaved UV plane)\n   */\n  format: YUVFormat;\n\n  /**\n   * Width of the video frame in pixels\n   */\n  width: number;\n\n  /**\n   * Height of the video frame in pixels\n   */\n  height: number;\n\n  /**\n   * Timestamp in microseconds\n   */\n  timestamp: number;\n\n  /**\n   * Duration in microseconds (optional)\n   */\n  duration?: number;\n\n  /**\n   * Display width (optional, defaults to width)\n   */\n  displayWidth?: number;\n\n  /**\n   * Display height (optional, defaults to height)\n   */\n  displayHeight?: number;\n\n  /**\n   * Color space configuration (optional)\n   */\n  colorSpace?: VideoColorSpaceInit;\n\n  /**\n   * Transfer ownership of the buffer for zero-copy (optional)\n   * If true, the input buffer will be detached after VideoFrame creation\n   */\n  transfer?: boolean;\n}\n\n/**\n * Create a VideoFrame from YUV binary data\n *\n * @param data - YUV binary data (ArrayBuffer, TypedArray, or DataView)\n * @param options - Configuration options including format, dimensions, and timestamp\n * @returns A new VideoFrame object\n *\n * @example\n * ```ts\n * // Create VideoFrame from I420 (YUV 4:2:0) data\n * const yuvData = new Uint8Array(width * height * 1.5); // I420 size\n * const frame = createVideoFrameFromYUV(yuvData, {\n *   format: \"I420\",\n *   width: 1920,\n *   height: 1080,\n *   timestamp: 0,\n * });\n * ```\n *\n * @example\n * ```ts\n * // Create VideoFrame from NV12 data with zero-copy transfer\n * const nv12Data = new Uint8Array(width * height * 1.5);\n * const frame = createVideoFrameFromYUV(nv12Data, {\n *   format: \"NV12\",\n *   width: 1920,\n *   height: 1080,\n *   timestamp: 0,\n *   transfer: true, // Transfer buffer ownership for better performance\n * });\n * ```\n */\nexport function createVideoFrameFromYUV(\n  data: BufferSource,\n  options: CreateVideoFrameOptions,\n): VideoFrame {\n  const {\n    format,\n    width,\n    height,\n    timestamp,\n    duration,\n    displayWidth,\n    displayHeight,\n    colorSpace,\n    transfer,\n  } = options;\n\n  // Validate dimensions\n  if (width <= 0 || height <= 0) {\n    throw new Error(\"Width and height must be positive integers\");\n  }\n\n  // Calculate expected data size based on format\n  const expectedSize = calculateYUVDataSize(format, width, height);\n  const actualSize = data instanceof ArrayBuffer ? data.byteLength : data.byteLength;\n\n  if (actualSize < expectedSize) {\n    throw new Error(\n      `Buffer too small for ${format} format. Expected at least ${expectedSize} bytes, got ${actualSize} bytes`,\n    );\n  }\n\n  // Build VideoFrame init options\n  const init: VideoFrameBufferInitExtended = {\n    format,\n    codedWidth: width,\n    codedHeight: height,\n    timestamp,\n  };\n\n  if (duration !== undefined) {\n    init.duration = duration;\n  }\n\n  if (displayWidth !== undefined) {\n    init.displayWidth = displayWidth;\n  }\n\n  if (displayHeight !== undefined) {\n    init.displayHeight = displayHeight;\n  }\n\n  if (colorSpace !== undefined) {\n    init.colorSpace = colorSpace;\n  }\n\n  // Handle buffer transfer for zero-copy\n  if (transfer) {\n    const buffer = data instanceof ArrayBuffer ? data : data.buffer;\n    init.transfer = [buffer];\n  }\n\n  return new VideoFrame(data, init);\n}\n\n/**\n * Convert RGBA image data to YUV format (I420 by default)\n *\n * Uses ITU-R BT.601 color space conversion:\n * - Y = 0.299*R + 0.587*G + 0.114*B\n * - U = -0.169*R - 0.331*G + 0.5*B + 128\n * - V = 0.5*R - 0.419*G - 0.081*B + 128\n *\n * For I420 format:\n * - Y plane: full resolution (width * height)\n * - U plane: quarter resolution ((width/2) * (height/2))\n * - V plane: quarter resolution ((width/2) * (height/2))\n *\n * @param rgbaData - RGBA pixel data (Uint8ClampedArray from ImageData)\n * @param width - Image width in pixels\n * @param height - Image height in pixels\n * @param format - YUV format to convert to (default: \"I420\")\n * @returns YUV data as Uint8Array\n *\n * @example\n * ```ts\n * const canvas = document.createElement('canvas');\n * const ctx = canvas.getContext('2d');\n * ctx.drawImage(image, 0, 0);\n * const imageData = ctx.getImageData(0, 0, width, height);\n * const yuvData = convertRGBAtoYUV(imageData.data, width, height);\n * ```\n */\nexport function convertRGBAtoYUV(\n  rgbaData: Uint8ClampedArray,\n  width: number,\n  height: number,\n  format: YUVFormat = \"I420\",\n): Uint8Array {\n  if (format !== \"I420\") {\n    throw new Error(`Unsupported format: ${format}. Only I420 is currently supported.`);\n  }\n\n  const lumaSize = width * height;\n  const chromaSize = (width / 2) * (height / 2);\n  const yuvSize = lumaSize + chromaSize * 2; // Y + U + V\n  const yuvData = new Uint8Array(yuvSize);\n\n  // BT.601 coefficients\n  const Y_R = 0.299;\n  const Y_G = 0.587;\n  const Y_B = 0.114;\n  const U_R = -0.169;\n  const U_G = -0.331;\n  const U_B = 0.5;\n  const V_R = 0.5;\n  const V_G = -0.419;\n  const V_B = -0.081;\n\n  // Convert RGB to YUV and downsample chroma for I420\n  const yPlane = yuvData.subarray(0, lumaSize);\n  const uPlane = yuvData.subarray(lumaSize, lumaSize + chromaSize);\n  const vPlane = yuvData.subarray(lumaSize + chromaSize, yuvSize);\n\n  // First pass: convert to YUV and store Y plane\n  for (let y = 0; y < height; y++) {\n    for (let x = 0; x < width; x++) {\n      const rgbaIdx = (y * width + x) * 4;\n      const r = rgbaData[rgbaIdx];\n      const g = rgbaData[rgbaIdx + 1];\n      const b = rgbaData[rgbaIdx + 2];\n\n      // Calculate Y (luma)\n      const yVal = Y_R * r + Y_G * g + Y_B * b;\n      yPlane[y * width + x] = Math.round(Math.max(0, Math.min(255, yVal)));\n\n      // Calculate U and V for chroma downsampling\n      // We'll accumulate these in the second pass\n    }\n  }\n\n  // Second pass: downsample U and V planes (average 2x2 blocks)\n  for (let y = 0; y < height / 2; y++) {\n    for (let x = 0; x < width / 2; x++) {\n      // Sample 2x2 block from original image\n      let uSum = 0;\n      let vSum = 0;\n\n      for (let dy = 0; dy < 2; dy++) {\n        for (let dx = 0; dx < 2; dx++) {\n          const srcX = x * 2 + dx;\n          const srcY = y * 2 + dy;\n          const rgbaIdx = (srcY * width + srcX) * 4;\n          const r = rgbaData[rgbaIdx];\n          const g = rgbaData[rgbaIdx + 1];\n          const b = rgbaData[rgbaIdx + 2];\n\n          // Calculate U and V\n          const uVal = U_R * r + U_G * g + U_B * b + 128;\n          const vVal = V_R * r + V_G * g + V_B * b + 128;\n\n          uSum += uVal;\n          vSum += vVal;\n        }\n      }\n\n      // Average the 2x2 block\n      const uAvg = uSum / 4;\n      const vAvg = vSum / 4;\n\n      const chromaIdx = y * (width / 2) + x;\n      uPlane[chromaIdx] = Math.round(Math.max(0, Math.min(255, uAvg)));\n      vPlane[chromaIdx] = Math.round(Math.max(0, Math.min(255, vAvg)));\n    }\n  }\n\n  return yuvData;\n}\n\n/**\n * Calculate the expected byte size for YUV data based on format and dimensions\n *\n * @param format - YUV pixel format\n * @param width - Frame width in pixels\n * @param height - Frame height in pixels\n * @returns Expected byte size\n */\nexport function calculateYUVDataSize(format: YUVFormat, width: number, height: number): number {\n  const lumaSize = width * height;\n\n  switch (format) {\n    case \"I420\":\n    case \"NV12\":\n      // 4:2:0 - chroma is half resolution in both dimensions\n      // Y: width * height, U: (width/2) * (height/2), V: (width/2) * (height/2)\n      return lumaSize + lumaSize / 2;\n\n    case \"I420A\":\n      // 4:2:0 with alpha\n      // Y: width * height, U: (width/2) * (height/2), V: (width/2) * (height/2), A: width * height\n      return lumaSize * 2 + lumaSize / 2;\n\n    case \"I422\":\n      // 4:2:2 - chroma is half resolution horizontally only\n      // Y: width * height, U: (width/2) * height, V: (width/2) * height\n      return lumaSize * 2;\n\n    case \"I444\":\n      // 4:4:4 - full resolution for all planes\n      // Y: width * height, U: width * height, V: width * height\n      return lumaSize * 3;\n\n    default:\n      throw new Error(`Unsupported YUV format: ${format}`);\n  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+{"version":3,"file":"index.js","sources":["../src/fisheye.ts","../src/utils.ts"],"sourcesContent":["import tgpu, { type TgpuBuffer, type TgpuTexture } from \"typegpu\";\nimport * as d from \"typegpu/data\";\nimport * as std from \"typegpu/std\";\nimport type { FisheyeConfig, FisheyeOptions } from \"./types\";\n\n/**\n * Uniform struct for fisheye dewarping parameters (type-safe with layout)\n */\nconst FisheyeUniforms = d.struct({\n  k1: d.f32,\n  k2: d.f32,\n  k3: d.f32,\n  k4: d.f32,\n  fov: d.f32,\n  centerX: d.f32,\n  centerY: d.f32,\n  zoom: d.f32,\n  width: d.f32,\n  height: d.f32,\n  inputWidth: d.f32,\n  inputHeight: d.f32,\n  projection: d.f32, // 0 = rectilinear, 1 = equirectangular\n  padding: d.f32,\n});\n\ntype TgpuRootType = Awaited<ReturnType<typeof tgpu.init>>;\n\n/**\n * Bind group layout for fisheye dewarping compute shader (type-safe access via layout.$)\n */\nconst fisheyeLayout = tgpu.bindGroupLayout({\n  inputTexture: { texture: d.texture2d() },\n  outputTexture: { storageTexture: d.textureStorage2d(\"rgba8unorm\") },\n  uniforms: { uniform: FisheyeUniforms },\n});\n\n/** Input texture props (sampled + render for write(); per TypeGPU docs) */\ntype InputTextureProps = {\n  size: readonly [number, number];\n  format: \"rgba8unorm\";\n};\n\n/** Output texture props (storage) */\ntype OutputTextureProps = {\n  size: readonly [number, number];\n  format: \"rgba8unorm\";\n};\n\ntype InputTextureType = TgpuTexture<InputTextureProps> & {\n  usableAsSampled: true;\n  usableAsRender: true;\n};\n\ntype OutputTextureType = TgpuTexture<OutputTextureProps> & {\n  usableAsStorage: true;\n};\n\ntype UniformBufferType = TgpuBuffer<typeof FisheyeUniforms> & {\n  usableAsUniform: true;\n};\n\n/**\n * Fisheye dewarper using WebGPU via TypeGPU (Pure GPGPU)\n *\n * @example\n * ```ts\n * const dewarper = new Fisheye({\n *   width: 1920,\n *   height: 1080,\n *   fov: 180,\n *   projection: \"rectilinear\",\n * });\n *\n * const dewarpedFrame = await dewarper.dewarp(inputVideoFrame);\n * ```\n */\nexport class Fisheye {\n  private config: FisheyeConfig;\n  private root: TgpuRootType | null = null;\n  private uniformBuffer: UniformBufferType | null = null;\n  private inputTexture: InputTextureType | null = null;\n  private outputTexture: OutputTextureType | null = null;\n  private bindGroup: ReturnType<TgpuRootType[\"createBindGroup\"]> | null = null;\n  private dewarpPipeline: ReturnType<\n    TgpuRootType[\"~unstable\"][\"createGuardedComputePipeline\"]\n  > | null = null;\n  private readbackBuffers: [GPUBuffer | null, GPUBuffer | null] | null = null;\n  private readbackIndex = 0;\n  private readbackHasData: [boolean, boolean] = [false, false];\n  private readbackBytesPerRow = 0;\n  private readbackActualBytesPerRow = 0;\n  private pixelBuffer: Uint8Array | null = null;\n  private inputTextureSize: [number, number] = [0, 0];\n  private outputTextureSize: [number, number] = [0, 0];\n  private uniformInputWidth = 0;\n  private uniformInputHeight = 0;\n\n  constructor(options: FisheyeOptions = {}) {\n    this.config = this.applyDefaults(options);\n  }\n\n  /**\n   * Apply default values to options\n   */\n  private applyDefaults(options: FisheyeOptions): FisheyeConfig {\n    const k1 = options.k1 ?? 0;\n    return {\n      k1,\n      k2: options.k2 ?? 0,\n      k3: options.k3 ?? 0,\n      k4: options.k4 ?? 0,\n      width: options.width ?? 300,\n      height: options.height ?? 150,\n      fov: options.fov ?? 180,\n      projection: options.projection ?? \"rectilinear\",\n      mount: options.mount ?? \"ceiling\",\n      centerX: options.centerX ?? 0,\n      centerY: options.centerY ?? 0,\n      zoom: options.zoom ?? 1.0,\n    };\n  }\n\n  /**\n   * Initialize TypeGPU root and resources\n   */\n  private async initialize(): Promise<void> {\n    if (this.root) {\n      return;\n    }\n\n    this.root = await tgpu.init();\n\n    // Create uniform buffer with TypeGPU for type-safe data handling\n    this.uniformBuffer = this.root\n      .createBuffer(FisheyeUniforms, this.getUniformData())\n      .$usage(\"uniform\");\n\n    this.dewarpPipeline = this.root[\"~unstable\"].createGuardedComputePipeline(\n      (x: number, y: number) => {\n        \"use gpu\";\n\n        const p = fisheyeLayout.$.uniforms;\n        const outputW = p.width;\n        const outputH = p.height;\n        const inputW = p.inputWidth;\n        const inputH = p.inputHeight;\n        const coord = d.vec2i(x, y);\n\n        if (d.f32(x) >= outputW || d.f32(y) >= outputH) {\n          return;\n        }\n\n        const centerX = p.centerX;\n        const centerY = p.centerY;\n        let finalUv = d.vec2f(0.0, 0.0);\n\n        if (p.projection < 0.5) {\n          // Rectilinear: output pixel → normalized direction → θ → r_d → input UV\n          const uv = d.vec2f(\n            (d.f32(coord.x) / outputW - 0.5) * 2.0,\n            (d.f32(coord.y) / outputH - 0.5) * 2.0,\n          );\n          const centered = uv.sub(d.vec2f(centerX, centerY));\n          const r = std.length(centered);\n          const cornerNorm = Math.SQRT2;\n          const fovRad = std.min(p.fov * (Math.PI / 180), 3.1);\n          const scaleRaw = std.tan(fovRad * 0.5) / cornerNorm;\n          const scale = std.min(scaleRaw, 1.0);\n          const rScaledForFov = r * scale;\n\n          const theta = std.atan(rScaledForFov);\n          const theta2 = theta * theta;\n          const theta4 = theta2 * theta2;\n          const theta6 = theta4 * theta2;\n          const theta8 = theta4 * theta4;\n          const thetaDistorted =\n            theta * (1.0 + p.k1 * theta2 + p.k2 * theta4 + p.k3 * theta6 + p.k4 * theta8);\n          const rDistorted = thetaDistorted;\n          const rScaled = rDistorted / p.zoom;\n\n          let distortedUv = d.vec2f(centered.x, centered.y);\n          if (r > 0.0001) {\n            distortedUv = d.vec2f(centered.x * (rScaled / r), centered.y * (rScaled / r));\n          }\n          finalUv = distortedUv.add(d.vec2f(centerX, centerY)).mul(0.5).add(0.5);\n        } else {\n          // Equirectangular: output (x,y) → lon, lat → θ (angle from optical axis) → r_d → input UV\n          const fovRad = p.fov * (Math.PI / 180);\n          const lon = (d.f32(coord.x) / outputW - 0.5) * fovRad;\n          const lat = (d.f32(coord.y) / outputH - 0.5) * Math.PI;\n          const sinLat = std.sin(lat);\n          const theta = std.acos(std.min(std.max(sinLat, -1.0), 1.0));\n          const theta2 = theta * theta;\n          const theta4 = theta2 * theta2;\n          const theta6 = theta4 * theta2;\n          const theta8 = theta4 * theta4;\n          const rDistorted =\n            theta * (1.0 + p.k1 * theta2 + p.k2 * theta4 + p.k3 * theta6 + p.k4 * theta8);\n          const rScaled = rDistorted / p.zoom;\n          const uNorm = centerX + rScaled * std.cos(lon);\n          const vNorm = centerY + rScaled * std.sin(lon);\n          finalUv = d.vec2f(uNorm * 0.5 + 0.5, vNorm * 0.5 + 0.5);\n        }\n\n        if (finalUv.x >= 0.0 && finalUv.x <= 1.0 && finalUv.y >= 0.0 && finalUv.y <= 1.0) {\n          const sampleCoord = d.vec2i(d.i32(finalUv.x * inputW), d.i32(finalUv.y * inputH));\n          const color = std.textureLoad(fisheyeLayout.$.inputTexture, sampleCoord, 0);\n          std.textureStore(fisheyeLayout.$.outputTexture, coord, color);\n        } else {\n          std.textureStore(fisheyeLayout.$.outputTexture, coord, d.vec4f(0.0, 0.0, 0.0, 1.0));\n        }\n      },\n    );\n  }\n\n  /**\n   * Get uniform data from current configuration\n   */\n  private getUniformData(): d.Infer<typeof FisheyeUniforms> {\n    return {\n      k1: this.config.k1,\n      k2: this.config.k2,\n      k3: this.config.k3,\n      k4: this.config.k4,\n      fov: this.config.fov,\n      centerX: this.config.centerX,\n      centerY: this.config.centerY,\n      zoom: this.config.zoom,\n      width: this.config.width,\n      height: this.config.height,\n      inputWidth: this.uniformInputWidth,\n      inputHeight: this.uniformInputHeight,\n      projection: this.config.projection === \"equirectangular\" ? 1 : 0,\n      padding: 0,\n    };\n  }\n\n  /**\n   * Update uniform buffer with current configuration\n   */\n  private updateUniforms(): void {\n    if (!this.uniformBuffer) {\n      return;\n    }\n    this.uniformBuffer.write(this.getUniformData());\n  }\n\n  private async readbackToVideoFrame(\n    device: GPUDevice,\n    outputTexture: GPUTexture,\n    timestamp: number,\n  ): Promise<VideoFrame> {\n    const readbackBuffers = this.readbackBuffers;\n\n    if (!readbackBuffers) {\n      throw new Error(\"Readback buffer not initialized\");\n    }\n\n    const writeIndex = this.readbackIndex;\n    const readIndex = 1 - writeIndex;\n    const writeBuffer = readbackBuffers[writeIndex];\n    const readBuffer = readbackBuffers[readIndex];\n\n    if (!writeBuffer || !readBuffer) {\n      throw new Error(\"Readback buffer not initialized\");\n    }\n\n    const commandEncoder = device.createCommandEncoder();\n    commandEncoder.copyTextureToBuffer(\n      { texture: outputTexture },\n      { buffer: writeBuffer, bytesPerRow: this.readbackBytesPerRow },\n      [this.config.width, this.config.height],\n    );\n    device.queue.submit([commandEncoder.finish()]);\n    await device.queue.onSubmittedWorkDone();\n\n    this.readbackHasData[writeIndex] = true;\n    this.readbackIndex = readIndex;\n\n    const bufferToRead = this.readbackHasData[readIndex] ? readBuffer : writeBuffer;\n\n    await bufferToRead.mapAsync(GPUMapMode.READ);\n    const mappedData = bufferToRead.getMappedRange();\n\n    const pixelData =\n      this.pixelBuffer ?? new Uint8Array(this.config.width * this.config.height * 4);\n    const srcView = new Uint8Array(mappedData);\n\n    for (let row = 0; row < this.config.height; row++) {\n      const srcOffset = row * this.readbackBytesPerRow;\n      const dstOffset = row * this.readbackActualBytesPerRow;\n      pixelData.set(\n        srcView.subarray(srcOffset, srcOffset + this.readbackActualBytesPerRow),\n        dstOffset,\n      );\n    }\n\n    bufferToRead.unmap();\n\n    return new VideoFrame(pixelData, {\n      format: \"RGBA\",\n      codedWidth: this.config.width,\n      codedHeight: this.config.height,\n      timestamp,\n    });\n  }\n\n  /**\n   * Create input texture (TypeGPU; per official docs: sampled + render for .write(image/VideoFrame)).\n   */\n  private createInputTexture(root: TgpuRootType, width: number, height: number): InputTextureType {\n    const size: readonly [number, number] = [width, height];\n    const format: \"rgba8unorm\" = \"rgba8unorm\";\n    return root[\"~unstable\"].createTexture({ size, format }).$usage(\"sampled\", \"render\");\n  }\n\n  /**\n   * Create output storage texture (TypeGPU; type-safe with layout.$)\n   */\n  private createOutputTexture(\n    root: TgpuRootType,\n    width: number,\n    height: number,\n  ): OutputTextureType {\n    const size: readonly [number, number] = [width, height];\n    const format: \"rgba8unorm\" = \"rgba8unorm\";\n    return root[\"~unstable\"].createTexture({ size, format }).$usage(\"storage\");\n  }\n\n  /**\n   * Calculate bytes per row with proper alignment (256-byte alignment for WebGPU)\n   */\n  private calculateBytesPerRow(width: number): number {\n    const bytesPerPixel = 4; // RGBA8\n    const unalignedBytesPerRow = width * bytesPerPixel;\n    // WebGPU requires 256-byte alignment for buffer copies\n    return Math.ceil(unalignedBytesPerRow / 256) * 256;\n  }\n\n  /**\n   * Create or recreate readback buffer for GPU to CPU data transfer\n   */\n  private createReadbackBuffer(device: GPUDevice, width: number, height: number): GPUBuffer {\n    const bytesPerRow = this.calculateBytesPerRow(width);\n    const bufferSize = bytesPerRow * height;\n\n    return device.createBuffer({\n      size: bufferSize,\n      usage: GPUBufferUsage.COPY_DST | GPUBufferUsage.MAP_READ,\n    });\n  }\n\n  /**\n   * Dewarp a VideoFrame\n   *\n   * @param frame - Input VideoFrame with fisheye distortion\n   * @returns Dewarped VideoFrame\n   */\n  async dewarp(frame: VideoFrame): Promise<VideoFrame> {\n    await this.initialize();\n\n    if (!this.root || !this.uniformBuffer) {\n      throw new Error(\"GPU resources not initialized\");\n    }\n\n    // Capture root for type narrowing\n    const root = this.root;\n    const device = root.device;\n\n    if (\n      !this.inputTexture ||\n      this.inputTextureSize[0] !== frame.displayWidth ||\n      this.inputTextureSize[1] !== frame.displayHeight\n    ) {\n      this.inputTexture?.destroy();\n      this.inputTexture = this.createInputTexture(root, frame.displayWidth, frame.displayHeight);\n      this.inputTextureSize = [frame.displayWidth, frame.displayHeight];\n      this.bindGroup = null;\n    }\n\n    if (\n      !this.outputTexture ||\n      this.outputTextureSize[0] !== this.config.width ||\n      this.outputTextureSize[1] !== this.config.height\n    ) {\n      this.outputTexture?.destroy();\n      this.readbackBuffers?.[0]?.destroy();\n      this.readbackBuffers?.[1]?.destroy();\n\n      this.outputTexture = this.createOutputTexture(root, this.config.width, this.config.height);\n      this.readbackBytesPerRow = this.calculateBytesPerRow(this.config.width);\n      this.readbackActualBytesPerRow = this.config.width * 4;\n      this.pixelBuffer = new Uint8Array(this.config.width * this.config.height * 4);\n      this.readbackBuffers = [\n        this.createReadbackBuffer(device, this.config.width, this.config.height),\n        this.createReadbackBuffer(device, this.config.width, this.config.height),\n      ];\n      this.readbackIndex = 0;\n      this.readbackHasData = [false, false];\n      this.outputTextureSize = [this.config.width, this.config.height];\n      this.bindGroup = null;\n    }\n\n    const inputTexture = this.inputTexture;\n    const outputTexture = this.outputTexture;\n\n    if (!inputTexture || !outputTexture) throw new Error(\"Textures not initialized\");\n\n    inputTexture.write(frame);\n\n    this.uniformInputWidth = frame.displayWidth;\n    this.uniformInputHeight = frame.displayHeight;\n    this.updateUniforms();\n\n    if (!this.bindGroup) {\n      this.bindGroup = root.createBindGroup(fisheyeLayout, {\n        inputTexture,\n        outputTexture,\n        uniforms: this.uniformBuffer,\n      });\n    }\n\n    const bindGroup = this.bindGroup;\n    const dewarpPipeline = this.dewarpPipeline;\n\n    if (!dewarpPipeline || !outputTexture) {\n      throw new Error(\"Compute pipeline or output texture not initialized\");\n    }\n\n    dewarpPipeline.with(bindGroup).dispatchThreads(this.config.width, this.config.height);\n\n    const outputGpuTexture = root.unwrap(outputTexture);\n    return this.readbackToVideoFrame(device, outputGpuTexture, frame.timestamp);\n  }\n\n  /**\n   * Update configuration\n   */\n  updateConfig(options: Partial<FisheyeOptions>): void {\n    const prevWidth = this.config.width;\n    const prevHeight = this.config.height;\n    this.config = this.applyDefaults({ ...this.config, ...options });\n    this.updateUniforms();\n\n    // Recreate output texture and readback buffer only when size actually changed\n    if (this.config.width !== prevWidth || this.config.height !== prevHeight) {\n      this.outputTexture?.destroy();\n      this.readbackBuffers?.[0]?.destroy();\n      this.readbackBuffers?.[1]?.destroy();\n      this.outputTexture = null;\n      this.readbackBuffers = null;\n      this.readbackIndex = 0;\n      this.readbackHasData = [false, false];\n      this.outputTextureSize = [0, 0];\n      this.readbackBytesPerRow = 0;\n      this.readbackActualBytesPerRow = 0;\n      this.pixelBuffer = null;\n    }\n  }\n\n  /**\n   * Clean up GPU resources\n   */\n  destroy(): void {\n    this.inputTexture?.destroy();\n    this.outputTexture?.destroy();\n    this.readbackBuffers?.[0]?.destroy();\n    this.readbackBuffers?.[1]?.destroy();\n    this.root?.destroy();\n\n    this.inputTexture = null;\n    this.outputTexture = null;\n    this.readbackBuffers = null;\n    this.readbackIndex = 0;\n    this.readbackHasData = [false, false];\n    this.uniformBuffer = null;\n    this.root = null;\n    this.bindGroup = null;\n    this.dewarpPipeline = null;\n    this.readbackBytesPerRow = 0;\n    this.readbackActualBytesPerRow = 0;\n    this.pixelBuffer = null;\n    this.inputTextureSize = [0, 0];\n    this.outputTextureSize = [0, 0];\n  }\n}\n","/**\n * Supported YUV pixel formats for VideoFrame creation\n */\nexport type YUVFormat = \"I420\" | \"I420A\" | \"I422\" | \"I444\" | \"NV12\";\n\n/**\n * Extended VideoFrameBufferInit with transfer support\n * (transfer is part of the spec but may not be in all TypeScript definitions)\n */\ninterface VideoFrameBufferInitExtended extends VideoFrameBufferInit {\n  transfer?: ArrayBuffer[];\n}\n\n/**\n * Options for creating a VideoFrame from YUV data\n */\nexport interface CreateVideoFrameOptions {\n  /**\n   * YUV pixel format\n   * - I420: YUV 4:2:0 planar (Y plane, U plane, V plane)\n   * - I420A: YUV 4:2:0 planar with alpha\n   * - I422: YUV 4:2:2 planar\n   * - I444: YUV 4:4:4 planar\n   * - NV12: YUV 4:2:0 semi-planar (Y plane, interleaved UV plane)\n   */\n  format: YUVFormat;\n\n  /**\n   * Width of the video frame in pixels\n   */\n  width: number;\n\n  /**\n   * Height of the video frame in pixels\n   */\n  height: number;\n\n  /**\n   * Timestamp in microseconds\n   */\n  timestamp: number;\n\n  /**\n   * Duration in microseconds (optional)\n   */\n  duration?: number;\n\n  /**\n   * Display width (optional, defaults to width)\n   */\n  displayWidth?: number;\n\n  /**\n   * Display height (optional, defaults to height)\n   */\n  displayHeight?: number;\n\n  /**\n   * Color space configuration (optional)\n   */\n  colorSpace?: VideoColorSpaceInit;\n\n  /**\n   * Transfer ownership of the buffer for zero-copy (optional)\n   * If true, the input buffer will be detached after VideoFrame creation\n   */\n  transfer?: boolean;\n}\n\n/**\n * Create a VideoFrame from YUV binary data\n *\n * @param data - YUV binary data (ArrayBuffer, TypedArray, or DataView)\n * @param options - Configuration options including format, dimensions, and timestamp\n * @returns A new VideoFrame object\n *\n * @example\n * ```ts\n * // Create VideoFrame from I420 (YUV 4:2:0) data\n * const yuvData = new Uint8Array(width * height * 1.5); // I420 size\n * const frame = createVideoFrameFromYUV(yuvData, {\n *   format: \"I420\",\n *   width: 1920,\n *   height: 1080,\n *   timestamp: 0,\n * });\n * ```\n *\n * @example\n * ```ts\n * // Create VideoFrame from NV12 data with zero-copy transfer\n * const nv12Data = new Uint8Array(width * height * 1.5);\n * const frame = createVideoFrameFromYUV(nv12Data, {\n *   format: \"NV12\",\n *   width: 1920,\n *   height: 1080,\n *   timestamp: 0,\n *   transfer: true, // Transfer buffer ownership for better performance\n * });\n * ```\n */\nexport function createVideoFrameFromYUV(\n  data: BufferSource,\n  options: CreateVideoFrameOptions,\n): VideoFrame {\n  const {\n    format,\n    width,\n    height,\n    timestamp,\n    duration,\n    displayWidth,\n    displayHeight,\n    colorSpace,\n    transfer,\n  } = options;\n\n  // Validate dimensions\n  if (width <= 0 || height <= 0) {\n    throw new Error(\"Width and height must be positive integers\");\n  }\n\n  // Calculate expected data size based on format\n  const expectedSize = calculateYUVDataSize(format, width, height);\n  const actualSize = data instanceof ArrayBuffer ? data.byteLength : data.byteLength;\n\n  if (actualSize < expectedSize) {\n    throw new Error(\n      `Buffer too small for ${format} format. Expected at least ${expectedSize} bytes, got ${actualSize} bytes`,\n    );\n  }\n\n  // Build VideoFrame init options\n  const init: VideoFrameBufferInitExtended = {\n    format,\n    codedWidth: width,\n    codedHeight: height,\n    timestamp,\n  };\n\n  if (duration !== undefined) {\n    init.duration = duration;\n  }\n\n  if (displayWidth !== undefined) {\n    init.displayWidth = displayWidth;\n  }\n\n  if (displayHeight !== undefined) {\n    init.displayHeight = displayHeight;\n  }\n\n  if (colorSpace !== undefined) {\n    init.colorSpace = colorSpace;\n  }\n\n  // Handle buffer transfer for zero-copy\n  if (transfer) {\n    const buffer = data instanceof ArrayBuffer ? data : data.buffer;\n    init.transfer = [buffer];\n  }\n\n  return new VideoFrame(data, init);\n}\n\n/**\n * Convert RGBA image data to YUV format (I420 by default)\n *\n * Uses ITU-R BT.601 color space conversion:\n * - Y = 0.299*R + 0.587*G + 0.114*B\n * - U = -0.169*R - 0.331*G + 0.5*B + 128\n * - V = 0.5*R - 0.419*G - 0.081*B + 128\n *\n * For I420 format:\n * - Y plane: full resolution (width * height)\n * - U plane: quarter resolution ((width/2) * (height/2))\n * - V plane: quarter resolution ((width/2) * (height/2))\n *\n * @param rgbaData - RGBA pixel data (Uint8ClampedArray from ImageData)\n * @param width - Image width in pixels\n * @param height - Image height in pixels\n * @param format - YUV format to convert to (default: \"I420\")\n * @returns YUV data as Uint8Array\n *\n * @example\n * ```ts\n * const canvas = document.createElement('canvas');\n * const ctx = canvas.getContext('2d');\n * ctx.drawImage(image, 0, 0);\n * const imageData = ctx.getImageData(0, 0, width, height);\n * const yuvData = convertRGBAtoYUV(imageData.data, width, height);\n * ```\n */\nexport function convertRGBAtoYUV(\n  rgbaData: Uint8ClampedArray,\n  width: number,\n  height: number,\n  format: YUVFormat = \"I420\",\n): Uint8Array {\n  if (format !== \"I420\") {\n    throw new Error(`Unsupported format: ${format}. Only I420 is currently supported.`);\n  }\n\n  const lumaSize = width * height;\n  const chromaSize = (width / 2) * (height / 2);\n  const yuvSize = lumaSize + chromaSize * 2; // Y + U + V\n  const yuvData = new Uint8Array(yuvSize);\n\n  // BT.601 coefficients\n  const Y_R = 0.299;\n  const Y_G = 0.587;\n  const Y_B = 0.114;\n  const U_R = -0.169;\n  const U_G = -0.331;\n  const U_B = 0.5;\n  const V_R = 0.5;\n  const V_G = -0.419;\n  const V_B = -0.081;\n\n  // Convert RGB to YUV and downsample chroma for I420\n  const yPlane = yuvData.subarray(0, lumaSize);\n  const uPlane = yuvData.subarray(lumaSize, lumaSize + chromaSize);\n  const vPlane = yuvData.subarray(lumaSize + chromaSize, yuvSize);\n\n  // First pass: convert to YUV and store Y plane\n  for (let y = 0; y < height; y++) {\n    for (let x = 0; x < width; x++) {\n      const rgbaIdx = (y * width + x) * 4;\n      const r = rgbaData[rgbaIdx];\n      const g = rgbaData[rgbaIdx + 1];\n      const b = rgbaData[rgbaIdx + 2];\n\n      // Calculate Y (luma)\n      const yVal = Y_R * r + Y_G * g + Y_B * b;\n      yPlane[y * width + x] = Math.round(Math.max(0, Math.min(255, yVal)));\n\n      // Calculate U and V for chroma downsampling\n      // We'll accumulate these in the second pass\n    }\n  }\n\n  // Second pass: downsample U and V planes (average 2x2 blocks)\n  for (let y = 0; y < height / 2; y++) {\n    for (let x = 0; x < width / 2; x++) {\n      // Sample 2x2 block from original image\n      let uSum = 0;\n      let vSum = 0;\n\n      for (let dy = 0; dy < 2; dy++) {\n        for (let dx = 0; dx < 2; dx++) {\n          const srcX = x * 2 + dx;\n          const srcY = y * 2 + dy;\n          const rgbaIdx = (srcY * width + srcX) * 4;\n          const r = rgbaData[rgbaIdx];\n          const g = rgbaData[rgbaIdx + 1];\n          const b = rgbaData[rgbaIdx + 2];\n\n          // Calculate U and V\n          const uVal = U_R * r + U_G * g + U_B * b + 128;\n          const vVal = V_R * r + V_G * g + V_B * b + 128;\n\n          uSum += uVal;\n          vSum += vVal;\n        }\n      }\n\n      // Average the 2x2 block\n      const uAvg = uSum / 4;\n      const vAvg = vSum / 4;\n\n      const chromaIdx = y * (width / 2) + x;\n      uPlane[chromaIdx] = Math.round(Math.max(0, Math.min(255, uAvg)));\n      vPlane[chromaIdx] = Math.round(Math.max(0, Math.min(255, vAvg)));\n    }\n  }\n\n  return yuvData;\n}\n\n/**\n * Calculate the expected byte size for YUV data based on format and dimensions\n *\n * @param format - YUV pixel format\n * @param width - Frame width in pixels\n * @param height - Frame height in pixels\n * @returns Expected byte size\n */\nexport function calculateYUVDataSize(format: YUVFormat, width: number, height: number): number {\n  const lumaSize = width * height;\n\n  switch (format) {\n    case \"I420\":\n    case \"NV12\":\n      // 4:2:0 - chroma is half resolution in both dimensions\n      // Y: width * height, U: (width/2) * (height/2), V: (width/2) * (height/2)\n      return lumaSize + lumaSize / 2;\n\n    case \"I420A\":\n      // 4:2:0 with alpha\n      // Y: width * height, U: (width/2) * (height/2), V: (width/2) * (height/2), A: width * height\n      return lumaSize * 2 + lumaSize / 2;\n\n    case \"I422\":\n      // 4:2:2 - chroma is half resolution horizontally only\n      // Y: width * height, U: (width/2) * height, V: (width/2) * height\n      return lumaSize * 2;\n\n    case \"I444\":\n      // 4:4:4 - full resolution for all planes\n      // Y: width * height, U: width * height, V: width * height\n      return lumaSize * 3;\n\n    default:\n      throw new Error(`Unsupported YUV format: ${format}`);\n  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package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@gyeonghokim/fisheye.js",
   "private": false,
-  "version": "1.0.2",
+  "version": "1.1.0",
   "description": "Modern fisheye dewarping library for the web using WebGPU",
   "type": "module",
   "main": "./dist/index.js",
@@ -28,9 +28,6 @@
     "test:unit:watch": "vitest",
     "test:unit:ui": "vitest --ui",
     "test:e2e": "playwright test",
-    "test:e2e:headed": "playwright test --headed",
-    "test:e2e:repro": "playwright test test/dewarp-typegpu-invariant.spec.ts --config=playwright.invariant.config.ts",
-    "test:e2e:repro:headed": "playwright test test/dewarp-typegpu-invariant.spec.ts --config=playwright.invariant.config.ts --headed",
     "test:e2e:update": "playwright test --update-snapshots",
     "test:e2e:ui": "playwright test --ui",
     "prepare": "husky",