@photivra/engine 0.2.0 → 0.4.0

package/dist/optics/radial-distortion.d.ts

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+import { type CalculationResult } from "../core/calculation-result.js";
+export interface RadialDistortionCoefficients {
+    /** Dimensionless r² coefficient. */
+    k1: number;
+    /** Dimensionless r⁴ coefficient. */
+    k2: number;
+    /** Dimensionless r⁶ coefficient. */
+    k3: number;
+}
+export interface RadialDistortionProfile {
+    /**
+     * Physical image-plane radius used to normalize field position, in mm.
+     * Coefficients are meaningful only with this declared normalization.
+     */
+    normalizationRadiusMm: number;
+    /**
+     * Maximum undistorted normalized radius over which this profile is declared
+     * valid and must remain one-to-one/invertible.
+     */
+    maximumNormalizedRadius: number;
+    coefficients: RadialDistortionCoefficients;
+}
+export interface LensFieldPointMm {
+    /** Image-plane X coordinate relative to the optical axis, in mm. */
+    x: number;
+    /** Image-plane Y coordinate relative to the optical axis, in mm. */
+    y: number;
+}
+export interface CalculateRadialDistortionMappingInput {
+    /** Ideal/undistorted image-plane point. */
+    imagePointMm: LensFieldPointMm;
+    profile: RadialDistortionProfile;
+}
+export interface CalculateInverseRadialDistortionMappingInput {
+    /** Distorted image-plane point to inverse-map back to ideal coordinates. */
+    distortedImagePointMm: LensFieldPointMm;
+    profile: RadialDistortionProfile;
+}
+export interface RadialDistortionMapping {
+    direction: "undistorted-to-distorted";
+    sourceImagePointMm: LensFieldPointMm;
+    mappedImagePointMm: LensFieldPointMm;
+    sourceNormalizedRadius: number;
+    mappedNormalizedRadius: number;
+    radialScale: number;
+    deltaMm: {
+        x: number;
+        y: number;
+        distance: number;
+    };
+    profileMinimumRadialDerivative: number;
+}
+export interface InverseRadialDistortionMapping {
+    direction: "distorted-to-undistorted";
+    distortedImagePointMm: LensFieldPointMm;
+    sourceImagePointMm: LensFieldPointMm;
+    distortedNormalizedRadius: number;
+    sourceNormalizedRadius: number;
+    radialScaleAtSource: number;
+    deltaMm: {
+        x: number;
+        y: number;
+        distance: number;
+    };
+    profileMinimumRadialDerivative: number;
+}
+/**
+ * Applies a generic radial lens-distortion field mapping to one ideal
+ * image-plane point.
+ *
+ * The mapping is rotationally symmetric about the optical axis:
+ *
+ *   p_distorted = p_ideal * (1 + k1 r² + k2 r⁴ + k3 r⁶)
+ *
+ * where r is normalized by the caller-declared physical reference radius.
+ *
+ * The profile is accepted only when the radial mapping is strictly monotonic
+ * over its declared operating radius, which makes inverse destination-to-source
+ * sampling well-defined.
+ */
+export declare function calculateRadialDistortionMapping(input: CalculateRadialDistortionMappingInput): CalculationResult<RadialDistortionMapping>;
+/**
+ * Inverse-maps one distorted image-plane point to its ideal/undistorted source
+ * coordinate for destination-to-source renderer sampling.
+ *
+ * The same profile monotonicity requirement used by the forward mapping makes
+ * the inverse unique over the declared operating radius. A deterministic fixed
+ * bisection count is used rather than an unconstrained iterative solver.
+ */
+export declare function calculateInverseRadialDistortionMapping(input: CalculateInverseRadialDistortionMappingInput): CalculationResult<InverseRadialDistortionMapping>;
+//# sourceMappingURL=radial-distortion.d.ts.map

package/dist/optics/radial-distortion.d.ts.map

@@ -0,0 +1 @@
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package/dist/optics/radial-distortion.js

@@ -0,0 +1,198 @@
+// SPDX-License-Identifier: Apache-2.0
+import { approximationResult } from "../core/calculation-result.js";
+import { InvalidScientificInputError, requirePositiveFinite } from "../core/validation.js";
+const INVERSE_BISECTION_ITERATIONS = 80;
+function requireFinite(name, value) {
+    if (!Number.isFinite(value)) {
+        throw new InvalidScientificInputError(`${name} must be finite.`);
+    }
+}
+function radialScale(normalizedRadius, coefficients) {
+    const r2 = normalizedRadius * normalizedRadius;
+    const r4 = r2 * r2;
+    const r6 = r4 * r2;
+    return (1 +
+        coefficients.k1 * r2 +
+        coefficients.k2 * r4 +
+        coefficients.k3 * r6);
+}
+function mappedNormalizedRadius(normalizedRadius, coefficients) {
+    return normalizedRadius * radialScale(normalizedRadius, coefficients);
+}
+function radialDerivativeFromSquaredRadius(squaredRadius, coefficients) {
+    return (1 +
+        3 * coefficients.k1 * squaredRadius +
+        5 * coefficients.k2 * squaredRadius * squaredRadius +
+        7 *
+            coefficients.k3 *
+            squaredRadius *
+            squaredRadius *
+            squaredRadius);
+}
+function derivativeCriticalSquaredRadii(coefficients) {
+    // d/dr² of the radial derivative:
+    // 3 k1 + 10 k2 s + 21 k3 s² = 0, where s = r².
+    const a = 21 * coefficients.k3;
+    const b = 10 * coefficients.k2;
+    const c = 3 * coefficients.k1;
+    if (a === 0) {
+        return b === 0 ? [] : [-c / b];
+    }
+    const discriminant = b * b - 4 * a * c;
+    if (discriminant < 0) {
+        return [];
+    }
+    const root = Math.sqrt(discriminant);
+    return [(-b - root) / (2 * a), (-b + root) / (2 * a)];
+}
+function validateProfile(profile) {
+    requirePositiveFinite("profile.normalizationRadiusMm", profile.normalizationRadiusMm);
+    requirePositiveFinite("profile.maximumNormalizedRadius", profile.maximumNormalizedRadius);
+    requireFinite("profile.coefficients.k1", profile.coefficients.k1);
+    requireFinite("profile.coefficients.k2", profile.coefficients.k2);
+    requireFinite("profile.coefficients.k3", profile.coefficients.k3);
+    const maximumSquaredRadius = profile.maximumNormalizedRadius * profile.maximumNormalizedRadius;
+    const candidates = [
+        0,
+        maximumSquaredRadius,
+        ...derivativeCriticalSquaredRadii(profile.coefficients).filter((value) => value > 0 && value < maximumSquaredRadius)
+    ];
+    const minimumRadialDerivative = Math.min(...candidates.map((squaredRadius) => radialDerivativeFromSquaredRadius(squaredRadius, profile.coefficients)));
+    if (!Number.isFinite(minimumRadialDerivative) ||
+        minimumRadialDerivative <= 0) {
+        throw new InvalidScientificInputError("Radial distortion profile must remain strictly monotonic over maximumNormalizedRadius so inverse mapping is single-valued.");
+    }
+    const maximumMappedRadius = mappedNormalizedRadius(profile.maximumNormalizedRadius, profile.coefficients);
+    if (!Number.isFinite(maximumMappedRadius) || maximumMappedRadius <= 0) {
+        throw new InvalidScientificInputError("Radial distortion profile produces an invalid mapped operating radius.");
+    }
+    return {
+        normalizationRadiusMm: profile.normalizationRadiusMm,
+        maximumNormalizedRadius: profile.maximumNormalizedRadius,
+        coefficients: { ...profile.coefficients },
+        minimumRadialDerivative,
+        maximumMappedNormalizedRadius: maximumMappedRadius
+    };
+}
+function requirePoint(name, point) {
+    requireFinite(`${name}.x`, point.x);
+    requireFinite(`${name}.y`, point.y);
+}
+function mappingAssumptions() {
+    return [
+        "Generic rotationally symmetric radial polynomial field mapping",
+        "Distortion is centered on the optical axis; decentering and tangential distortion are not modeled",
+        "Normalized radius is image-plane radius divided by the caller-declared normalizationRadiusMm",
+        "Radial scale is 1 + k1 r^2 + k2 r^4 + k3 r^6",
+        "The declared operating radius is required to remain strictly monotonic so inverse mapping is single-valued",
+        "Coefficients are generic caller inputs and do not represent a named lens unless separately calibrated with defensible provenance"
+    ];
+}
+/**
+ * Applies a generic radial lens-distortion field mapping to one ideal
+ * image-plane point.
+ *
+ * The mapping is rotationally symmetric about the optical axis:
+ *
+ *   p_distorted = p_ideal * (1 + k1 r² + k2 r⁴ + k3 r⁶)
+ *
+ * where r is normalized by the caller-declared physical reference radius.
+ *
+ * The profile is accepted only when the radial mapping is strictly monotonic
+ * over its declared operating radius, which makes inverse destination-to-source
+ * sampling well-defined.
+ */
+export function calculateRadialDistortionMapping(input) {
+    requirePoint("imagePointMm", input.imagePointMm);
+    const profile = validateProfile(input.profile);
+    const sourceRadiusMm = Math.hypot(input.imagePointMm.x, input.imagePointMm.y);
+    const sourceNormalizedRadius = sourceRadiusMm / profile.normalizationRadiusMm;
+    if (sourceNormalizedRadius > profile.maximumNormalizedRadius) {
+        throw new InvalidScientificInputError("imagePointMm lies outside the radial distortion profile maximumNormalizedRadius.");
+    }
+    const scale = radialScale(sourceNormalizedRadius, profile.coefficients);
+    const mappedImagePointMm = {
+        x: input.imagePointMm.x * scale,
+        y: input.imagePointMm.y * scale
+    };
+    const mappedRadius = sourceNormalizedRadius * scale;
+    const deltaX = mappedImagePointMm.x - input.imagePointMm.x;
+    const deltaY = mappedImagePointMm.y - input.imagePointMm.y;
+    return approximationResult({
+        direction: "undistorted-to-distorted",
+        sourceImagePointMm: { ...input.imagePointMm },
+        mappedImagePointMm,
+        sourceNormalizedRadius,
+        mappedNormalizedRadius: mappedRadius,
+        radialScale: scale,
+        deltaMm: {
+            x: deltaX,
+            y: deltaY,
+            distance: Math.hypot(deltaX, deltaY)
+        },
+        profileMinimumRadialDerivative: profile.minimumRadialDerivative
+    }, "generic-radial-lens-distortion", "1.0.0", mappingAssumptions());
+}
+/**
+ * Inverse-maps one distorted image-plane point to its ideal/undistorted source
+ * coordinate for destination-to-source renderer sampling.
+ *
+ * The same profile monotonicity requirement used by the forward mapping makes
+ * the inverse unique over the declared operating radius. A deterministic fixed
+ * bisection count is used rather than an unconstrained iterative solver.
+ */
+export function calculateInverseRadialDistortionMapping(input) {
+    requirePoint("distortedImagePointMm", input.distortedImagePointMm);
+    const profile = validateProfile(input.profile);
+    const distortedRadiusMm = Math.hypot(input.distortedImagePointMm.x, input.distortedImagePointMm.y);
+    const distortedNormalizedRadius = distortedRadiusMm / profile.normalizationRadiusMm;
+    if (distortedNormalizedRadius >
+        profile.maximumMappedNormalizedRadius) {
+        throw new InvalidScientificInputError("distortedImagePointMm lies outside the mapped radial distortion profile operating radius.");
+    }
+    let sourceNormalizedRadius = 0;
+    if (distortedNormalizedRadius > 0) {
+        let lower = 0;
+        let upper = profile.maximumNormalizedRadius;
+        for (let iteration = 0; iteration < INVERSE_BISECTION_ITERATIONS; iteration += 1) {
+            const midpoint = (lower + upper) / 2;
+            const mapped = mappedNormalizedRadius(midpoint, profile.coefficients);
+            if (mapped < distortedNormalizedRadius) {
+                lower = midpoint;
+            }
+            else {
+                upper = midpoint;
+            }
+        }
+        sourceNormalizedRadius = (lower + upper) / 2;
+    }
+    const scaleAtSource = radialScale(sourceNormalizedRadius, profile.coefficients);
+    const sourceImagePointMm = distortedNormalizedRadius === 0
+        ? { x: 0, y: 0 }
+        : {
+            x: input.distortedImagePointMm.x / scaleAtSource,
+            y: input.distortedImagePointMm.y / scaleAtSource
+        };
+    const deltaX = sourceImagePointMm.x - input.distortedImagePointMm.x;
+    const deltaY = sourceImagePointMm.y - input.distortedImagePointMm.y;
+    return approximationResult({
+        direction: "distorted-to-undistorted",
+        distortedImagePointMm: {
+            ...input.distortedImagePointMm
+        },
+        sourceImagePointMm,
+        distortedNormalizedRadius,
+        sourceNormalizedRadius,
+        radialScaleAtSource: scaleAtSource,
+        deltaMm: {
+            x: deltaX,
+            y: deltaY,
+            distance: Math.hypot(deltaX, deltaY)
+        },
+        profileMinimumRadialDerivative: profile.minimumRadialDerivative
+    }, "generic-inverse-radial-lens-distortion", "1.0.0", [
+        ...mappingAssumptions(),
+        `Inverse radius is solved with ${INVERSE_BISECTION_ITERATIONS} deterministic bisection iterations`
+    ]);
+}
+//# sourceMappingURL=radial-distortion.js.map

package/dist/optics/radial-distortion.js.map

@@ -0,0 +1 @@
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package/dist/output/capture-geometry.d.ts

@@ -0,0 +1,225 @@
+import { type CalculationProvenance, type CalculationResult } from "../core/calculation-result.js";
+import { type NativeImageRaster, type RasterDimensions, type SensorImagingArea } from "../sensor/sensor-geometry.js";
+export type CaptureOrientation = "landscape" | "portrait-clockwise" | "landscape-inverted" | "portrait-counter-clockwise";
+export interface RasterPoint {
+    x: number;
+    y: number;
+}
+export interface RasterVector {
+    x: number;
+    y: number;
+}
+/**
+ * Integer half-open rectangle in raster coordinates.
+ *
+ * Coordinates use a top-left origin with +X to the right and +Y downward.
+ * The covered extent is [x, x + width) × [y, y + height).
+ */
+export interface RasterRect {
+    x: number;
+    y: number;
+    width: number;
+    height: number;
+}
+export interface PhysicalBoundsFromOpticalAxisMm {
+    left: number;
+    right: number;
+    top: number;
+    bottom: number;
+}
+export interface ResolveCaptureGeometryInput {
+    imagingArea: SensorImagingArea;
+    nativeRaster: NativeImageRaster;
+    orientation: CaptureOrientation;
+    /**
+     * Active capture rectangle in native sensor raster coordinates.
+     *
+     * Defaults to the full native raster.
+     */
+    activeCaptureRect?: RasterRect;
+    /**
+     * Final digital/output crop in oriented active-capture raster coordinates.
+     *
+     * Defaults to the full oriented active capture.
+     */
+    outputCropRect?: RasterRect;
+    /**
+     * Final output raster after optional digital crop/resampling.
+     *
+     * Defaults to the output-crop dimensions. The output raster must preserve
+     * the crop aspect ratio within a small integer-rounding tolerance.
+     */
+    outputRaster?: RasterDimensions;
+}
+export interface ResolvedCaptureGeometry {
+    native: {
+        imagingArea: SensorImagingArea;
+        raster: NativeImageRaster;
+    };
+    activeCapture: {
+        nativeRect: RasterRect;
+        imagingArea: SensorImagingArea;
+        /**
+         * Top-left active-area offset from the native imaging-area top-left.
+         */
+        physicalOffsetMm: {
+            x: number;
+            y: number;
+        };
+        /** Active-area center relative to the native optical axis. */
+        centerOffsetFromOpticalAxisMm: RasterVector;
+        /** Native physical bounds relative to the optical axis. */
+        physicalBoundsFromOpticalAxisMm: PhysicalBoundsFromOpticalAxisMm;
+        /**
+         * Current generic model assumes native image samples uniformly span the
+         * declared physical imaging area.
+         */
+        imagingAreaDerivation: "uniform-native-raster";
+        raster: RasterDimensions;
+    };
+    orientedCapture: {
+        orientation: CaptureOrientation;
+        imagingArea: SensorImagingArea;
+        /** Oriented physical bounds relative to the optical axis. */
+        physicalBoundsFromOpticalAxisMm: PhysicalBoundsFromOpticalAxisMm;
+        raster: RasterDimensions;
+    };
+    output: {
+        /**
+         * Digital/output crop expressed in oriented active-capture coordinates.
+         *
+         * This crop does not mutate physical sensor identity or active-capture
+         * geometry.
+         */
+        cropRect: RasterRect;
+        raster: RasterDimensions;
+        /** Physical region retained by the digital/output crop. */
+        imagingArea: SensorImagingArea;
+        physicalBoundsFromOpticalAxisMm: PhysicalBoundsFromOpticalAxisMm;
+        centerOffsetFromOpticalAxisMm: RasterVector;
+        sourceRetainedAreaFraction: number;
+        /** Pixel-domain resampling from oriented active capture into output. */
+        orientedCaptureToOutputScale: {
+            x: number;
+            y: number;
+            axisRelativeDifference: number;
+        };
+    };
+}
+export interface TransformRasterPointInput {
+    point: RasterPoint;
+    nativeRaster: NativeImageRaster;
+    orientation: CaptureOrientation;
+}
+export interface TransformRasterVectorInput {
+    vector: RasterVector;
+    orientation: CaptureOrientation;
+}
+export interface TransformRasterRectInput {
+    rect: RasterRect;
+    nativeRaster: NativeImageRaster;
+    orientation: CaptureOrientation;
+}
+export interface CalculateActiveCaptureFieldOfViewInput {
+    imagingArea: SensorImagingArea;
+    nativeRaster: NativeImageRaster;
+    orientation: CaptureOrientation;
+    activeCaptureRect?: RasterRect;
+    focalLengthMm: number;
+    focusDistanceM?: number;
+}
+export interface CalculateOutputFieldOfViewInput {
+    imagingArea: SensorImagingArea;
+    nativeRaster: NativeImageRaster;
+    orientation: CaptureOrientation;
+    activeCaptureRect?: RasterRect;
+    outputCropRect?: RasterRect;
+    focalLengthMm: number;
+    focusDistanceM?: number;
+}
+export interface ActiveCaptureFieldOfView {
+    orientation: CaptureOrientation;
+    horizontalDegrees: number;
+    verticalDegrees: number;
+    /**
+     * Larger of the two opposite-corner diagonal angular spans. For centered
+     * crops both diagonal spans are equal.
+     */
+    diagonalDegrees: number;
+    horizontalBoundsDegrees: {
+        minimum: number;
+        maximum: number;
+    };
+    verticalBoundsDegrees: {
+        minimum: number;
+        maximum: number;
+    };
+    diagonalDegreesByCornerPair: {
+        topLeftToBottomRight: number;
+        topRightToBottomLeft: number;
+    };
+    activeImagingArea: SensorImagingArea;
+    centerOffsetFromOpticalAxisMm: RasterVector;
+    projection: {
+        projectionDistanceMm: number;
+        provenance: CalculationProvenance;
+    };
+}
+export interface OutputFieldOfView {
+    orientation: CaptureOrientation;
+    horizontalDegrees: number;
+    verticalDegrees: number;
+    diagonalDegrees: number;
+    horizontalBoundsDegrees: {
+        minimum: number;
+        maximum: number;
+    };
+    verticalBoundsDegrees: {
+        minimum: number;
+        maximum: number;
+    };
+    diagonalDegreesByCornerPair: {
+        topLeftToBottomRight: number;
+        topRightToBottomLeft: number;
+    };
+    outputImagingArea: SensorImagingArea;
+    centerOffsetFromOpticalAxisMm: RasterVector;
+    projection: {
+        projectionDistanceMm: number;
+        provenance: CalculationProvenance;
+    };
+}
+/**
+ * Transforms a continuous native raster edge-coordinate point into oriented
+ * capture coordinates. Pixel centers can be represented with +0.5 offsets.
+ */
+export declare function transformNativeRasterPointToOriented(input: TransformRasterPointInput): RasterPoint;
+/** Transforms an oriented raster edge-coordinate point back to native coordinates. */
+export declare function transformOrientedRasterPointToNative(input: TransformRasterPointInput): RasterPoint;
+/** Rotates a native raster vector into oriented coordinates. */
+export declare function transformNativeRasterVectorToOriented(input: TransformRasterVectorInput): RasterVector;
+/** Rotates an oriented raster vector back into native coordinates. */
+export declare function transformOrientedRasterVectorToNative(input: TransformRasterVectorInput): RasterVector;
+/** Transforms an integer half-open native raster rectangle into oriented coordinates. */
+export declare function transformNativeRasterRectToOriented(input: TransformRasterRectInput): RasterRect;
+/** Transforms an oriented integer half-open rectangle back to native coordinates. */
+export declare function transformOrientedRasterRectToNative(input: TransformRasterRectInput): RasterRect;
+/**
+ * Resolves native sensor geometry, active capture, physical camera orientation,
+ * and final digital/output geometry without conflating their identities.
+ */
+export declare function resolveCaptureGeometry(input: ResolveCaptureGeometryInput): CalculationResult<ResolvedCaptureGeometry>;
+/**
+ * Calculates asymmetric horizontal/vertical FOV plus opposite-corner diagonal
+ * spans for the active physical capture area after physical camera orientation.
+ *
+ * Final digital/output crop is intentionally excluded.
+ */
+export declare function calculateActiveCaptureFieldOfView(input: CalculateActiveCaptureFieldOfViewInput): CalculationResult<ActiveCaptureFieldOfView>;
+/**
+ * Calculates final visible field of view after physical active capture,
+ * orientation, and digital/output crop. Output raster resolution does not
+ * affect this optical/framing result.
+ */
+export declare function calculateOutputFieldOfView(input: CalculateOutputFieldOfViewInput): CalculationResult<OutputFieldOfView>;
+//# sourceMappingURL=capture-geometry.d.ts.map

package/dist/output/capture-geometry.d.ts.map

@@ -0,0 +1 @@
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