@photivra/engine 1.5.0 → 2.1.0

package/dist/processing/panorama.js

@@ -0,0 +1,305 @@
+// SPDX-License-Identifier: Apache-2.0
+/**
+ * Panorama stitching from known camera rotations. There is no feature matching.
+ *
+ * The reference frame is the camera frame at zero rotation (+X right, +Y up, +Z forward: the engine's
+ * camera axes). Each frame's rotation uses the engine's physical pitch/yaw/roll right-hand convention
+ * (`applyPhysicalCameraRotation`, one axis-angle vector, camera → reference).
+ *
+ * Projection: a canvas pixel's direction is
+ *   equirectangular: d = (cos φ sin θ, sin φ, cos φ cos θ),
+ *   cylindrical:     d ∝ (sin θ, h, cos θ) with h = tan φ linear in rows,
+ * with θ (longitude) increasing to the right and φ upward (Szeliski 2006, §2–3). The direction is
+ * projected into each frame rectilinearly, x = c_x + f·c_x'/c_z', y = c_y − f·c_y'/c_z' (raster +Y
+ * down, pixel centres at i + 0.5), and sampled bilinearly. Frames are assumed to be pure rotations (no
+ * parallax) with no distortion.
+ *
+ * Exposure compensation uses Brown & Lowe (IJCV 2007) gain compensation: minimize
+ *   Σ_{i<j} N_ij [(g_i Ī_ij − g_j Ī_ji)²/σ_N² + ((1 − g_i)² + (1 − g_j)²)/(2σ_g²)]
+ *   (the paper's ½ΣΣ over ordered pairs)
+ * over the gains g (a linear system). Ī_ij is the mean intensity of frame i where it overlaps frame j,
+ * normalized by the mean of all overlap means.
+ *
+ * Blending is one of:
+ * - feathered: weights fall linearly from the frame centre to its edges (Brown & Lowe 2007);
+ * - multi-band (Burt & Adelson 1983b): Laplacian pyramids of each warped frame are blended with
+ *   Gaussian pyramids of its binary max-weight mask. Each frame's Gaussian levels are divided by those
+ *   of its coverage mask (normalized convolution, Knutsson & Westin 1993), so the zero fill outside a
+ *   frame does not darken the blend.
+ * @see docs/PROCESSING.md for equations, sources and limits.
+ */
+import { InvalidConfigurationError } from "../core/configuration-error.js";
+import { InvalidScientificInputError } from "../core/validation.js";
+import { applyPhysicalCameraRotation } from "../motion/camera-rotation.js";
+import { autoLevels, collapse, collapseRows, expand, gaussianPyramid, gaussianPyramidRows, pyramidBytes } from "./image-ops.js";
+import { createProcessingTask, finiteRows, maximumWorkingBytes, optionalFiniteIn, optionalIntegerIn, processingProvenance, requireEnum, requireFiniteIn, requireImage, requireIntegerIn, requireOptions, PROCESSING_MAX_FRAMES, PROCESSING_MAX_PIXELS } from "./processing-task.js";
+/** Projects canvas pixel (u, v) of frame `fr`; returns image coords or null when outside its support. */
+function project(fr, d) {
+    const m = fr.m, x = m[0] * d[0] + m[1] * d[1] + m[2] * d[2], y = m[3] * d[0] + m[4] * d[1] + m[5] * d[2], z = m[6] * d[0] + m[7] * d[1] + m[8] * d[2];
+    if (!(z > 0))
+        return null;
+    const px = fr.cx + fr.f * x / z - 0.5, py = fr.cy - fr.f * y / z - 0.5, W = fr.image.width, H = fr.image.height;
+    if (px < 0 || py < 0 || px > W - 1 || py > H - 1)
+        return null;
+    // Feather weight: linear in each axis from 1 at the centre to 0 at the outer pixel-centre ring.
+    const wx = W > 1 ? 1 - Math.abs(2 * px / (W - 1) - 1) : 1, wy = H > 1 ? 1 - Math.abs(2 * py / (H - 1) - 1) : 1;
+    return [px, py, Math.max(wx * wy, 1e-6)];
+}
+function bilinear(im, px, py, out) {
+    const W = im.width, H = im.height, x0 = Math.min(Math.floor(px), W - 1), y0 = Math.min(Math.floor(py), H - 1);
+    const x1 = Math.min(x0 + 1, W - 1), y1 = Math.min(y0 + 1, H - 1), ax = px - x0, ay = py - y0, d = im.data;
+    for (let c = 0; c < 3; c++) {
+        out[c] = (1 - ay) * ((1 - ax) * d[3 * (y0 * W + x0) + c] + ax * d[3 * (y0 * W + x1) + c]) +
+            ay * ((1 - ax) * d[3 * (y1 * W + x0) + c] + ax * d[3 * (y1 * W + x1) + c]);
+    }
+}
+/** Stitches frames with known rotations onto a cylindrical or equirectangular canvas. */
+export function createPanoramaTask(input, provider) {
+    const r = requireOptions(input, ["frames", "canvas", "blending", "exposureCompensation", "gainNoiseSigma", "gainPriorSigma", "pyramidLevels",
+        "maximumWorkingBytes"], "createPanoramaTask input");
+    if (!Array.isArray(r.frames) || r.frames.length < 1 || r.frames.length > PROCESSING_MAX_FRAMES) {
+        throw new InvalidConfigurationError("frames must contain 1 to " + PROCESSING_MAX_FRAMES + " frames.");
+    }
+    const frames = r.frames.map((value, i) => {
+        const f = requireOptions(value, ["image", "focalLengthPixels", "principalPointPixels", "rotationRad"], "frames[" + i + "]");
+        const image = requireImage(f.image, "frames[" + i + "].image");
+        const pp = f.principalPointPixels === undefined ? { x: image.width / 2, y: image.height / 2 } : requireOptions(f.principalPointPixels, ["x", "y"], "principalPointPixels");
+        const rot = requireOptions(f.rotationRad, ["pitch", "yaw", "roll"], "frames[" + i + "].rotationRad");
+        const angles = { pitch: requireFiniteIn(rot.pitch, "pitch", -10, 10), yaw: requireFiniteIn(rot.yaw, "yaw", -10, 10), roll: requireFiniteIn(rot.roll, "roll", -10, 10) };
+        // Reference → camera matrix from the engine rotation of the basis vectors.
+        const cols = [[1, 0, 0], [0, 1, 0], [0, 0, 1]].map(([x, y, z]) => applyPhysicalCameraRotation({ x, y, z }, angles, "reference-to-camera"));
+        const m = [cols[0].x, cols[1].x, cols[2].x, cols[0].y, cols[1].y, cols[2].y, cols[0].z, cols[1].z, cols[2].z];
+        return { image, f: requireFiniteIn(f.focalLengthPixels, "focalLengthPixels", 0, 1e7, true), m,
+            cx: requireFiniteIn(pp.x, "principalPointPixels.x", -1e7, 1e7), cy: requireFiniteIn(pp.y, "principalPointPixels.y", -1e7, 1e7) };
+    });
+    const c = requireOptions(r.canvas, ["projection", "width", "height", "longitudeRangeRad", "latitudeRangeRad"], "canvas");
+    const projection = requireEnum(c.projection, ["equirectangular", "cylindrical"], "canvas.projection");
+    const W = requireIntegerIn(c.width, "canvas.width", 1, PROCESSING_MAX_PIXELS), H = requireIntegerIn(c.height, "canvas.height", 1, PROCESSING_MAX_PIXELS);
+    if (W * H > PROCESSING_MAX_PIXELS)
+        throw new InvalidConfigurationError("canvas exceeds " + PROCESSING_MAX_PIXELS + " pixels.");
+    const range = (v, label, limit) => {
+        if (!Array.isArray(v) || v.length !== 2)
+            throw new InvalidConfigurationError(label + " must be [min, max].");
+        const a = requireFiniteIn(v[0], label + "[0]", -limit, limit), b = requireFiniteIn(v[1], label + "[1]", -limit, limit);
+        if (!(b > a))
+            throw new InvalidScientificInputError(label + " must have max > min.");
+        return [a, b];
+    };
+    const lon = range(c.longitudeRangeRad, "canvas.longitudeRangeRad", Math.PI), lat = range(c.latitudeRangeRad, "canvas.latitudeRangeRad", Math.PI / 2);
+    if (projection === "cylindrical" && (lat[0] <= -Math.PI / 2 || lat[1] >= Math.PI / 2))
+        throw new InvalidScientificInputError("Cylindrical latitude must lie strictly inside (−π/2, π/2).");
+    const blending = requireEnum(r.blending, ["feather", "multi-band"], "blending", "feather");
+    const compensation = requireEnum(r.exposureCompensation, ["none", "gain"], "exposureCompensation", "gain");
+    const sigmaN = optionalFiniteIn(r.gainNoiseSigma, 0.04, "gainNoiseSigma", 0, 1e6, true), sigmaG = optionalFiniteIn(r.gainPriorSigma, 0.1, "gainPriorSigma", 0, 1e6, true);
+    const levels = optionalIntegerIn(r.pyramidLevels, autoLevels(W, H, 4), "pyramidLevels", 1, autoLevels(W, H, 32));
+    const K = frames.length, n = W * H;
+    const direction = (u, v) => {
+        const theta = lon[0] + (u + 0.5) / W * (lon[1] - lon[0]);
+        if (projection === "equirectangular") {
+            const phi = lat[1] - (v + 0.5) / H * (lat[1] - lat[0]);
+            return [Math.cos(phi) * Math.sin(theta), Math.sin(phi), Math.cos(phi) * Math.cos(theta)];
+        }
+        const h = Math.tan(lat[1]) - (v + 0.5) / H * (Math.tan(lat[1]) - Math.tan(lat[0]));
+        return [Math.sin(theta), h, Math.cos(theta)];
+    };
+    const frameRows = frames.reduce((s, f) => s + f.image.height, 0);
+    const blendRows = blending === "feather" ? H : H + K * (H + 3 * gaussianPyramidRows(W, H, levels) + collapseRows(W, H, levels)) + collapseRows(W, H, levels);
+    const bytes = n * (12 + 1) + (blending === "multi-band" ? n * (12 + 8 + 1) + 2 * pyramidBytes(W, H, 3, levels) + pyramidBytes(W, H, 1, levels) * 2 : 4 * n);
+    return createProcessingTask({
+        provider, totalTileCount: frameRows + (compensation === "gain" ? H : 0) + blendRows, estimatedWorkingBytes: bytes,
+        maximumWorkingBytes: maximumWorkingBytes(r.maximumWorkingBytes),
+        body: function* () {
+            for (const [k, f] of frames.entries())
+                yield* finiteRows(f.image.data, f.image.width, f.image.height, 3, "frames[" + k + "].image");
+            const sample = new Float64Array(3), gains = new Array(K).fill(1);
+            if (compensation === "gain" && K > 1) {
+                const count = new Float64Array(K * K), sum = new Float64Array(K * K), hit = [], mean = [];
+                for (let v = 0; v < H; v++) {
+                    for (let u = 0; u < W; u++) {
+                        const d = direction(u, v);
+                        hit.length = 0;
+                        mean.length = 0;
+                        for (let k = 0; k < K; k++) {
+                            const p = project(frames[k], d);
+                            if (p === null)
+                                continue;
+                            bilinear(frames[k].image, p[0], p[1], sample);
+                            hit.push(k);
+                            mean.push((sample[0] + sample[1] + sample[2]) / 3);
+                        }
+                        for (let a = 0; a < hit.length; a++)
+                            for (let b = 0; b < hit.length; b++)
+                                if (a !== b) {
+                                    count[hit[a] * K + hit[b]] += 1;
+                                    sum[hit[a] * K + hit[b]] += mean[a];
+                                }
+                    }
+                    yield;
+                }
+                let norm = 0, pairs = 0;
+                for (let i = 0; i < K * K; i++)
+                    if (count[i] > 0) {
+                        norm += sum[i] / count[i];
+                        pairs++;
+                    }
+                norm = pairs > 0 && norm > 0 ? norm / pairs : 1;
+                // Normal equations of the Brown–Lowe objective (each unordered pair counted once).
+                const A = Array.from({ length: K }, () => new Float64Array(K)), rhs = new Float64Array(K);
+                for (let i = 0; i < K; i++)
+                    for (let j = 0; j < K; j++) {
+                        if (i === j || count[i * K + j] === 0)
+                            continue;
+                        const N = count[i * K + j], Iij = sum[i * K + j] / N / norm, Iji = sum[j * K + i] / N / norm;
+                        A[i][i] += N * (Iij * Iij / (sigmaN * sigmaN) + 1 / (2 * sigmaG * sigmaG));
+                        A[i][j] -= N * Iij * Iji / (sigmaN * sigmaN);
+                        rhs[i] += N / (2 * sigmaG * sigmaG);
+                    }
+                for (let i = 0; i < K; i++)
+                    if (A[i][i] === 0) {
+                        A[i][i] = 1;
+                        rhs[i] = 1;
+                    }
+                const g = solveLinear(A, rhs);
+                for (let k = 0; k < K; k++)
+                    gains[k] = g[k];
+            }
+            const out = new Float32Array(3 * n), coverage = new Uint8Array(n);
+            if (blending === "feather") {
+                for (let v = 0; v < H; v++) {
+                    for (let u = 0; u < W; u++) {
+                        const d = direction(u, v), i = v * W + u;
+                        let wsum = 0, r0 = 0, g0 = 0, b0 = 0, covered = 0;
+                        for (let k = 0; k < K; k++) {
+                            const p = project(frames[k], d);
+                            if (p === null)
+                                continue;
+                            bilinear(frames[k].image, p[0], p[1], sample);
+                            const w = p[2] * gains[k];
+                            r0 += w * sample[0];
+                            g0 += w * sample[1];
+                            b0 += w * sample[2];
+                            wsum += p[2];
+                            covered++;
+                        }
+                        coverage[i] = covered;
+                        if (wsum > 0) {
+                            out[3 * i] = r0 / wsum;
+                            out[3 * i + 1] = g0 / wsum;
+                            out[3 * i + 2] = b0 / wsum;
+                        }
+                    }
+                    yield;
+                }
+            }
+            else {
+                const best = new Float32Array(n), owner = new Uint8Array(n).fill(255), warped = new Float32Array(3 * n), mask = new Float32Array(n), valid = new Float32Array(n);
+                for (let v = 0; v < H; v++) {
+                    for (let u = 0; u < W; u++) {
+                        const d = direction(u, v), i = v * W + u;
+                        for (let k = 0; k < K; k++) {
+                            const p = project(frames[k], d);
+                            if (p === null)
+                                continue;
+                            coverage[i]++;
+                            if (p[2] > best[i]) {
+                                best[i] = p[2];
+                                owner[i] = k;
+                            }
+                        }
+                    }
+                    yield;
+                }
+                let acc = null, wacc = null, sizes = [];
+                for (let k = 0; k < K; k++) {
+                    for (let v = 0; v < H; v++) {
+                        for (let u = 0; u < W; u++) {
+                            const i = v * W + u, p = owner[i] === 255 ? null : project(frames[k], direction(u, v));
+                            mask[i] = owner[i] === k ? 1 : 0;
+                            valid[i] = p === null ? 0 : 1;
+                            if (p === null) {
+                                warped[3 * i] = 0;
+                                warped[3 * i + 1] = 0;
+                                warped[3 * i + 2] = 0;
+                                continue;
+                            }
+                            bilinear(frames[k].image, p[0], p[1], sample);
+                            for (let c = 0; c < 3; c++)
+                                warped[3 * i + c] = gains[k] * sample[c];
+                        }
+                        yield;
+                    }
+                    // Normalized convolution: Gaussian levels of the zero-filled frame divided by those of its coverage, so the
+                    // frame's own coverage edge never enters the blend as a dark halo; Laplacian levels follow from them.
+                    const lap = yield* gaussianPyramid(warped, W, H, 3, levels), cov = yield* gaussianPyramid(valid, W, H, 1, levels);
+                    for (let l = 0; l < levels; l++) {
+                        const g = lap.levels[l], c = cov.levels[l];
+                        for (let i = 0; i < c.length; i++)
+                            for (let ch = 0; ch < 3; ch++)
+                                g[3 * i + ch] = c[i] > 1e-6 ? g[3 * i + ch] / c[i] : 0;
+                    }
+                    for (let l = 0; l < levels - 1; l++) {
+                        const a = lap.sizes[l], b = lap.sizes[l + 1];
+                        yield* expand(lap.levels[l + 1], b.width, b.height, a.width, a.height, 3, lap.levels[l], "subtract-from");
+                    }
+                    const gw = yield* gaussianPyramid(mask, W, H, 1, levels);
+                    sizes = lap.sizes;
+                    acc ??= sizes.map((s) => new Float32Array(s.width * s.height * 3));
+                    wacc ??= sizes.map((s) => new Float32Array(s.width * s.height));
+                    for (let l = 0; l < levels; l++) {
+                        const a = acc[l], wa = wacc[l], L = lap.levels[l], G = gw.levels[l];
+                        for (let i = 0; i < G.length; i++) {
+                            wa[i] = wa[i] + G[i];
+                            for (let c = 0; c < 3; c++)
+                                a[3 * i + c] = a[3 * i + c] + G[i] * L[3 * i + c];
+                        }
+                    }
+                }
+                for (let l = 0; l < levels; l++) {
+                    const a = acc[l], wa = wacc[l];
+                    for (let i = 0; i < wa.length; i++)
+                        for (let c = 0; c < 3; c++)
+                            a[3 * i + c] = wa[i] > 1e-9 ? a[3 * i + c] / wa[i] : 0;
+                }
+                const blended = yield* collapse({ levels: acc, sizes, channels: 3 });
+                for (let i = 0; i < n; i++)
+                    if (coverage[i] !== 0)
+                        for (let c = 0; c < 3; c++)
+                            out[3 * i + c] = blended[3 * i + c];
+            }
+            return { width: W, height: H, data: out, coverage, gains, provenance: processingProvenance("panorama-known-rotation-" + projection + "-" + blending, [
+                    "Canvas rays reprojected into each frame through the engine camera-rotation convention; rectilinear, distortion-free, pure rotation (no parallax).",
+                    "Bilinear resampling without prefiltering; downsampling canvases can alias.",
+                    compensation === "gain" ? "Brown & Lowe (2007) gain compensation with sigma_N=" + sigmaN + " (normalized intensity), sigma_g=" + sigmaG + "." : "No exposure compensation.",
+                    blending === "feather" ? "Feathered blending with centre-to-edge linear weights." : "Multi-band blending of binary max-weight masks (Burt & Adelson 1983)."
+                ]) };
+        }
+    });
+}
+/** Gaussian elimination with partial pivoting (small dense systems). */
+function solveLinear(A, b) {
+    const n = b.length, M = A.map((row, i) => { const r = new Float64Array(n + 1); r.set(row); r[n] = b[i]; return r; });
+    for (let col = 0; col < n; col++) {
+        let pivot = col;
+        for (let i = col + 1; i < n; i++)
+            if (Math.abs(M[i][col]) > Math.abs(M[pivot][col]))
+                pivot = i;
+        [M[col], M[pivot]] = [M[pivot], M[col]];
+        const p = M[col][col];
+        if (Math.abs(p) < 1e-300)
+            throw new InvalidScientificInputError("Gain compensation system is singular.");
+        for (let i = col + 1; i < n; i++) {
+            const f = M[i][col] / p;
+            for (let j = col; j <= n; j++)
+                M[i][j] = M[i][j] - f * M[col][j];
+        }
+    }
+    const x = new Float64Array(n);
+    for (let i = n - 1; i >= 0; i--) {
+        let s = M[i][n];
+        for (let j = i + 1; j < n; j++)
+            s -= M[i][j] * x[j];
+        x[i] = s / M[i][i];
+    }
+    return x;
+}
+//# sourceMappingURL=panorama.js.map

package/dist/processing/panorama.js.map

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SPDX-License-Identifier: Apache-2.0\n\n/**\n * Panorama stitching from known camera rotations. There is no feature matching.\n *\n * The reference frame is the camera frame at zero rotation (+X right, +Y up, +Z forward: the engine's\n * camera axes). Each frame's rotation uses the engine's physical pitch/yaw/roll right-hand convention\n * (`applyPhysicalCameraRotation`, one axis-angle vector, camera → reference).\n *\n * Projection: a canvas pixel's direction is\n *   equirectangular: d = (cos φ sin θ, sin φ, cos φ cos θ),\n *   cylindrical:     d ∝ (sin θ, h, cos θ) with h = tan φ linear in rows,\n * with θ (longitude) increasing to the right and φ upward (Szeliski 2006, §2–3). The direction is\n * projected into each frame rectilinearly, x = c_x + f·c_x'/c_z', y = c_y − f·c_y'/c_z' (raster +Y\n * down, pixel centres at i + 0.5), and sampled bilinearly. Frames are assumed to be pure rotations (no\n * parallax) with no distortion.\n *\n * Exposure compensation uses Brown & Lowe (IJCV 2007) gain compensation: minimize\n *   Σ_{i<j} N_ij [(g_i Ī_ij − g_j Ī_ji)²/σ_N² + ((1 − g_i)² + (1 − g_j)²)/(2σ_g²)]\n *   (the paper's ½ΣΣ over ordered pairs)\n * over the gains g (a linear system). Ī_ij is the mean intensity of frame i where it overlaps frame j,\n * normalized by the mean of all overlap means.\n *\n * Blending is one of:\n * - feathered: weights fall linearly from the frame centre to its edges (Brown & Lowe 2007);\n * - multi-band (Burt & Adelson 1983b): Laplacian pyramids of each warped frame are blended with\n *   Gaussian pyramids of its binary max-weight mask. Each frame's Gaussian levels are divided by those\n *   of its coverage mask (normalized convolution, Knutsson & Westin 1993), so the zero fill outside a\n *   frame does not darken the blend.\n * @see docs/PROCESSING.md for equations, sources and limits.\n */\n\nimport { InvalidConfigurationError } from \"../core/configuration-error.js\";\nimport { InvalidScientificInputError } from \"../core/validation.js\";\nimport { applyPhysicalCameraRotation } from \"../motion/camera-rotation.js\";\nimport {\n  autoLevels, collapse, collapseRows, expand, gaussianPyramid, gaussianPyramidRows, pyramidBytes\n} from \"./image-ops.js\";\nimport {\n  createProcessingTask, finiteRows, maximumWorkingBytes, optionalFiniteIn, optionalIntegerIn, processingProvenance, requireEnum, requireFiniteIn,\n  requireImage, requireIntegerIn, requireOptions, PROCESSING_MAX_FRAMES, PROCESSING_MAX_PIXELS,\n  type ProcessingBody, type ProcessingProvenance, type ProcessingProvider, type ProcessingRgbImage, type ProcessingTask\n} from \"./processing-task.js\";\n\nexport interface PanoramaFrame {\n  image: ProcessingRgbImage;\n  /** Rectilinear focal length in pixels (same pixel pitch on both axes). */\n  focalLengthPixels: number;\n  /** Principal point in pixel coordinates (pixel centres at i + 0.5); default the image centre. */\n  principalPointPixels?: { x: number; y: number };\n  /** Camera rotation relative to the reference camera: pitch/yaw/roll radians, engine sign convention. */\n  rotationRad: { pitch: number; yaw: number; roll: number };\n}\n\nexport interface PanoramaCanvas {\n  projection: \"equirectangular\" | \"cylindrical\";\n  width: number;\n  height: number;\n  /** [min, max] longitude θ in radians across the canvas columns (left → right). */\n  longitudeRangeRad: readonly [number, number];\n  /** [min, max] latitude φ in radians (bottom → top); cylindrical rows are linear in tan φ. */\n  latitudeRangeRad: readonly [number, number];\n}\n\nexport interface PanoramaInput {\n  frames: readonly PanoramaFrame[];\n  canvas: PanoramaCanvas;\n  /** Default `feather`. */\n  blending?: \"feather\" | \"multi-band\";\n  /** Default `gain` (Brown & Lowe 2007); `none` keeps frame intensities. */\n  exposureCompensation?: \"none\" | \"gain\";\n  /** Normalized intensity noise σ_N; default 0.04 (≈ 10/255, the published 8-bit value). */\n  gainNoiseSigma?: number;\n  /** Gain prior σ_g; default 0.1. */\n  gainPriorSigma?: number;\n  /** Multi-band pyramid levels; default min(4, auto). Coarse bands wider than the frame overlap mix\n   * low frequencies that were normalized differently, so keep 2^(levels−1) well below the overlap width. */\n  pyramidLevels?: number;\n  maximumWorkingBytes?: number;\n}\n\nexport interface PanoramaOutput extends ProcessingRgbImage {\n  /** Number of frames covering each canvas pixel; 0 = uncovered (value 0). */\n  coverage: Uint8Array;\n  /** Gain applied to each frame (1 when compensation is off). */\n  gains: readonly number[];\n  provenance: ProcessingProvenance;\n}\n\ntype M3 = [number, number, number, number, number, number, number, number, number];\ninterface Frame { image: ProcessingRgbImage; f: number; cx: number; cy: number; m: M3 }\n\n/** Projects canvas pixel (u, v) of frame `fr`; returns image coords or null when outside its support. */\nfunction project(fr: Frame, d: readonly [number, number, number]): [number, number, number] | null {\n  const m = fr.m, x = m[0] * d[0] + m[1] * d[1] + m[2] * d[2], y = m[3] * d[0] + m[4] * d[1] + m[5] * d[2], z = m[6] * d[0] + m[7] * d[1] + m[8] * d[2];\n  if (!(z > 0)) return null;\n  const px = fr.cx + fr.f * x / z - 0.5, py = fr.cy - fr.f * y / z - 0.5, W = fr.image.width, H = fr.image.height;\n  if (px < 0 || py < 0 || px > W - 1 || py > H - 1) return null;\n  // Feather weight: linear in each axis from 1 at the centre to 0 at the outer pixel-centre ring.\n  const wx = W > 1 ? 1 - Math.abs(2 * px / (W - 1) - 1) : 1, wy = H > 1 ? 1 - Math.abs(2 * py / (H - 1) - 1) : 1;\n  return [px, py, Math.max(wx * wy, 1e-6)];\n}\n\nfunction bilinear(im: ProcessingRgbImage, px: number, py: number, out: Float64Array): void {\n  const W = im.width, H = im.height, x0 = Math.min(Math.floor(px), W - 1), y0 = Math.min(Math.floor(py), H - 1);\n  const x1 = Math.min(x0 + 1, W - 1), y1 = Math.min(y0 + 1, H - 1), ax = px - x0, ay = py - y0, d = im.data;\n  for (let c = 0; c < 3; c++) {\n    out[c] = (1 - ay) * ((1 - ax) * d[3 * (y0 * W + x0) + c]! + ax * d[3 * (y0 * W + x1) + c]!) +\n      ay * ((1 - ax) * d[3 * (y1 * W + x0) + c]! + ax * d[3 * (y1 * W + x1) + c]!);\n  }\n}\n\n/** Stitches frames with known rotations onto a cylindrical or equirectangular canvas. */\nexport function createPanoramaTask(input: PanoramaInput, provider: ProcessingProvider): ProcessingTask<PanoramaOutput> {\n  const r = requireOptions(input, [\"frames\", \"canvas\", \"blending\", \"exposureCompensation\", \"gainNoiseSigma\", \"gainPriorSigma\", \"pyramidLevels\",\n    \"maximumWorkingBytes\"], \"createPanoramaTask input\");\n  if (!Array.isArray(r.frames) || r.frames.length < 1 || r.frames.length > PROCESSING_MAX_FRAMES) {\n    throw new InvalidConfigurationError(\"frames must contain 1 to \" + PROCESSING_MAX_FRAMES + \" frames.\");\n  }\n  const frames: Frame[] = r.frames.map((value: unknown, i: number) => {\n    const f = requireOptions(value, [\"image\", \"focalLengthPixels\", \"principalPointPixels\", \"rotationRad\"], \"frames[\" + i + \"]\");\n    const image = requireImage(f.image, \"frames[\" + i + \"].image\");\n    const pp = f.principalPointPixels === undefined ? { x: image.width / 2, y: image.height / 2 } : requireOptions(f.principalPointPixels, [\"x\", \"y\"], \"principalPointPixels\");\n    const rot = requireOptions(f.rotationRad, [\"pitch\", \"yaw\", \"roll\"], \"frames[\" + i + \"].rotationRad\");\n    const angles = { pitch: requireFiniteIn(rot.pitch, \"pitch\", -10, 10), yaw: requireFiniteIn(rot.yaw, \"yaw\", -10, 10), roll: requireFiniteIn(rot.roll, \"roll\", -10, 10) };\n    // Reference → camera matrix from the engine rotation of the basis vectors.\n    const cols = ([[1, 0, 0], [0, 1, 0], [0, 0, 1]] as const).map(([x, y, z]) => applyPhysicalCameraRotation({ x, y, z }, angles, \"reference-to-camera\"));\n    const m: M3 = [cols[0]!.x, cols[1]!.x, cols[2]!.x, cols[0]!.y, cols[1]!.y, cols[2]!.y, cols[0]!.z, cols[1]!.z, cols[2]!.z];\n    return { image, f: requireFiniteIn(f.focalLengthPixels, \"focalLengthPixels\", 0, 1e7, true), m,\n      cx: requireFiniteIn(pp.x, \"principalPointPixels.x\", -1e7, 1e7), cy: requireFiniteIn(pp.y, \"principalPointPixels.y\", -1e7, 1e7) };\n  });\n  const c = requireOptions(r.canvas, [\"projection\", \"width\", \"height\", \"longitudeRangeRad\", \"latitudeRangeRad\"], \"canvas\");\n  const projection = requireEnum(c.projection, [\"equirectangular\", \"cylindrical\"] as const, \"canvas.projection\");\n  const W = requireIntegerIn(c.width, \"canvas.width\", 1, PROCESSING_MAX_PIXELS), H = requireIntegerIn(c.height, \"canvas.height\", 1, PROCESSING_MAX_PIXELS);\n  if (W * H > PROCESSING_MAX_PIXELS) throw new InvalidConfigurationError(\"canvas exceeds \" + PROCESSING_MAX_PIXELS + \" pixels.\");\n  const range = (v: unknown, label: string, limit: number): [number, number] => {\n    if (!Array.isArray(v) || v.length !== 2) throw new InvalidConfigurationError(label + \" must be [min, max].\");\n    const a = requireFiniteIn(v[0], label + \"[0]\", -limit, limit), b = requireFiniteIn(v[1], label + \"[1]\", -limit, limit);\n    if (!(b > a)) throw new InvalidScientificInputError(label + \" must have max > min.\");\n    return [a, b];\n  };\n  const lon = range(c.longitudeRangeRad, \"canvas.longitudeRangeRad\", Math.PI), lat = range(c.latitudeRangeRad, \"canvas.latitudeRangeRad\", Math.PI / 2);\n  if (projection === \"cylindrical\" && (lat[0] <= -Math.PI / 2 || lat[1] >= Math.PI / 2)) throw new InvalidScientificInputError(\"Cylindrical latitude must lie strictly inside (−π/2, π/2).\");\n  const blending = requireEnum(r.blending, [\"feather\", \"multi-band\"] as const, \"blending\", \"feather\");\n  const compensation = requireEnum(r.exposureCompensation, [\"none\", \"gain\"] as const, \"exposureCompensation\", \"gain\");\n  const sigmaN = optionalFiniteIn(r.gainNoiseSigma, 0.04, \"gainNoiseSigma\", 0, 1e6, true), sigmaG = optionalFiniteIn(r.gainPriorSigma, 0.1, \"gainPriorSigma\", 0, 1e6, true);\n  const levels = optionalIntegerIn(r.pyramidLevels, autoLevels(W, H, 4), \"pyramidLevels\", 1, autoLevels(W, H, 32));\n  const K = frames.length, n = W * H;\n  const direction = (u: number, v: number): [number, number, number] => {\n    const theta = lon[0] + (u + 0.5) / W * (lon[1] - lon[0]);\n    if (projection === \"equirectangular\") {\n      const phi = lat[1] - (v + 0.5) / H * (lat[1] - lat[0]);\n      return [Math.cos(phi) * Math.sin(theta), Math.sin(phi), Math.cos(phi) * Math.cos(theta)];\n    }\n    const h = Math.tan(lat[1]) - (v + 0.5) / H * (Math.tan(lat[1]) - Math.tan(lat[0]));\n    return [Math.sin(theta), h, Math.cos(theta)];\n  };\n  const frameRows = frames.reduce((s, f) => s + f.image.height, 0);\n  const blendRows = blending === \"feather\" ? H : H + K * (H + 3 * gaussianPyramidRows(W, H, levels) + collapseRows(W, H, levels)) + collapseRows(W, H, levels);\n  const bytes = n * (12 + 1) + (blending === \"multi-band\" ? n * (12 + 8 + 1) + 2 * pyramidBytes(W, H, 3, levels) + pyramidBytes(W, H, 1, levels) * 2 : 4 * n);\n  return createProcessingTask({\n    provider, totalTileCount: frameRows + (compensation === \"gain\" ? H : 0) + blendRows, estimatedWorkingBytes: bytes,\n    maximumWorkingBytes: maximumWorkingBytes(r.maximumWorkingBytes),\n    body: function* (): ProcessingBody<PanoramaOutput> {\n      for (const [k, f] of frames.entries()) yield* finiteRows(f.image.data, f.image.width, f.image.height, 3, \"frames[\" + k + \"].image\");\n      const sample = new Float64Array(3), gains = new Array<number>(K).fill(1);\n      if (compensation === \"gain\" && K > 1) {\n        const count = new Float64Array(K * K), sum = new Float64Array(K * K), hit: number[] = [], mean: number[] = [];\n        for (let v = 0; v < H; v++) {\n          for (let u = 0; u < W; u++) {\n            const d = direction(u, v);\n            hit.length = 0; mean.length = 0;\n            for (let k = 0; k < K; k++) {\n              const p = project(frames[k]!, d);\n              if (p === null) continue;\n              bilinear(frames[k]!.image, p[0], p[1], sample);\n              hit.push(k); mean.push((sample[0]! + sample[1]! + sample[2]!) / 3);\n            }\n            for (let a = 0; a < hit.length; a++) for (let b = 0; b < hit.length; b++) if (a !== b) {\n              count[hit[a]! * K + hit[b]!]! += 1; sum[hit[a]! * K + hit[b]!]! += mean[a]!;\n            }\n          }\n          yield;\n        }\n        let norm = 0, pairs = 0;\n        for (let i = 0; i < K * K; i++) if (count[i]! > 0) { norm += sum[i]! / count[i]!; pairs++; }\n        norm = pairs > 0 && norm > 0 ? norm / pairs : 1;\n        // Normal equations of the Brown–Lowe objective (each unordered pair counted once).\n        const A = Array.from({ length: K }, () => new Float64Array(K)), rhs = new Float64Array(K);\n        for (let i = 0; i < K; i++) for (let j = 0; j < K; j++) {\n          if (i === j || count[i * K + j]! === 0) continue;\n          const N = count[i * K + j]!, Iij = sum[i * K + j]! / N / norm, Iji = sum[j * K + i]! / N / norm;\n          A[i]![i]! += N * (Iij * Iij / (sigmaN * sigmaN) + 1 / (2 * sigmaG * sigmaG));\n          A[i]![j]! -= N * Iij * Iji / (sigmaN * sigmaN);\n          rhs[i]! += N / (2 * sigmaG * sigmaG);\n        }\n        for (let i = 0; i < K; i++) if (A[i]![i] === 0) { A[i]![i] = 1; rhs[i] = 1; }\n        const g = solveLinear(A, rhs);\n        for (let k = 0; k < K; k++) gains[k] = g[k]!;\n      }\n      const out = new Float32Array(3 * n), coverage = new Uint8Array(n);\n      if (blending === \"feather\") {\n        for (let v = 0; v < H; v++) {\n          for (let u = 0; u < W; u++) {\n            const d = direction(u, v), i = v * W + u;\n            let wsum = 0, r0 = 0, g0 = 0, b0 = 0, covered = 0;\n            for (let k = 0; k < K; k++) {\n              const p = project(frames[k]!, d);\n              if (p === null) continue;\n              bilinear(frames[k]!.image, p[0], p[1], sample);\n              const w = p[2] * gains[k]!;\n              r0 += w * sample[0]!; g0 += w * sample[1]!; b0 += w * sample[2]!; wsum += p[2]; covered++;\n            }\n            coverage[i] = covered;\n            if (wsum > 0) { out[3 * i] = r0 / wsum; out[3 * i + 1] = g0 / wsum; out[3 * i + 2] = b0 / wsum; }\n          }\n          yield;\n        }\n      } else {\n        const best = new Float32Array(n), owner = new Uint8Array(n).fill(255), warped = new Float32Array(3 * n), mask = new Float32Array(n), valid = new Float32Array(n);\n        for (let v = 0; v < H; v++) {\n          for (let u = 0; u < W; u++) {\n            const d = direction(u, v), i = v * W + u;\n            for (let k = 0; k < K; k++) {\n              const p = project(frames[k]!, d);\n              if (p === null) continue;\n              coverage[i]!++;\n              if (p[2] > best[i]!) { best[i] = p[2]; owner[i] = k; }\n            }\n          }\n          yield;\n        }\n        let acc: Float32Array[] | null = null, wacc: Float32Array[] | null = null, sizes: { width: number; height: number }[] = [];\n        for (let k = 0; k < K; k++) {\n          for (let v = 0; v < H; v++) {\n            for (let u = 0; u < W; u++) {\n              const i = v * W + u, p = owner[i] === 255 ? null : project(frames[k]!, direction(u, v));\n              mask[i] = owner[i] === k ? 1 : 0; valid[i] = p === null ? 0 : 1;\n              if (p === null) { warped[3 * i] = 0; warped[3 * i + 1] = 0; warped[3 * i + 2] = 0; continue; }\n              bilinear(frames[k]!.image, p[0], p[1], sample);\n              for (let c = 0; c < 3; c++) warped[3 * i + c] = gains[k]! * sample[c]!;\n            }\n            yield;\n          }\n          // Normalized convolution: Gaussian levels of the zero-filled frame divided by those of its coverage, so the\n          // frame's own coverage edge never enters the blend as a dark halo; Laplacian levels follow from them.\n          const lap = yield* gaussianPyramid(warped, W, H, 3, levels), cov = yield* gaussianPyramid(valid, W, H, 1, levels);\n          for (let l = 0; l < levels; l++) {\n            const g = lap.levels[l]!, c = cov.levels[l]!;\n            for (let i = 0; i < c.length; i++) for (let ch = 0; ch < 3; ch++) g[3 * i + ch] = c[i]! > 1e-6 ? g[3 * i + ch]! / c[i]! : 0;\n          }\n          for (let l = 0; l < levels - 1; l++) {\n            const a = lap.sizes[l]!, b = lap.sizes[l + 1]!;\n            yield* expand(lap.levels[l + 1]!, b.width, b.height, a.width, a.height, 3, lap.levels[l]!, \"subtract-from\");\n          }\n          const gw = yield* gaussianPyramid(mask, W, H, 1, levels);\n          sizes = lap.sizes;\n          acc ??= sizes.map((s) => new Float32Array(s.width * s.height * 3));\n          wacc ??= sizes.map((s) => new Float32Array(s.width * s.height));\n          for (let l = 0; l < levels; l++) {\n            const a = acc[l]!, wa = wacc[l]!, L = lap.levels[l]!, G = gw.levels[l]!;\n            for (let i = 0; i < G.length; i++) { wa[i] = wa[i]! + G[i]!; for (let c = 0; c < 3; c++) a[3 * i + c] = a[3 * i + c]! + G[i]! * L[3 * i + c]!; }\n          }\n        }\n        for (let l = 0; l < levels; l++) {\n          const a = acc![l]!, wa = wacc![l]!;\n          for (let i = 0; i < wa.length; i++) for (let c = 0; c < 3; c++) a[3 * i + c] = wa[i]! > 1e-9 ? a[3 * i + c]! / wa[i]! : 0;\n        }\n        const blended = yield* collapse({ levels: acc!, sizes, channels: 3 });\n        for (let i = 0; i < n; i++) if (coverage[i] !== 0) for (let c = 0; c < 3; c++) out[3 * i + c] = blended[3 * i + c]!;\n      }\n      return { width: W, height: H, data: out, coverage, gains, provenance: processingProvenance(\"panorama-known-rotation-\" + projection + \"-\" + blending, [\n        \"Canvas rays reprojected into each frame through the engine camera-rotation convention; rectilinear, distortion-free, pure rotation (no parallax).\",\n        \"Bilinear resampling without prefiltering; downsampling canvases can alias.\",\n        compensation === \"gain\" ? \"Brown & Lowe (2007) gain compensation with sigma_N=\" + sigmaN + \" (normalized intensity), sigma_g=\" + sigmaG + \".\" : \"No exposure compensation.\",\n        blending === \"feather\" ? \"Feathered blending with centre-to-edge linear weights.\" : \"Multi-band blending of binary max-weight masks (Burt & Adelson 1983).\"]) };\n    }\n  });\n}\n\n/** Gaussian elimination with partial pivoting (small dense systems). */\nfunction solveLinear(A: Float64Array[], b: Float64Array): Float64Array {\n  const n = b.length, M = A.map((row, i) => { const r = new Float64Array(n + 1); r.set(row); r[n] = b[i]!; return r; });\n  for (let col = 0; col < n; col++) {\n    let pivot = col;\n    for (let i = col + 1; i < n; i++) if (Math.abs(M[i]![col]!) > Math.abs(M[pivot]![col]!)) pivot = i;\n    [M[col], M[pivot]] = [M[pivot]!, M[col]!];\n    const p = M[col]![col]!;\n    if (Math.abs(p) < 1e-300) throw new InvalidScientificInputError(\"Gain compensation system is singular.\");\n    for (let i = col + 1; i < n; i++) {\n      const f = M[i]![col]! / p;\n      for (let j = col; j <= n; j++) M[i]![j] = M[i]![j]! - f * M[col]![j]!;\n    }\n  }\n  const x = new Float64Array(n);\n  for (let i = n - 1; i >= 0; i--) {\n    let s = M[i]![n]!;\n    for (let j = i + 1; j < n; j++) s -= M[i]![j]! * x[j]!;\n    x[i] = s / M[i]![i]!;\n  }\n  return x;\n}\n"]}

package/dist/processing/processing-task.d.ts

@@ -0,0 +1,85 @@
+/**
+ * Shared cancellable task wrapper and typed-image contracts for the standalone image-processing
+ * operators: demosaic, HDR merge and encode, tone mapping, exposure fusion, focus stacking, panorama,
+ * denoise, sharpening and synthetic grain.
+ *
+ * Each operator is a synchronous row generator. This wrapper steps through it and reports one
+ * progress tile for each processed row of every pass. It awaits the host's `yieldControl` on the same
+ * time budget as the native RAW tasks. How often it yields never changes the output.
+ *
+ * Inputs are read during `run()` and never written. Callers must not change them until `run()`
+ * settles. Working memory is estimated in advance and capped by `maximumWorkingBytes`.
+ * @see docs/PROCESSING.md for algorithms, sources, approximation status and limits.
+ */
+import type { CalculationProvenance } from "../core/calculation-result.js";
+import { type HostYieldCadence } from "../capture/host-yield-cadence.js";
+import type { NativeTaskProgress } from "../output/native-capture-sdr.js";
+/** Largest image (pixels per frame) any processing operator accepts. */
+export declare const PROCESSING_MAX_PIXELS: number;
+/** Largest number of input frames (brackets, focus slices, panorama frames). */
+export declare const PROCESSING_MAX_FRAMES = 32;
+/** Default working-memory bound when `maximumWorkingBytes` is omitted (1 GiB). */
+export declare const PROCESSING_DEFAULT_MAXIMUM_WORKING_BYTES: number;
+export declare const PROCESSING_MODEL_VERSION: "1.0.0";
+/** Host hooks, the same shape as the native task providers. */
+export interface ProcessingProvider {
+    /** Must yield to the host event loop, allowing cancellation/input events between rows. */
+    yieldControl(signal: AbortSignal): Promise<void>;
+    /** Optional observer called after each processed row of each pass; cannot change output. */
+    onProgress?(progress: NativeTaskProgress): void;
+}
+export type ProcessingTaskState = "ready" | "running" | "completed" | "cancelled" | "failed" | "disposed" | "transferred";
+/** Single-use cancellable processing task. */
+export interface ProcessingTask<T> {
+    readonly state: ProcessingTaskState;
+    /** Rows processed so far across every pass. */
+    readonly completedTileCount: number;
+    /** Total rows of every pass; known before `run()`. */
+    readonly totalTileCount: number;
+    /** Upper estimate of typed-array bytes allocated by the task, including its output. */
+    readonly estimatedWorkingBytes: number;
+    run(): Promise<void>;
+    cancel(): void;
+    dispose(): void;
+    takeOutput(): T;
+}
+/** Interleaved RGB image: `data[(y·width + x)·3 + c]`, row-major, +Y down. */
+export interface ProcessingRgbImage {
+    width: number;
+    height: number;
+    data: Float32Array;
+}
+/** Linear RGB encodings the colour-aware operators accept (all D65). */
+export type ProcessingLinearColorSpace = "linear-srgb-d65" | "linear-display-p3-d65" | "linear-rec2020-d65";
+/** Result provenance of a processing operator; processing outputs are never calibrated. */
+export interface ProcessingProvenance extends CalculationProvenance {
+    kind: "approximation";
+    assumptions: readonly string[];
+}
+export declare function processingProvenance(model: string, assumptions: readonly string[]): ProcessingProvenance;
+/** Internal: a processing body yields once per processed row of every pass. */
+export type ProcessingBody<T> = Generator<void, T, void>;
+interface TaskSpec<T> {
+    provider: unknown;
+    totalTileCount: number;
+    estimatedWorkingBytes: number;
+    maximumWorkingBytes: number;
+    body: () => ProcessingBody<T>;
+    cadence?: HostYieldCadence;
+}
+/** Internal: wraps a row generator in the shared cancellable task contract. */
+export declare function createProcessingTask<T>(spec: TaskSpec<T>): ProcessingTask<T>;
+export declare function requireOptions(value: unknown, keys: readonly string[], label: string): Record<string, unknown>;
+export declare function requireFiniteIn(value: unknown, label: string, min: number, max: number, exclusiveMin?: boolean): number;
+export declare function optionalFiniteIn(value: unknown, fallback: number, label: string, min: number, max: number, exclusiveMin?: boolean): number;
+export declare function requireIntegerIn(value: unknown, label: string, min: number, max: number): number;
+export declare function optionalIntegerIn(value: unknown, fallback: number, label: string, min: number, max: number): number;
+export declare function requireEnum<T extends string>(value: unknown, allowed: readonly T[], label: string, fallback?: T): T;
+export declare function maximumWorkingBytes(value: unknown): number;
+/** Validates the shape (not the values) of an interleaved image; values are checked by `finiteRows`. */
+export declare function requireImage(value: unknown, label: string, channels?: number): ProcessingRgbImage;
+/** Validates 1..PROCESSING_MAX_FRAMES same-size images. */
+export declare function requireImageList(value: unknown, label: string, minimum: number): ProcessingRgbImage[];
+/** Row generator rejecting non-finite samples (one tile per row). */
+export declare function finiteRows(data: Float32Array, width: number, height: number, channels: number, label: string, minimum?: number): ProcessingBody<void>;
+export {};