@photivra/engine 1.5.0 → 2.1.0

package/dist/output/geometric-transforms.d.ts

@@ -1,37 +1,70 @@
 /**
- * Module boundary and integration notes.
- * Parses strict transform data, rejecting unknown semantics and noninvertible profiles.
- * Prepares deterministic still/frame geometry; time changes require another preparation.
+ * Geometric image transforms (warps) such as distortion correction and projection changes, and
+ * a resampler that applies them.
+ *
+ * A mapping goes from destination (output) points to source (captured) points. Preparing a
+ * mapping fixes it for one still or frame; a change in time needs a new preparation.
+ *
+ * Transform kinds:
+ * - `affine` and `radial` (schema 0.1.0, unchanged).
+ * - From mapping schema 0.2.0: `brown-conrady` (radial plus tangential lens distortion) and
+ *   `projection-remap` (a change of ideal projection, for example fisheye capture to a
+ *   rectilinear or equirectangular view).
+ *
+ * A mapping that uses only 0.1.0 kinds keeps schema and model version 0.1.0 and gives identical output.
  * @see docs/DIGITAL_OPTICS_FOUNDATION.md for equations, coordinate/unit conventions, blockers and
  * support limits.
  */
 import { type CalculationResult } from "../core/calculation-result.js";
 import { type RadialDistortionProfile, type LensFieldPointMm } from "../optics/radial-distortion.js";
-/** Domains are barriers: only contiguous equal-domain maps share a resample. */
+import { type BrownConradyDistortionProfile } from "../optics/brown-conrady-distortion.js";
+import { type LensProjectionModel } from "../camera/lens-projection.js";
+/** A domain change separates maps: only adjacent maps in the same domain share one resampling pass. */
 export type GeometricImageDomain = "raw-channel" | "reconstructed-linear" | "processed-output";
-/** Row-major derivative d(source mm)/d(destination mm). */
+/** Jacobian (derivative) d(source mm)/d(destination mm), in row-major order. */
 export type GeometricJacobian = readonly [number, number, number, number];
 interface TransformIdentity {
     id: string;
     version: string;
     domain: GeometricImageDomain;
-    purpose: "distortion" | "breathing" | "digital-stabilization" | "orientation-crop" | "lateral-ca";
+    purpose: "distortion" | "breathing" | "digital-stabilization" | "orientation-crop" | "lateral-ca" | "projection";
 }
-/** Explicit destination-to-source affine map, including rotation/shear/offset. */
+/** Explicit destination-to-source affine map, which can include rotation, shear and offset. */
 export interface AffineGeometricTransform extends TransformIdentity {
     kind: "affine";
     matrix: GeometricJacobian;
     offsetMm: LensFieldPointMm;
 }
-/** Correction samples physical distorted data at the mapped ideal destination. */
+/** Radial distortion. A correction reads the physically distorted data at the position mapped from each ideal (undistorted) destination point. */
 export interface RadialGeometricTransform extends TransformIdentity {
     kind: "radial";
     profile: RadialDistortionProfile;
 }
-export type DigitalGeometricTransform = AffineGeometricTransform | RadialGeometricTransform;
-/** Serializable prepared state. Maps are applied in listed destination-to-source order. */
+/** Schema 0.2.0: Brown-Conrady distortion. A correction reads the distorted data at the position mapped from each ideal destination point. */
+export interface BrownConradyGeometricTransform extends TransformIdentity {
+    kind: "brown-conrady";
+    profile: BrownConradyDistortionProfile;
+}
+/** One ideal projection and its mapping scale (focal length, or mm per radian for equirectangular). */
+export interface GeometricProjectionDeclaration {
+    projectionModel: LensProjectionModel;
+    focalLengthMm: number;
+}
+/**
+ * Schema 0.2.0: change of projection. Each destination point becomes a scene direction (using
+ * the destination projection), then a source point (using the source projection). Purpose must
+ * be "projection".
+ */
+export interface ProjectionRemapGeometricTransform extends TransformIdentity {
+    kind: "projection-remap";
+    destinationProjection: GeometricProjectionDeclaration;
+    sourceProjection: GeometricProjectionDeclaration;
+}
+export type DigitalGeometricTransform = AffineGeometricTransform | RadialGeometricTransform | BrownConradyGeometricTransform | ProjectionRemapGeometricTransform;
+/** Serializable prepared mapping. Maps are applied in the listed order, from destination towards source. */
 export interface PreparedGeometricMapping {
-    schemaVersion: "0.1.0";
+    /** 0.1.0 when only affine and radial kinds are used; 0.2.0 when a kind added in 2.0 is present. */
+    schemaVersion: "0.1.0" | "0.2.0";
     frameTimeSeconds: number;
     transforms: readonly DigitalGeometricTransform[];
     semanticKey: string;
@@ -40,14 +73,14 @@ export interface PreparedGeometricMapping {
         componentIds: readonly string[];
     }[];
 }
-/** Regular pixel centers on the optical plane: +X right, +Y up; row order down. */
+/** A regular grid of pixel centres on the optical plane: +X right, +Y up; rows run top to bottom. */
 export interface GeometricRaster {
     width: number;
     height: number;
     centerMm: LensFieldPointMm;
     pitchMm: number;
 }
-/** Resampler identity is independent of mapping. Prefiltering is a caller obligation. */
+/** The resampling filter, chosen independently of the mapping. Any prefiltering (anti-aliasing) is the caller's job. */
 export interface GeometricResampler {
     id: string;
     version: string;
@@ -72,9 +105,9 @@ export interface GeometricSamplingPlan {
     destinationRaster: GeometricRaster;
     resampler: GeometricResampler;
     points: readonly GeometricMappingPoint[];
-    /** Includes exact center-domain support for the selected filter; no edge extension. */
+    /** True where the selected filter has full source support around the pixel centre. Edges are not extended. */
     validSourceMask: readonly boolean[];
-    /** Largest all-valid axis-aligned pixel rectangle, half-open. Null if empty. */
+    /** Largest axis-aligned rectangle of valid pixels (half-open). Null if there is none. */
     jointCrop: {
         x: number;
         y: number;
@@ -87,7 +120,7 @@ export interface GeometricSamplingPlan {
         horizontal: number;
         vertical: number;
     };
-    /** Envelope of mapped pixel-center rays retained by the joint crop, not edge FOV. */
+    /** Angular extent of the mapped pixel-centre rays kept by the joint crop. It is not the edge-to-edge FOV. */
     retainedSampleRayEnvelopeDegrees: {
         minX: number;
         maxX: number;
@@ -95,19 +128,19 @@ export interface GeometricSamplingPlan {
         maxY: number;
     } | null;
 }
-/** Parses strict transform data, rejecting unknown semantics and noninvertible profiles. */
+/** Strictly parses transform data. Unknown kinds or fields and profiles that cannot be inverted are rejected. */
 export declare function parseDigitalGeometricTransform(value: unknown): DigitalGeometricTransform;
-/** Prepares deterministic still/frame geometry; time changes require another preparation. */
+/** Prepares a deterministic mapping for one still or frame. A change in time needs a new preparation. */
 export declare function prepareGeometricMapping(input: {
     transforms: readonly DigitalGeometricTransform[];
     frameTimeSeconds: number;
 }): CalculationResult<PreparedGeometricMapping>;
-/** Authoritative display-to-capture map and full local directional derivatives. */
+/** Maps a display point to the capture, with the full local derivatives in each direction. */
 export declare function calculateComposedGeometricMapping(input: {
     mapping: PreparedGeometricMapping;
     destinationPointMm: LensFieldPointMm;
 }): CalculationResult<GeometricMappingPoint>;
-/** Capture-to-display bridge for focus, metering and overlays; reverses the same maps. */
+/** Maps a capture point to the display, for focus, metering and overlays. It inverts the same maps. */
 export declare function calculateForwardGeometricMapping(input: {
     mapping: PreparedGeometricMapping;
     sourcePointMm: LensFieldPointMm;
@@ -116,15 +149,20 @@ export declare function calculateForwardGeometricMapping(input: {
 export declare function parseGeometricRaster(value: unknown): GeometricRaster;
 /** @internal Shared deterministic crop for a validated pixel mask. */
 export declare function calculateValidSourceCrop(mask: readonly boolean[], width: number, height: number): GeometricSamplingPlan["jointCrop"];
-/** Resolves one joint validity/crop/AA plan after composing compatible inverse maps. */
+/** Composes compatible inverse maps, then resolves one shared plan for validity, crop and anti-aliasing (AA). */
 export declare function calculateGeometricSamplingPlan(input: {
     mapping: PreparedGeometricMapping;
     sourceRaster: GeometricRaster;
     destinationRaster: GeometricRaster;
     resampler: GeometricResampler;
     physicalProjectionDistanceMm: number;
+    /**
+     * Ideal projection of the captured (source) image, used for the reported angles. Omitted or
+     * "rectilinear" keeps the existing atan(mm / projection distance) angles exactly.
+     */
+    sourceProjectionModel?: LensProjectionModel;
 }): CalculationResult<GeometricSamplingPlan>;
-/** Samples an already-formed scalar image once; null output marks missing source support. */
+/** Resamples an already-formed single-channel image once. A null output sample marks missing source data. */
 export declare function calculateGeometricResampling(input: {
     plan: GeometricSamplingPlan;
     sourceSamples: readonly number[];
@@ -134,4 +172,3 @@ export declare function calculateGeometricResampling(input: {
     resampler: GeometricResampler;
 }>;
 export {};
-//# sourceMappingURL=geometric-transforms.d.ts.map

package/dist/output/geometric-transforms.js

@@ -1,8 +1,18 @@
 // SPDX-License-Identifier: Apache-2.0
 /**
- * Module boundary and integration notes.
- * Parses strict transform data, rejecting unknown semantics and noninvertible profiles.
- * Prepares deterministic still/frame geometry; time changes require another preparation.
+ * Geometric image transforms (warps) such as distortion correction and projection changes, and
+ * a resampler that applies them.
+ *
+ * A mapping goes from destination (output) points to source (captured) points. Preparing a
+ * mapping fixes it for one still or frame; a change in time needs a new preparation.
+ *
+ * Transform kinds:
+ * - `affine` and `radial` (schema 0.1.0, unchanged).
+ * - From mapping schema 0.2.0: `brown-conrady` (radial plus tangential lens distortion) and
+ *   `projection-remap` (a change of ideal projection, for example fisheye capture to a
+ *   rectilinear or equirectangular view).
+ *
+ * A mapping that uses only 0.1.0 kinds keeps schema and model version 0.1.0 and gives identical output.
  * @see docs/DIGITAL_OPTICS_FOUNDATION.md for equations, coordinate/unit conventions, blockers and
  * support limits.
  */
@@ -10,6 +20,9 @@ import { approximationResult } from "../core/calculation-result.js";
 import { InvalidScientificInputError } from "../core/validation.js";
 import { calculateRadialDistortionMapping, calculateInverseRadialDistortionMapping, validateRadialDistortionProfile } from "../optics/radial-distortion.js";
 import { choice, finite, list, positive, record, textValue } from "../optics/profile-contract.js";
+import { requireInputObject, requireInputKeys } from "../core/record-validation.js";
+import { brownConradyForwardValue, brownConradyInverseValue, validateBrownConradyDistortionProfile } from "../optics/brown-conrady-distortion.js";
+import { lensProjectionRemapValue, lensProjectionSignedAxisAngle, parseLensProjectionModel } from "../camera/lens-projection.js";
 function point(value) {
     const p = record(value, ["x", "y"]);
     return { x: finite(p.x, "x"), y: finite(p.y, "y") };
@@ -28,15 +41,43 @@ function inverse(m) {
 function affine(p, m, o) {
     return { x: m[0] * p.x + m[1] * p.y + o.x, y: m[2] * p.x + m[3] * p.y + o.y };
 }
-/** Parses strict transform data, rejecting unknown semantics and noninvertible profiles. */
+/** Strictly parses transform data. Unknown kinds or fields and profiles that cannot be inverted are rejected. */
 export function parseDigitalGeometricTransform(value) {
-    const r = record(value, ["id", "version", "domain", "purpose", "kind", "matrix", "offsetMm", "profile"]);
+    const r = record(value, ["id", "version", "domain", "purpose", "kind", "matrix", "offsetMm", "profile",
+        "destinationProjection", "sourceProjection"]);
     const identity = {
         id: textValue(r.id), version: textValue(r.version),
         domain: choice(r.domain, ["raw-channel", "reconstructed-linear", "processed-output"]),
-        purpose: choice(r.purpose, ["distortion", "breathing", "digital-stabilization", "orientation-crop", "lateral-ca"])
+        purpose: choice(r.purpose, ["distortion", "breathing", "digital-stabilization", "orientation-crop", "lateral-ca", "projection"])
     };
-    const kind = choice(r.kind, ["affine", "radial"]);
+    const kind = choice(r.kind, ["affine", "radial", "brown-conrady", "projection-remap"]);
+    if ((kind === "projection-remap") !== (identity.purpose === "projection")) {
+        throw new InvalidScientificInputError("Purpose \"projection\" is used exactly by projection-remap transforms.");
+    }
+    if (kind !== "projection-remap" && (r.destinationProjection !== undefined || r.sourceProjection !== undefined)) {
+        throw new InvalidScientificInputError("Only projection-remap transforms carry projection declarations.");
+    }
+    if (kind === "projection-remap") {
+        if (r.matrix !== undefined || r.offsetMm !== undefined || r.profile !== undefined) {
+            throw new InvalidScientificInputError("Projection remap cannot contain affine or distortion fields.");
+        }
+        const projection = (v) => {
+            const d = record(v, ["projectionModel", "focalLengthMm"]);
+            return { projectionModel: parseLensProjectionModel(d.projectionModel), focalLengthMm: positive(d.focalLengthMm, "focalLengthMm") };
+        };
+        return { ...identity, kind, destinationProjection: projection(r.destinationProjection), sourceProjection: projection(r.sourceProjection) };
+    }
+    if (kind === "brown-conrady") {
+        if (r.matrix !== undefined || r.offsetMm !== undefined)
+            throw new InvalidScientificInputError("Brown-Conrady map cannot contain affine fields.");
+        const p = record(r.profile, ["normalizationRadiusMm", "maximumNormalizedRadius", "coefficients"]);
+        const c = record(p.coefficients, ["k1", "k2", "k3", "p1", "p2"]);
+        const profile = { normalizationRadiusMm: positive(p.normalizationRadiusMm, "normalizationRadiusMm"),
+            maximumNormalizedRadius: positive(p.maximumNormalizedRadius, "maximumNormalizedRadius"),
+            coefficients: { k1: finite(c.k1, "k1"), k2: finite(c.k2, "k2"), k3: finite(c.k3, "k3"), p1: finite(c.p1, "p1"), p2: finite(c.p2, "p2") } };
+        validateBrownConradyDistortionProfile(profile);
+        return { ...identity, kind, profile };
+    }
     if (kind === "affine") {
         if (r.profile !== undefined)
             throw new InvalidScientificInputError("Affine map cannot contain radial profile.");
@@ -57,8 +98,9 @@ export function parseDigitalGeometricTransform(value) {
     validateRadialDistortionProfile(profile);
     return { ...identity, kind, profile };
 }
-/** Prepares deterministic still/frame geometry; time changes require another preparation. */
+/** Prepares a deterministic mapping for one still or frame. A change in time needs a new preparation. */
 export function prepareGeometricMapping(input) {
+    requireInputKeys(input, "prepareGeometricMapping", ["transforms", "frameTimeSeconds"]);
     const time = finite(input.frameTimeSeconds, "frameTimeSeconds");
     if (time < 0)
         throw new InvalidScientificInputError("Time is seconds from exposure start.");
@@ -73,15 +115,35 @@ export function prepareGeometricMapping(input) {
         else
             groups.push({ domain: t.domain, componentIds: [t.id] });
     }
-    return approximationResult({ schemaVersion: "0.1.0", frameTimeSeconds: time, transforms,
-        semanticKey: JSON.stringify({ frameTimeSeconds: time, transforms }), groups }, "composed-digital-geometry", "0.1.0", ["Explicit inverse maps; incompatible domains require separate image stages", "No physical PSF, photon or noise-history recalculation"]);
+    const version = transforms.some((t) => t.kind === "brown-conrady" || t.kind === "projection-remap") ? "0.2.0" : "0.1.0";
+    return approximationResult({ schemaVersion: version, frameTimeSeconds: time, transforms,
+        semanticKey: JSON.stringify({ frameTimeSeconds: time, transforms }), groups }, "composed-digital-geometry", version, ["Explicit inverse maps; incompatible domains require separate image stages", "No physical PSF, photon or noise-history recalculation"]);
+}
+/**
+ * Re-validates a prepared mapping from its defining fields (transforms and frame time). Its derived
+ * fields (schema version, semantic key, groups) are recomputed, never trusted.
+ */
+function reprepareGeometricMapping(mapping) {
+    requireInputObject(mapping, "prepareGeometricMapping input");
+    return prepareGeometricMapping({ transforms: mapping.transforms, frameTimeSeconds: mapping.frameTimeSeconds }).value;
 }
-/** Authoritative display-to-capture map and full local directional derivatives. */
+/** Maps a display point to the capture, with the full local derivatives in each direction. */
 export function calculateComposedGeometricMapping(input) {
-    const mapping = prepareGeometricMapping(input.mapping).value;
+    requireInputKeys(input, "calculateComposedGeometricMapping", ["mapping", "destinationPointMm"]);
+    const mapping = reprepareGeometricMapping(input.mapping);
     return calculatePreparedGeometricMappingPoint(mapping, input.destinationPointMm);
 }
-/** Call-local parsed/copy-owned mapping only; never accepts external prepared state. */
+/** Only a mapping parsed and copied within this call; prepared state from outside is never accepted. */
+const VALIDATED_BROWN_CONRADY = new WeakMap();
+/** Validates a parsed transform's profile once per prepared mapping (the transform object is call-local). */
+function validatedBrownConrady(t) {
+    let v = VALIDATED_BROWN_CONRADY.get(t);
+    if (v === undefined) {
+        v = validateBrownConradyDistortionProfile(t.profile);
+        VALIDATED_BROWN_CONRADY.set(t, v);
+    }
+    return v;
+}
 function calculatePreparedGeometricMappingPoint(mapping, destinationPointMm) {
     let p = point(destinationPointMm);
     let j = [1, 0, 0, 1];
@@ -89,10 +151,20 @@ function calculatePreparedGeometricMappingPoint(mapping, destinationPointMm) {
     for (const t of mapping.transforms) {
         let local;
         if (t.kind === "affine") {
-            // Preserve independent result arrays when one mapping serves many points.
+            // Give each point its own result arrays when one mapping serves many points.
             local = [...t.matrix];
             p = affine(p, local, t.offsetMm);
         }
+        else if (t.kind === "brown-conrady") {
+            const mapped = brownConradyForwardValue(validatedBrownConrady(t), p);
+            local = [...mapped.jacobian];
+            p = mapped.mappedImagePointMm;
+        }
+        else if (t.kind === "projection-remap") {
+            const mapped = lensProjectionRemapValue(t.destinationProjection.projectionModel, t.destinationProjection.focalLengthMm, t.sourceProjection.projectionModel, t.sourceProjection.focalLengthMm, p.x, p.y);
+            local = [...mapped.jacobian];
+            p = { ...mapped.sourcePointMm };
+        }
         else {
             const { k1, k2, k3 } = t.profile.coefficients;
             const r2 = (p.x * p.x + p.y * p.y) / t.profile.normalizationRadiusMm ** 2;
@@ -104,21 +176,27 @@ function calculatePreparedGeometricMappingPoint(mapping, destinationPointMm) {
         j = multiply(local, j);
         components.push({ id: t.id, sourcePointMm: { ...p }, jacobian: local });
     }
-    // Singular values via the symmetric J^T J eigenproblem. det/smax avoids cancellation at smin.
+    // Singular values from the eigenvalues of the symmetric matrix JᵀJ. Computing the smaller one as
+    // det/smax avoids cancellation error.
     const a = j[0] * j[0] + j[2] * j[2], b = j[0] * j[1] + j[2] * j[3], c = j[1] * j[1] + j[3] * j[3];
     const maximum = Math.sqrt((a + c + Math.hypot(a - c, 2 * b)) / 2);
     const det = determinant(j), minimum = Math.abs(det) / maximum;
     return approximationResult({ sourcePointMm: p, jacobian: j, determinant: det,
         principalStretches: [maximum, minimum], anisotropy: maximum / minimum, components }, "composed-digital-geometry-point", "0.1.0", ["Jacobian warps already-formed blur and noise; it creates no captured detail"]);
 }
-/** Capture-to-display bridge for focus, metering and overlays; reverses the same maps. */
+/** Maps a capture point to the display, for focus, metering and overlays. It inverts the same maps. */
 export function calculateForwardGeometricMapping(input) {
+    requireInputKeys(input, "calculateForwardGeometricMapping", ["mapping", "sourcePointMm"]);
     let p = point(input.sourcePointMm);
-    const mapping = prepareGeometricMapping(input.mapping).value;
+    const mapping = reprepareGeometricMapping(input.mapping);
     for (const t of [...mapping.transforms].reverse()) {
         p = t.kind === "affine"
             ? affine({ x: p.x - t.offsetMm.x, y: p.y - t.offsetMm.y }, inverse(t.matrix), { x: 0, y: 0 })
-            : calculateInverseRadialDistortionMapping({ distortedImagePointMm: p, profile: t.profile }).value.sourceImagePointMm;
+            : t.kind === "brown-conrady"
+                ? brownConradyInverseValue(validatedBrownConrady(t), p)
+                : t.kind === "projection-remap"
+                    ? lensProjectionRemapValue(t.sourceProjection.projectionModel, t.sourceProjection.focalLengthMm, t.destinationProjection.projectionModel, t.destinationProjection.focalLengthMm, p.x, p.y).sourcePointMm
+                    : calculateInverseRadialDistortionMapping({ distortedImagePointMm: p, profile: t.profile }).value.sourceImagePointMm;
     }
     return approximationResult(p, "forward-digital-geometry-bridge", "0.1.0", ["Inverse of the authoritative destination-to-source geometry"]);
 }
@@ -166,9 +244,10 @@ export function calculateValidSourceCrop(mask, width, height) {
     }
     return best;
 }
-/** Resolves one joint validity/crop/AA plan after composing compatible inverse maps. */
+/** Composes compatible inverse maps, then resolves one shared plan for validity, crop and anti-aliasing (AA). */
 export function calculateGeometricSamplingPlan(input) {
-    const mapping = prepareGeometricMapping(input.mapping).value;
+    requireInputKeys(input, "calculateGeometricSamplingPlan", ["mapping", "sourceRaster", "destinationRaster", "resampler", "physicalProjectionDistanceMm", "sourceProjectionModel"]);
+    const mapping = reprepareGeometricMapping(input.mapping);
     if (mapping.groups.length > 1)
         throw new InvalidScientificInputError("Separate incompatible-domain groups before resampling.");
     const source = parseGeometricRaster(input.sourceRaster), destination = parseGeometricRaster(input.destinationRaster);
@@ -185,7 +264,10 @@ export function calculateGeometricSamplingPlan(input) {
         }
     const requiresPrefilter = points.some((p) => p.principalStretches[0] * destination.pitchMm / source.pitchMm > 1 + 1e-12);
     const crop = calculateValidSourceCrop(mask, destination.width, destination.height);
-    const angle = (mm) => Math.atan(mm / projection) * 180 / Math.PI;
+    const sourceModel = input.sourceProjectionModel === undefined ? "rectilinear" : parseLensProjectionModel(input.sourceProjectionModel);
+    const angle = sourceModel === "rectilinear"
+        ? (mm) => Math.atan(mm / projection) * 180 / Math.PI
+        : (mm) => lensProjectionSignedAxisAngle(sourceModel, projection, mm) * 180 / Math.PI;
     const retained = points.filter((_, i) => crop !== null && i % destination.width >= crop.x &&
         i % destination.width < crop.x + crop.width && Math.floor(i / destination.width) >= crop.y &&
         Math.floor(i / destination.width) < crop.y + crop.height).map((p) => p.sourcePointMm);
@@ -200,9 +282,14 @@ export function calculateGeometricSamplingPlan(input) {
             vertical: angle(source.centerMm.y + source.height * source.pitchMm / 2) - angle(source.centerMm.y - source.height * source.pitchMm / 2)
         }, retainedSampleRayEnvelopeDegrees: envelope }, "joint-geometric-sampling-plan", "0.1.0", ["Mask and crop are exact for this pixel-center lattice/filter, not continuous between-pixel support", "Compression requires explicitly source-prefiltered data; this API does not implement that prefilter", "No temporal trajectory crop guarantee"]);
 }
-/** Samples an already-formed scalar image once; null output marks missing source support. */
+/** Resamples an already-formed single-channel image once. A null output sample marks missing source data. */
 export function calculateGeometricResampling(input) {
-    const plan = calculateGeometricSamplingPlan({ ...input.plan, physicalProjectionDistanceMm: 1 }).value;
+    requireInputKeys(input, "calculateGeometricResampling", ["plan", "sourceSamples"]);
+    const prior = input.plan;
+    requireInputObject(prior, "calculateGeometricResampling plan");
+    // Re-plan from the defining fields; the derived plan fields are recomputed, never trusted.
+    const plan = calculateGeometricSamplingPlan({ mapping: prior.mapping, sourceRaster: prior.sourceRaster,
+        destinationRaster: prior.destinationRaster, resampler: prior.resampler, physicalProjectionDistanceMm: 1 }).value;
     if (!plan.canResample)
         throw new InvalidScientificInputError("Compression requires source-prefiltered data.");
     const source = list(input.sourceSamples, 65536).map((v) => finite(v, "source sample"));
@@ -215,7 +302,7 @@ export function calculateGeometricResampling(input) {
         if (plan.resampler.filter === "nearest")
             return source[Math.round(q.y) * width + Math.round(q.x)];
         const x = Math.floor(q.x), y = Math.floor(q.y), dx = q.x - x, dy = q.y - y;
-        // Exact boundary centers need no nonexistent neighbor; no border extension occurs.
+        // A centre exactly on the boundary needs no missing neighbour. The border is never extended.
         const x1 = dx === 0 ? x : x + 1, y1 = dy === 0 ? y : y + 1;
         return (1 - dy) * ((1 - dx) * source[y * width + x] + dx * source[y * width + x1]) +
             dy * ((1 - dx) * source[y1 * width + x] + dx * source[y1 * width + x1]);

package/dist/output/geometric-transforms.js.map

@@ -1 +1 @@
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SPDX-License-Identifier: Apache-2.0\n\n/**\n * Geometric image transforms (warps) such as distortion correction and projection changes, and\n * a resampler that applies them.\n *\n * A mapping goes from destination (output) points to source (captured) points. Preparing a\n * mapping fixes it for one still or frame; a change in time needs a new preparation.\n *\n * Transform kinds:\n * - `affine` and `radial` (schema 0.1.0, unchanged).\n * - From mapping schema 0.2.0: `brown-conrady` (radial plus tangential lens distortion) and\n *   `projection-remap` (a change of ideal projection, for example fisheye capture to a\n *   rectilinear or equirectangular view).\n *\n * A mapping that uses only 0.1.0 kinds keeps schema and model version 0.1.0 and gives identical output.\n * @see docs/DIGITAL_OPTICS_FOUNDATION.md for equations, coordinate/unit conventions, blockers and\n * support limits.\n */\n\nimport { approximationResult, type CalculationResult } from \"../core/calculation-result.js\";\nimport { InvalidScientificInputError } from \"../core/validation.js\";\nimport {\n  calculateRadialDistortionMapping, calculateInverseRadialDistortionMapping,\n  validateRadialDistortionProfile, type RadialDistortionProfile, type LensFieldPointMm\n} from \"../optics/radial-distortion.js\";\nimport { choice, finite, list, positive, record, textValue } from \"../optics/profile-contract.js\";\nimport { requireInputObject, requireInputKeys } from \"../core/record-validation.js\";\nimport {\n  brownConradyForwardValue, brownConradyInverseValue, validateBrownConradyDistortionProfile,\n  type BrownConradyDistortionProfile, type ValidatedBrownConradyDistortionProfile\n} from \"../optics/brown-conrady-distortion.js\";\nimport {\n  lensProjectionRemapValue, lensProjectionSignedAxisAngle, parseLensProjectionModel,\n  type LensProjectionModel\n} from \"../camera/lens-projection.js\";\n\n/** A domain change separates maps: only adjacent maps in the same domain share one resampling pass. */\nexport type GeometricImageDomain = \"raw-channel\" | \"reconstructed-linear\" | \"processed-output\";\n/** Jacobian (derivative) d(source mm)/d(destination mm), in row-major order. */\nexport type GeometricJacobian = readonly [number, number, number, number];\ninterface TransformIdentity {\n  id: string;\n  version: string;\n  domain: GeometricImageDomain;\n  purpose: \"distortion\" | \"breathing\" | \"digital-stabilization\" | \"orientation-crop\" | \"lateral-ca\" | \"projection\";\n}\n/** Explicit destination-to-source affine map, which can include rotation, shear and offset. */\nexport interface AffineGeometricTransform extends TransformIdentity {\n  kind: \"affine\";\n  matrix: GeometricJacobian;\n  offsetMm: LensFieldPointMm;\n}\n/** Radial distortion. A correction reads the physically distorted data at the position mapped from each ideal (undistorted) destination point. */\nexport interface RadialGeometricTransform extends TransformIdentity {\n  kind: \"radial\";\n  profile: RadialDistortionProfile;\n}\n/** Schema 0.2.0: Brown-Conrady distortion. A correction reads the distorted data at the position mapped from each ideal destination point. */\nexport interface BrownConradyGeometricTransform extends TransformIdentity {\n  kind: \"brown-conrady\";\n  profile: BrownConradyDistortionProfile;\n}\n/** One ideal projection and its mapping scale (focal length, or mm per radian for equirectangular). */\nexport interface GeometricProjectionDeclaration {\n  projectionModel: LensProjectionModel;\n  focalLengthMm: number;\n}\n/**\n * Schema 0.2.0: change of projection. Each destination point becomes a scene direction (using\n * the destination projection), then a source point (using the source projection). Purpose must\n * be \"projection\".\n */\nexport interface ProjectionRemapGeometricTransform extends TransformIdentity {\n  kind: \"projection-remap\";\n  destinationProjection: GeometricProjectionDeclaration;\n  sourceProjection: GeometricProjectionDeclaration;\n}\nexport type DigitalGeometricTransform =\n  | AffineGeometricTransform\n  | RadialGeometricTransform\n  | BrownConradyGeometricTransform\n  | ProjectionRemapGeometricTransform;\n/** Serializable prepared mapping. Maps are applied in the listed order, from destination towards source. */\nexport interface PreparedGeometricMapping {\n  /** 0.1.0 when only affine and radial kinds are used; 0.2.0 when a kind added in 2.0 is present. */\n  schemaVersion: \"0.1.0\" | \"0.2.0\";\n  frameTimeSeconds: number;\n  transforms: readonly DigitalGeometricTransform[];\n  semanticKey: string;\n  groups: readonly { domain: GeometricImageDomain; componentIds: readonly string[] }[];\n}\n/** A regular grid of pixel centres on the optical plane: +X right, +Y up; rows run top to bottom. */\nexport interface GeometricRaster {\n  width: number;\n  height: number;\n  centerMm: LensFieldPointMm;\n  pitchMm: number;\n}\n/** The resampling filter, chosen independently of the mapping. Any prefiltering (anti-aliasing) is the caller's job. */\nexport interface GeometricResampler {\n  id: string;\n  version: string;\n  filter: \"nearest\" | \"bilinear\";\n  antialias: \"none\" | \"source-prefiltered\";\n}\nexport interface GeometricMappingPoint {\n  sourcePointMm: LensFieldPointMm;\n  jacobian: GeometricJacobian;\n  determinant: number;\n  principalStretches: readonly [number, number];\n  anisotropy: number;\n  components: readonly { id: string; sourcePointMm: LensFieldPointMm; jacobian: GeometricJacobian }[];\n}\nexport interface GeometricSamplingPlan {\n  mapping: PreparedGeometricMapping;\n  sourceRaster: GeometricRaster;\n  destinationRaster: GeometricRaster;\n  resampler: GeometricResampler;\n  points: readonly GeometricMappingPoint[];\n  /** True where the selected filter has full source support around the pixel centre. Edges are not extended. */\n  validSourceMask: readonly boolean[];\n  /** Largest axis-aligned rectangle of valid pixels (half-open). Null if there is none. */\n  jointCrop: { x: number; y: number; width: number; height: number } | null;\n  requiresPrefilter: boolean;\n  canResample: boolean;\n  physicalCapturedFovDegrees: { horizontal: number; vertical: number };\n  /** Angular extent of the mapped pixel-centre rays kept by the joint crop. It is not the edge-to-edge FOV. */\n  retainedSampleRayEnvelopeDegrees: { minX: number; maxX: number; minY: number; maxY: number } | null;\n}\n\nfunction point(value: unknown): LensFieldPointMm {\n  const p = record(value, [\"x\", \"y\"]);\n  return { x: finite(p.x, \"x\"), y: finite(p.y, \"y\") };\n}\nfunction multiply(a: GeometricJacobian, b: GeometricJacobian): GeometricJacobian {\n  return [a[0]*b[0]+a[1]*b[2], a[0]*b[1]+a[1]*b[3],\n    a[2]*b[0]+a[3]*b[2], a[2]*b[1]+a[3]*b[3]];\n}\nfunction determinant(m: GeometricJacobian): number { return m[0]*m[3]-m[1]*m[2]; }\nfunction inverse(m: GeometricJacobian): GeometricJacobian {\n  const d = determinant(m);\n  if (!Number.isFinite(d) || Math.abs(d) < 1e-12) throw new InvalidScientificInputError(\"Singular or ill-conditioned affine map.\");\n  return [m[3]/d, -m[1]/d, -m[2]/d, m[0]/d];\n}\nfunction affine(p: LensFieldPointMm, m: GeometricJacobian, o: LensFieldPointMm): LensFieldPointMm {\n  return { x: m[0]*p.x+m[1]*p.y+o.x, y: m[2]*p.x+m[3]*p.y+o.y };\n}\n/** Strictly parses transform data. Unknown kinds or fields and profiles that cannot be inverted are rejected. */\nexport function parseDigitalGeometricTransform(value: unknown): DigitalGeometricTransform {\n  const r = record(value, [\"id\", \"version\", \"domain\", \"purpose\", \"kind\", \"matrix\", \"offsetMm\", \"profile\",\n    \"destinationProjection\", \"sourceProjection\"]);\n  const identity = {\n    id: textValue(r.id), version: textValue(r.version),\n    domain: choice(r.domain, [\"raw-channel\", \"reconstructed-linear\", \"processed-output\"]),\n    purpose: choice(r.purpose, [\"distortion\", \"breathing\", \"digital-stabilization\", \"orientation-crop\", \"lateral-ca\", \"projection\"])\n  };\n  const kind = choice(r.kind, [\"affine\", \"radial\", \"brown-conrady\", \"projection-remap\"]);\n  if ((kind === \"projection-remap\") !== (identity.purpose === \"projection\")) {\n    throw new InvalidScientificInputError(\"Purpose \\\"projection\\\" is used exactly by projection-remap transforms.\");\n  }\n  if (kind !== \"projection-remap\" && (r.destinationProjection !== undefined || r.sourceProjection !== undefined)) {\n    throw new InvalidScientificInputError(\"Only projection-remap transforms carry projection declarations.\");\n  }\n  if (kind === \"projection-remap\") {\n    if (r.matrix !== undefined || r.offsetMm !== undefined || r.profile !== undefined) {\n      throw new InvalidScientificInputError(\"Projection remap cannot contain affine or distortion fields.\");\n    }\n    const projection = (v: unknown): GeometricProjectionDeclaration => {\n      const d = record(v, [\"projectionModel\", \"focalLengthMm\"]);\n      return { projectionModel: parseLensProjectionModel(d.projectionModel), focalLengthMm: positive(d.focalLengthMm, \"focalLengthMm\") };\n    };\n    return { ...identity, kind, destinationProjection: projection(r.destinationProjection), sourceProjection: projection(r.sourceProjection) };\n  }\n  if (kind === \"brown-conrady\") {\n    if (r.matrix !== undefined || r.offsetMm !== undefined) throw new InvalidScientificInputError(\"Brown-Conrady map cannot contain affine fields.\");\n    const p = record(r.profile, [\"normalizationRadiusMm\", \"maximumNormalizedRadius\", \"coefficients\"]);\n    const c = record(p.coefficients, [\"k1\", \"k2\", \"k3\", \"p1\", \"p2\"]);\n    const profile = { normalizationRadiusMm: positive(p.normalizationRadiusMm, \"normalizationRadiusMm\"),\n      maximumNormalizedRadius: positive(p.maximumNormalizedRadius, \"maximumNormalizedRadius\"),\n      coefficients: { k1: finite(c.k1, \"k1\"), k2: finite(c.k2, \"k2\"), k3: finite(c.k3, \"k3\"), p1: finite(c.p1, \"p1\"), p2: finite(c.p2, \"p2\") } };\n    validateBrownConradyDistortionProfile(profile);\n    return { ...identity, kind, profile };\n  }\n  if (kind === \"affine\") {\n    if (r.profile !== undefined) throw new InvalidScientificInputError(\"Affine map cannot contain radial profile.\");\n    const entries = list(r.matrix, 4).map((v) => finite(v, \"matrix\"));\n    if (entries.length !== 4) throw new InvalidScientificInputError(\"Matrix must have four entries.\");\n    const matrix = entries as [number, number, number, number];\n    inverse(matrix);\n    return { ...identity, kind, matrix, offsetMm: point(r.offsetMm) };\n  }\n  if (r.matrix !== undefined || r.offsetMm !== undefined) throw new InvalidScientificInputError(\"Radial map cannot contain affine fields.\");\n  const p = record(r.profile, [\"normalizationRadiusMm\", \"maximumNormalizedRadius\", \"coefficients\"]);\n  const c = record(p.coefficients, [\"k1\", \"k2\", \"k3\"]);\n  const profile = { normalizationRadiusMm: positive(p.normalizationRadiusMm, \"normalizationRadiusMm\"),\n    maximumNormalizedRadius: positive(p.maximumNormalizedRadius, \"maximumNormalizedRadius\"),\n    coefficients: { k1: finite(c.k1, \"k1\"), k2: finite(c.k2, \"k2\"), k3: finite(c.k3, \"k3\") } };\n  validateRadialDistortionProfile(profile);\n  return { ...identity, kind, profile };\n}\n\n/** Prepares a deterministic mapping for one still or frame. A change in time needs a new preparation. */\nexport function prepareGeometricMapping(input: {\n  transforms: readonly DigitalGeometricTransform[]; frameTimeSeconds: number;\n}): CalculationResult<PreparedGeometricMapping> {\n  requireInputKeys(input, \"prepareGeometricMapping\", [\"transforms\", \"frameTimeSeconds\"]);\n  const time = finite(input.frameTimeSeconds, \"frameTimeSeconds\");\n  if (time < 0) throw new InvalidScientificInputError(\"Time is seconds from exposure start.\");\n  const transforms = list(input.transforms, 32).map(parseDigitalGeometricTransform);\n  if (new Set(transforms.map((t) => t.id)).size !== transforms.length) throw new InvalidScientificInputError(\"Duplicate transform IDs.\");\n  const groups: { domain: GeometricImageDomain; componentIds: string[] }[] = [];\n  for (const t of transforms) {\n    const last = groups.at(-1);\n    if (last?.domain === t.domain) last.componentIds.push(t.id);\n    else groups.push({ domain: t.domain, componentIds: [t.id] });\n  }\n  const version = transforms.some((t) => t.kind === \"brown-conrady\" || t.kind === \"projection-remap\") ? \"0.2.0\" as const : \"0.1.0\" as const;\n  return approximationResult({ schemaVersion: version, frameTimeSeconds: time, transforms,\n    semanticKey: JSON.stringify({ frameTimeSeconds: time, transforms }), groups },\n  \"composed-digital-geometry\", version, [\"Explicit inverse maps; incompatible domains require separate image stages\", \"No physical PSF, photon or noise-history recalculation\"]);\n}\n\n/**\n * Re-validates a prepared mapping from its defining fields (transforms and frame time). Its derived\n * fields (schema version, semantic key, groups) are recomputed, never trusted.\n */\nfunction reprepareGeometricMapping(mapping: PreparedGeometricMapping): PreparedGeometricMapping {\n  requireInputObject(mapping, \"prepareGeometricMapping input\");\n  return prepareGeometricMapping({ transforms: mapping.transforms, frameTimeSeconds: mapping.frameTimeSeconds }).value;\n}\n\n/** Maps a display point to the capture, with the full local derivatives in each direction. */\nexport function calculateComposedGeometricMapping(input: {\n  mapping: PreparedGeometricMapping; destinationPointMm: LensFieldPointMm;\n}): CalculationResult<GeometricMappingPoint> {\n  requireInputKeys(input, \"calculateComposedGeometricMapping\", [\"mapping\", \"destinationPointMm\"]);\n  const mapping = reprepareGeometricMapping(input.mapping);\n  return calculatePreparedGeometricMappingPoint(mapping, input.destinationPointMm);\n}\n\n/** Only a mapping parsed and copied within this call; prepared state from outside is never accepted. */\nconst VALIDATED_BROWN_CONRADY = new WeakMap<BrownConradyGeometricTransform, ValidatedBrownConradyDistortionProfile>();\n/** Validates a parsed transform's profile once per prepared mapping (the transform object is call-local). */\nfunction validatedBrownConrady(t: BrownConradyGeometricTransform): ValidatedBrownConradyDistortionProfile {\n  let v = VALIDATED_BROWN_CONRADY.get(t);\n  if (v === undefined) { v = validateBrownConradyDistortionProfile(t.profile); VALIDATED_BROWN_CONRADY.set(t, v); }\n  return v;\n}\n\nfunction calculatePreparedGeometricMappingPoint(\n  mapping: PreparedGeometricMapping,\n  destinationPointMm: LensFieldPointMm\n): CalculationResult<GeometricMappingPoint> {\n  let p = point(destinationPointMm);\n  let j: GeometricJacobian = [1, 0, 0, 1];\n  const components: GeometricMappingPoint[\"components\"][number][] = [];\n  for (const t of mapping.transforms) {\n    let local: GeometricJacobian;\n    if (t.kind === \"affine\") {\n      // Give each point its own result arrays when one mapping serves many points.\n      local = [...t.matrix];\n      p = affine(p, local, t.offsetMm);\n    } else if (t.kind === \"brown-conrady\") {\n      const mapped = brownConradyForwardValue(validatedBrownConrady(t), p);\n      local = [...mapped.jacobian];\n      p = mapped.mappedImagePointMm;\n    } else if (t.kind === \"projection-remap\") {\n      const mapped = lensProjectionRemapValue(t.destinationProjection.projectionModel, t.destinationProjection.focalLengthMm,\n        t.sourceProjection.projectionModel, t.sourceProjection.focalLengthMm, p.x, p.y);\n      local = [...mapped.jacobian];\n      p = { ...mapped.sourcePointMm };\n    } else {\n      const { k1, k2, k3 } = t.profile.coefficients;\n      const r2 = (p.x*p.x+p.y*p.y)/t.profile.normalizationRadiusMm**2;\n      const s = 1+k1*r2+k2*r2*r2+k3*r2*r2*r2;\n      const d = 2*(k1+2*k2*r2+3*k3*r2*r2)/t.profile.normalizationRadiusMm**2;\n      local = [s+d*p.x*p.x, d*p.x*p.y, d*p.x*p.y, s+d*p.y*p.y];\n      p = calculateRadialDistortionMapping({ imagePointMm: p, profile: t.profile }).value.mappedImagePointMm;\n    }\n    j = multiply(local, j);\n    components.push({ id: t.id, sourcePointMm: { ...p }, jacobian: local });\n  }\n  // Singular values from the eigenvalues of the symmetric matrix JᵀJ. Computing the smaller one as\n  // det/smax avoids cancellation error.\n  const a = j[0]*j[0]+j[2]*j[2], b = j[0]*j[1]+j[2]*j[3], c = j[1]*j[1]+j[3]*j[3];\n  const maximum = Math.sqrt((a+c+Math.hypot(a-c, 2*b))/2);\n  const det = determinant(j), minimum = Math.abs(det)/maximum;\n  return approximationResult({ sourcePointMm: p, jacobian: j, determinant: det,\n    principalStretches: [maximum, minimum], anisotropy: maximum/minimum, components },\n  \"composed-digital-geometry-point\", \"0.1.0\", [\"Jacobian warps already-formed blur and noise; it creates no captured detail\"]);\n}\n\n/** Maps a capture point to the display, for focus, metering and overlays. It inverts the same maps. */\nexport function calculateForwardGeometricMapping(input: {\n  mapping: PreparedGeometricMapping; sourcePointMm: LensFieldPointMm;\n}): CalculationResult<LensFieldPointMm> {\n  requireInputKeys(input, \"calculateForwardGeometricMapping\", [\"mapping\", \"sourcePointMm\"]);\n  let p = point(input.sourcePointMm);\n  const mapping = reprepareGeometricMapping(input.mapping);\n  for (const t of [...mapping.transforms].reverse()) {\n    p = t.kind === \"affine\"\n      ? affine({ x: p.x-t.offsetMm.x, y: p.y-t.offsetMm.y }, inverse(t.matrix), { x: 0, y: 0 })\n      : t.kind === \"brown-conrady\"\n        ? brownConradyInverseValue(validatedBrownConrady(t), p)\n        : t.kind === \"projection-remap\"\n          ? lensProjectionRemapValue(t.sourceProjection.projectionModel, t.sourceProjection.focalLengthMm,\n            t.destinationProjection.projectionModel, t.destinationProjection.focalLengthMm, p.x, p.y).sourcePointMm\n          : calculateInverseRadialDistortionMapping({ distortedImagePointMm: p, profile: t.profile }).value.sourceImagePointMm;\n  }\n  return approximationResult(p, \"forward-digital-geometry-bridge\", \"0.1.0\", [\"Inverse of the authoritative destination-to-source geometry\"]);\n}\n\n/** @internal Shared lattice validation for downstream correction consumers. */\nexport function parseGeometricRaster(value: unknown): GeometricRaster {\n  const r = record(value, [\"width\", \"height\", \"centerMm\", \"pitchMm\"]);\n  const width = positive(r.width, \"width\"), height = positive(r.height, \"height\");\n  if (!Number.isSafeInteger(width) || !Number.isSafeInteger(height) || width*height > 65536) {\n    throw new InvalidScientificInputError(\"Raster must have at most 65536 integral samples.\");\n  }\n  return { width, height, centerMm: point(r.centerMm), pitchMm: positive(r.pitchMm, \"pitchMm\") };\n}\nfunction pixelPoint(r: GeometricRaster, x: number, y: number): LensFieldPointMm {\n  return { x: r.centerMm.x+(x+.5-r.width/2)*r.pitchMm, y: r.centerMm.y-(y+.5-r.height/2)*r.pitchMm };\n}\nfunction pixelCoordinate(r: GeometricRaster, p: LensFieldPointMm): LensFieldPointMm {\n  return { x: (p.x-r.centerMm.x)/r.pitchMm+r.width/2-.5, y: (r.centerMm.y-p.y)/r.pitchMm+r.height/2-.5 };\n}\nfunction supported(r: GeometricRaster, p: LensFieldPointMm, filter: GeometricResampler[\"filter\"]): boolean {\n  const q = pixelCoordinate(r, p);\n  return filter === \"nearest\"\n    ? Math.round(q.x) >= 0 && Math.round(q.x) < r.width && Math.round(q.y) >= 0 && Math.round(q.y) < r.height\n    : q.x >= 0 && q.x <= r.width-1 && q.y >= 0 && q.y <= r.height-1;\n}\n/** @internal Shared deterministic crop for a validated pixel mask. */\nexport function calculateValidSourceCrop(mask: readonly boolean[], width: number, height: number): GeometricSamplingPlan[\"jointCrop\"] {\n  const heights = Array<number>(width).fill(0);\n  let best: GeometricSamplingPlan[\"jointCrop\"] = null, area = 0;\n  for (let y = 0; y < height; y++) {\n    for (let x = 0; x < width; x++) heights[x] = mask[y*width+x] ? heights[x]!+1 : 0;\n    const stack: number[] = [];\n    for (let x = 0; x <= width; x++) {\n      const h = x === width ? 0 : heights[x]!;\n      while (stack.length && heights[stack.at(-1)!]! > h) {\n        const index = stack.pop()!, rectangleHeight = heights[index]!;\n        const left = stack.length ? stack.at(-1)!+1 : 0, rectangleWidth = x-left;\n        if (rectangleHeight*rectangleWidth > area) {\n          area = rectangleHeight*rectangleWidth;\n          best = { x: left, y: y-rectangleHeight+1, width: rectangleWidth, height: rectangleHeight };\n        }\n      }\n      stack.push(x);\n    }\n  }\n  return best;\n}\n\n/** Composes compatible inverse maps, then resolves one shared plan for validity, crop and anti-aliasing (AA). */\nexport function calculateGeometricSamplingPlan(input: {\n  mapping: PreparedGeometricMapping; sourceRaster: GeometricRaster; destinationRaster: GeometricRaster;\n  resampler: GeometricResampler; physicalProjectionDistanceMm: number;\n  /**\n   * Ideal projection of the captured (source) image, used for the reported angles. Omitted or\n   * \"rectilinear\" keeps the existing atan(mm / projection distance) angles exactly.\n   */\n  sourceProjectionModel?: LensProjectionModel;\n}): CalculationResult<GeometricSamplingPlan> {\n  requireInputKeys(input, \"calculateGeometricSamplingPlan\", [\"mapping\", \"sourceRaster\", \"destinationRaster\", \"resampler\", \"physicalProjectionDistanceMm\", \"sourceProjectionModel\"]);\n  const mapping = reprepareGeometricMapping(input.mapping);\n  if (mapping.groups.length > 1) throw new InvalidScientificInputError(\"Separate incompatible-domain groups before resampling.\");\n  const source = parseGeometricRaster(input.sourceRaster), destination = parseGeometricRaster(input.destinationRaster);\n  const r = record(input.resampler, [\"id\", \"version\", \"filter\", \"antialias\"]);\n  const resampler: GeometricResampler = { id: textValue(r.id), version: textValue(r.version),\n    filter: choice(r.filter, [\"nearest\", \"bilinear\"]), antialias: choice(r.antialias, [\"none\", \"source-prefiltered\"]) };\n  const projection = positive(input.physicalProjectionDistanceMm, \"physicalProjectionDistanceMm\");\n  const points: GeometricMappingPoint[] = [], mask: boolean[] = [];\n  for (let y = 0; y < destination.height; y++) for (let x = 0; x < destination.width; x++) {\n    const mapped = calculatePreparedGeometricMappingPoint(mapping, pixelPoint(destination, x, y)).value;\n    points.push(mapped); mask.push(supported(source, mapped.sourcePointMm, resampler.filter));\n  }\n  const requiresPrefilter = points.some((p) => p.principalStretches[0]*destination.pitchMm/source.pitchMm > 1+1e-12);\n  const crop = calculateValidSourceCrop(mask, destination.width, destination.height);\n  const sourceModel = input.sourceProjectionModel === undefined ? \"rectilinear\" : parseLensProjectionModel(input.sourceProjectionModel);\n  const angle = sourceModel === \"rectilinear\"\n    ? (mm: number): number => Math.atan(mm/projection)*180/Math.PI\n    : (mm: number): number => lensProjectionSignedAxisAngle(sourceModel, projection, mm)*180/Math.PI;\n  const retained = points.filter((_, i) => crop !== null && i%destination.width >= crop.x &&\n    i%destination.width < crop.x+crop.width && Math.floor(i/destination.width) >= crop.y &&\n    Math.floor(i/destination.width) < crop.y+crop.height).map((p) => p.sourcePointMm);\n  const envelope = retained.length ? { minX: Math.min(...retained.map((p) => angle(p.x))),\n    maxX: Math.max(...retained.map((p) => angle(p.x))), minY: Math.min(...retained.map((p) => angle(p.y))),\n    maxY: Math.max(...retained.map((p) => angle(p.y))) } : null;\n  return approximationResult({ mapping, sourceRaster: source, destinationRaster: destination, resampler, points,\n    validSourceMask: mask, jointCrop: crop, requiresPrefilter,\n    canResample: !requiresPrefilter || resampler.antialias === \"source-prefiltered\",\n    physicalCapturedFovDegrees: {\n      horizontal: angle(source.centerMm.x+source.width*source.pitchMm/2)-angle(source.centerMm.x-source.width*source.pitchMm/2),\n      vertical: angle(source.centerMm.y+source.height*source.pitchMm/2)-angle(source.centerMm.y-source.height*source.pitchMm/2)\n    }, retainedSampleRayEnvelopeDegrees: envelope },\n  \"joint-geometric-sampling-plan\", \"0.1.0\", [\"Mask and crop are exact for this pixel-center lattice/filter, not continuous between-pixel support\", \"Compression requires explicitly source-prefiltered data; this API does not implement that prefilter\", \"No temporal trajectory crop guarantee\"]);\n}\n\n/** Resamples an already-formed single-channel image once. A null output sample marks missing source data. */\nexport function calculateGeometricResampling(input: {\n  plan: GeometricSamplingPlan; sourceSamples: readonly number[];\n}): CalculationResult<{ samples: readonly (number | null)[]; resamplePasses: 1; resampler: GeometricResampler }> {\n  requireInputKeys(input, \"calculateGeometricResampling\", [\"plan\", \"sourceSamples\"]);\n  const prior = input.plan;\n  requireInputObject(prior, \"calculateGeometricResampling plan\");\n  // Re-plan from the defining fields; the derived plan fields are recomputed, never trusted.\n  const plan = calculateGeometricSamplingPlan({ mapping: prior.mapping, sourceRaster: prior.sourceRaster,\n    destinationRaster: prior.destinationRaster, resampler: prior.resampler, physicalProjectionDistanceMm: 1 }).value;\n  if (!plan.canResample) throw new InvalidScientificInputError(\"Compression requires source-prefiltered data.\");\n  const source = list(input.sourceSamples, 65536).map((v) => finite(v, \"source sample\"));\n  if (source.length !== plan.sourceRaster.width*plan.sourceRaster.height) throw new InvalidScientificInputError(\"Source sample count mismatch.\");\n  const samples = plan.points.map((p, index): number | null => {\n    if (!plan.validSourceMask[index]) return null;\n    const q = pixelCoordinate(plan.sourceRaster, p.sourcePointMm), width = plan.sourceRaster.width;\n    if (plan.resampler.filter === \"nearest\") return source[Math.round(q.y)*width+Math.round(q.x)]!;\n    const x = Math.floor(q.x), y = Math.floor(q.y), dx = q.x-x, dy = q.y-y;\n    // A centre exactly on the boundary needs no missing neighbour. The border is never extended.\n    const x1 = dx === 0 ? x : x+1, y1 = dy === 0 ? y : y+1;\n    return (1-dy)*((1-dx)*source[y*width+x]!+dx*source[y*width+x1]!) +\n      dy*((1-dx)*source[y1*width+x]!+dx*source[y1*width+x1]!);\n  });\n  return approximationResult({ samples, resamplePasses: 1, resampler: plan.resampler },\n    \"single-pass-geometric-resampling\", \"0.1.0\", [\"Warps captured blur/noise; does not recalculate the optical PSF\"]);\n}\n"]}