@zendir/ui 0.2.21 → 0.3.0

package/dist/react/3d/CesiumCaptureSource.js.map

@@ -1 +1 @@
-{"version":3,"file":"CesiumCaptureSource.js","sources":["../../../src/react/3d/CesiumCaptureSource.ts"],"sourcesContent":["/**\n * @zendir/ui - CesiumJS Capture Source\n *\n * Factory function that creates a headless (hidden DOM) CesiumJS viewer\n * for rendering satellite-viewpoint globe images. Designed to plug into\n * the Capture component's `imageSource` prop.\n *\n * The viewer is created once and reused across captures. Camera position,\n * orientation, FOV, and resolution are applied per-request from CaptureArgs.\n *\n * Requires `cesium` as an optional peer dependency. Tree-shakes away when\n * Cesium is not installed (dynamic import).\n *\n * @example\n * ```ts\n * import { createCesiumCaptureSource } from '@zendir/ui/react/3d';\n *\n * const source = await createCesiumCaptureSource({ accessToken: '...' });\n * <Capture imageSource={source.capture} />\n *\n * // Cleanup on unmount:\n * source.destroy();\n * ```\n */\n\nimport type { CaptureArgs } from '../core/Capture';\nimport { EARTH_RADIUS_KM, DEG_TO_RAD, RAD_TO_DEG } from './ZenSpace3DUtils';\n\n/** Lazy import avoids circular deps; returns bundled placeholder PNG on capture failure */\nasync function loadPlaceholderFallback(): Promise<Uint8Array> {\n  const { loadCapturePlaceholderImage } = await import('../core/Capture');\n  return loadCapturePlaceholderImage();\n}\n\n// ─── Types ────────────────────────────────────────────────────────────────────\n\nexport interface CesiumCaptureSourceOptions {\n  /**\n   * Container element to host the hidden Cesium viewer.\n   * If not provided, one is auto-created and appended to document.body.\n   */\n  container?: HTMLElement;\n  /** Cesium Ion default access token for imagery/terrain tiles */\n  accessToken?: string;\n  /**\n   * Imagery provider URL template. Falls back to Cesium Ion default\n   * when not specified and an accessToken is provided.\n   */\n  imageryUrl?: string;\n  /** Enable terrain (requires Cesium Ion token). Default: false */\n  terrain?: boolean;\n  /** Maximum cached tile count (higher = more memory, fewer re-downloads). Default: 100 */\n  maximumCachedTiles?: number;\n  /**\n   * Called during capture while waiting for tiles to load.\n   * Receives elapsed milliseconds so the caller can show a progress indicator.\n   */\n  onTileLoadProgress?: (elapsedMs: number) => void;\n  /** Max milliseconds to wait for tile loading per capture. Default: 10000 */\n  tileLoadTimeoutMs?: number;\n  /**\n   * Use OpenStreetMap raster tiles (no Cesium Ion token required).\n   * Strongly recommended for local dev and Storybook; default is true.\n   * Set false to keep the Viewer default imagery (typically Cesium Ion / Bing — needs `accessToken`).\n   */\n  useOpenStreetMapImagery?: boolean;\n}\n\nexport interface CesiumCaptureSourceHandle {\n  /** Render a globe image from the given camera parameters. Pass as Capture's imageSource. */\n  capture: (args: CaptureArgs) => Promise<Uint8Array>;\n  /** Tear down the Cesium viewer, remove the hidden container, release WebGL context. */\n  destroy: () => void;\n  /** Whether the viewer is initialized and ready to render. */\n  readonly ready: boolean;\n}\n\n// ─── Helpers ──────────────────────────────────────────────────────────────────\n\n/**\n * Convert ECEF meters (Unreal / game-engine format) to SDK's ECI-like km format.\n *\n * ECEF (Earth-Centered Earth-Fixed): X→0°N 0°E, Y→0°N 90°E, Z→North Pole (meters)\n * SDK (ECI-like):                    X/Z→equatorial plane,   Y→North Pole  (km)\n *\n * Axis mapping:  SDK.x = ECEF.x / 1000\n *                SDK.y = ECEF.z / 1000   (ECEF Z=north → SDK Y=north)\n *                SDK.z = ECEF.y / 1000\n *\n * Export this so callers (e.g. MQTT handlers) can normalize at the boundary\n * before passing positions to CaptureArgs.\n */\nexport function ecefMetersToSdkPosition(\n  ecef: [number, number, number],\n): [number, number, number] {\n  const [ex, ey, ez] = ecef;\n  return [ex / 1000, ez / 1000, ey / 1000];\n}\n\n/**\n * Convert world-frame Euler XYZ rotation + ECEF position to Cesium HPR (degrees).\n *\n * The game engine sends the camera's absolute orientation as Euler 1-2-3\n * (XYZ intrinsic, right-handed, X=right Y=forward Z=up) in the ECEF world frame.\n * Cesium's heading/pitch/roll are relative to the local ENU (East-North-Up) frame\n * at the camera's geographic position, so we must:\n *\n *   1. Build the rotation matrix R from Euler XYZ (camera axes in ECEF)\n *   2. Extract the camera's forward (+Y) and up (+Z) vectors in ECEF\n *   3. Compute the ECEF→ENU rotation matrix at the camera's lat/lon\n *   4. Transform forward/up into the ENU frame\n *   5. Extract heading, pitch, roll from those ENU vectors\n *\n * @param ecefPos  Camera position in ECEF meters [x, y, z]\n * @param eulerDeg Euler XYZ rotation in degrees [rx, ry, rz]\n * @returns [heading, pitch, roll] in degrees (Cesium convention)\n */\nexport function ecefEulerXyzToHpr(\n  ecefPos: [number, number, number],\n  eulerDeg: [number, number, number],\n): [number, number, number] {\n  const [px, py, pz] = ecefPos;\n\n  // ── Lat/Lon from ECEF position (geocentric, sufficient for orientation) ──\n  const rHoriz = Math.sqrt(px * px + py * py);\n  const lat = Math.atan2(pz, rHoriz);\n  const lon = Math.atan2(py, px);\n  const slat = Math.sin(lat), clat = Math.cos(lat);\n  const slon = Math.sin(lon), clon = Math.cos(lon);\n\n  // ── Build camera rotation matrix from Euler XYZ ──\n  // R_game = Rz(rz) · Ry(ry) · Rx(rx)   (fixed-frame / extrinsic equivalent)\n  // Columns of R_game are the camera's body axes expressed in ECEF.\n  const rx = eulerDeg[0] * DEG_TO_RAD;\n  const ry = eulerDeg[1] * DEG_TO_RAD;\n  const rz = eulerDeg[2] * DEG_TO_RAD;\n  const cx = Math.cos(rx), sx = Math.sin(rx);\n  const cy = Math.cos(ry), sy = Math.sin(ry);\n  const cz = Math.cos(rz), sz = Math.sin(rz);\n\n  // Column 1 = camera forward (+Y body axis) in ECEF\n  const fX = sx * sy * cz - cx * sz;\n  const fY = sx * sy * sz + cx * cz;\n  const fZ = sx * cy;\n\n  // Column 2 = camera up (+Z body axis) in ECEF\n  const uX = cx * sy * cz + sx * sz;\n  const uY = cx * sy * sz - sx * cz;\n  const uZ = cx * cy;\n\n  // ── Transform forward and up from ECEF → ENU ──\n  // R_enu rows: East  = [-slon,        clon,        0   ]\n  //             North = [-slat*clon,   -slat*slon,   clat]\n  //             Up    = [ clat*clon,    clat*slon,   slat]\n  const fE = -slon * fX + clon * fY;\n  const fN = -slat * clon * fX - slat * slon * fY + clat * fZ;\n  const fU =  clat * clon * fX + clat * slon * fY + slat * fZ;\n\n  const uE = -slon * uX + clon * uY;\n  const uN = -slat * clon * uX - slat * slon * uY + clat * uZ;\n  const uU =  clat * clon * uX + clat * slon * uY + slat * uZ;\n\n  // ── Extract heading and pitch from forward vector in ENU ──\n  const horizLen = Math.sqrt(fE * fE + fN * fN);\n  // heading = CW from North: atan2(East component, North component)\n  const heading = Math.atan2(fE, fN) * RAD_TO_DEG;\n  // pitch = elevation from horizontal (negative = looking down)\n  const pitch = Math.atan2(fU, horizLen) * RAD_TO_DEG;\n\n  // ── Extract roll from up vector ──\n  // Special case: looking straight up or down (gimbal lock for heading)\n  if (horizLen < 1e-9) {\n    const roll = Math.atan2(uE, uN) * RAD_TO_DEG;\n    return [heading, pitch, roll];\n  }\n\n  // default_right = normalize( forward_enu × [0,0,1] ) — horizontal perp to forward\n  // forward × Z_enu = [fE,fN,fU] × [0,0,1] = [fN, -fE, 0]\n  const drLen = Math.sqrt(fN * fN + fE * fE); // = horizLen\n  const drE = fN / drLen;\n  const drN = -fE / drLen;\n  // drU = 0\n\n  // default_up = normalize( default_right × forward )\n  // dr=[drE,drN,0], f=[fE,fN,fU]  (normalize f for a unit cross product)\n  const fLen = Math.sqrt(fE * fE + fN * fN + fU * fU);\n  const fnE = fE / fLen, fnN = fN / fLen, fnU = fU / fLen;\n  const duE = drN * fnU;          // drN*fnU - 0*fnN\n  const duN = -drE * fnU;         // 0*fnE - drE*fnU\n  const duU = drE * fnN - drN * fnE;\n\n  // roll = atan2( up·default_right, up·default_up )\n  const roll = Math.atan2(\n    uE * drE + uN * drN,                    // up · default_right (drU=0)\n    uE * duE + uN * duN + uU * duU,         // up · default_up\n  ) * RAD_TO_DEG;\n\n  return [heading, pitch, roll];\n}\n\n/**\n * Convert local-frame Euler XYZ intrinsic rotation (right-handed, degrees)\n * to Cesium heading/pitch/roll (degrees).\n *\n * Use this when the rotation is already relative to a local frame aligned with\n * ENU (e.g. manual test inputs). For world-frame ECEF rotations from Unreal,\n * use `ecefEulerXyzToHpr` instead — it accounts for the ENU frame at the\n * camera's geographic position.\n *\n * Euler XYZ: rotation[0] around X, [1] around Y, [2] around Z.\n * Decomposed into Cesium HPR via the rotation matrix R = Rz·Ry·Rx.\n */\nexport function eulerXyzToHpr(\n  eulerDeg: [number, number, number],\n): [number, number, number] {\n  const rx = eulerDeg[0] * DEG_TO_RAD;\n  const ry = eulerDeg[1] * DEG_TO_RAD;\n  const rz = eulerDeg[2] * DEG_TO_RAD;\n\n  const cx = Math.cos(rx), sx = Math.sin(rx);\n  const cy = Math.cos(ry), sy = Math.sin(ry);\n  const cz = Math.cos(rz), sz = Math.sin(rz);\n\n  // R = Rz(rz) · Ry(ry) · Rx(rx)\n  const R02 = cx * sy * cz + sx * sz;\n  const R00 = cy * cz;\n  const R01 = sx * sy * cz - cx * sz;\n  const R12 = cx * sy * sz - sx * cz;\n  const R22 = cx * cy;\n\n  const heading = Math.atan2(R01, R00) * RAD_TO_DEG;\n  const pitch   = Math.asin(Math.max(-1, Math.min(1, -R02))) * RAD_TO_DEG;\n  const roll    = Math.atan2(-R12, R22) * RAD_TO_DEG;\n\n  return [heading, pitch, roll];\n}\n\n/**\n * Convert CaptureArgs position [x, y, z] (km from Earth center, ECI-like)\n * to Cesium Cartesian3 (WGS84 meters).\n *\n * The Y axis points to the North Pole, X/Z define the equatorial plane\n * (matching the ZenSpace3D rendering convention after scale correction).\n *\n * Callers sending ECEF meter coordinates (e.g. Unreal Engine) should convert\n * with `ecefMetersToSdkPosition()` before passing to CaptureArgs.\n */\nfunction positionToCartesian3(Cesium: any, position: [number, number, number]): any {\n  const [x, y, z] = position;\n  const r = Math.sqrt(x * x + y * y + z * z);\n\n  // Guard against zero-length position (would cause NaN in acos)\n  if (r < 1) {\n    return Cesium.Cartesian3.fromDegrees(0, 0, 400_000);\n  }\n\n  // Extract direction → lat/lon (independent of distance scale)\n  const lat = 90 - Math.acos(Math.min(1, Math.max(-1, y / r))) * RAD_TO_DEG;\n  const lon = Math.atan2(z, -x) * RAD_TO_DEG - 180;\n\n  // Altitude is distance above Earth surface in km; Cesium needs meters\n  const altKm = r - EARTH_RADIUS_KM;\n  return Cesium.Cartesian3.fromDegrees(lon, lat, altKm * 1000);\n}\n\n/**\n * Compute the optical field of view from physical sensor parameters.\n *\n * Real satellite cameras derive FOV from:\n *   FOV = 2 × atan( (sensor_size / 2) / focal_length )\n * where sensor_size = resolution × pixel_pitch (mm).\n *\n * Returns the FOV in degrees, or null if the parameters are insufficient\n * (zero focal_length, zero pixel_pitch, or zero resolution).\n */\nfunction computeOpticalFov(focalLengthMm: number, pixelPitchMm: number, resolutionPx: number): number | null {\n  if (focalLengthMm <= 0 || pixelPitchMm <= 0 || resolutionPx <= 0) return null;\n  const sensorSizeMm = resolutionPx * pixelPitchMm;\n  return 2 * Math.atan(sensorSizeMm / (2 * focalLengthMm)) * RAD_TO_DEG;\n}\n\n/**\n * Apply grayscale filter to canvas pixel data in-place.\n * Uses luminance weights (ITU-R BT.709).\n */\nfunction applyGrayscale(ctx: CanvasRenderingContext2D, width: number, height: number): void {\n  const imageData = ctx.getImageData(0, 0, width, height);\n  const data = imageData.data;\n  for (let i = 0; i < data.length; i += 4) {\n    const lum = 0.2126 * data[i] + 0.7152 * data[i + 1] + 0.0722 * data[i + 2];\n    data[i] = data[i + 1] = data[i + 2] = lum;\n  }\n  ctx.putImageData(imageData, 0, 0);\n}\n\n// ─── Depth-of-Field Simulation ────────────────────────────────────────────────\n\n/**\n * Estimate the nadir subject distance in meters from the camera position.\n *\n * The SDK position is in ECI-like coordinates (km). Camera altitude above\n * the Earth surface gives the approximate distance to the ground plane\n * directly below (nadir). For oblique views the actual distance is larger,\n * but nadir is the dominant case for satellite imagery.\n */\nfunction estimateSubjectDistanceM(position: [number, number, number]): number {\n  const [x, y, z] = position;\n  const rKm = Math.sqrt(x * x + y * y + z * z);\n  const altKm = Math.max(0, rKm - EARTH_RADIUS_KM);\n  return altKm * 1000;\n}\n\n/**\n * Compute depth-of-field blur radius in CSS pixels using the thin lens model.\n *\n * Thin lens circle of confusion (CoC) diameter:\n *   c = |f²/N × (S - D) / (D × (S - f))|\n *\n * where:\n *   f = focal length (mm)\n *   N = f-number (aperture)\n *   S = focusing distance (mm) — the plane in sharp focus\n *   D = subject distance (mm) — actual distance to the scene\n *\n * The CoC diameter is converted to pixels via pixel_pitch, then halved to\n * get a blur radius. The result is clamped by the sensor's maximum\n * acceptable CoC (args.coc) to model physical diffraction limits.\n *\n * Returns 0 when the scene is in acceptable focus (blur < 0.5px).\n * Exported for unit testing.\n */\nexport function computeDofBlurPx(args: CaptureArgs, subjectDistanceM: number): number {\n  const fMm = args.focal_length;\n  const N = args.aperture;\n  const sMm = args.focusing_distance * 1000; // meters → mm\n  const dMm = subjectDistanceM * 1000;       // meters → mm\n  const ppMm = args.pixel_pitch;\n\n  if (N <= 0 || fMm <= 0 || dMm <= 0 || ppMm <= 0 || sMm <= fMm) return 0;\n\n  // Subject is essentially at the focus plane — no blur needed\n  if (Math.abs(sMm - dMm) < 1) return 0;\n\n  // Thin lens CoC diameter in mm\n  // c = |f²/N × (S - D) / (D × (S - f))|\n  const cocDiameterMm = Math.abs(\n    (fMm * fMm / N) * (sMm - dMm) / (dMm * (sMm - fMm)),\n  );\n\n  // Note: args.coc is the sensor's acceptable-focus criterion (not a render clamp).\n  // We render the FULL optical blur — the sensor CoC only defines what humans\n  // consider \"in focus\" for DoF range calculations, not the actual blur disc.\n\n  // Convert diameter → pixel radius\n  const radiusPx = (cocDiameterMm / ppMm) / 2;\n\n  // Below half a pixel is imperceptible; cap at 1/4 of image to prevent whiteout\n  if (radiusPx < 0.5) return 0;\n  return Math.min(radiusPx, args.resolution / 4);\n}\n\n/**\n * Apply Gaussian depth-of-field blur to a 2D canvas context.\n * Uses the native CSS `filter: blur()` for GPU-accelerated performance.\n *\n * The blur is applied by:\n *  1. Drawing the current canvas content onto a temp canvas with blur filter\n *  2. Copying the blurred result back\n *\n * This simulates the optical defocus that occurs when the subject distance\n * doesn't match the focusing distance — exactly what happens when a\n * satellite camera's focus plane is set incorrectly.\n */\nfunction applyDofBlur(ctx: CanvasRenderingContext2D, width: number, height: number, radiusPx: number): void {\n  const tmp = document.createElement('canvas');\n  tmp.width = width;\n  tmp.height = height;\n  const tmpCtx = tmp.getContext('2d')!;\n\n  // CSS filter blur uses Gaussian sigma ≈ radius; the visual result closely\n  // matches a real optical defocus disc for moderate blur amounts.\n  tmpCtx.filter = `blur(${radiusPx}px)`;\n  tmpCtx.drawImage(ctx.canvas, 0, 0);\n\n  // Copy blurred result back, replacing the original sharp image\n  ctx.clearRect(0, 0, width, height);\n  ctx.drawImage(tmp, 0, 0);\n}\n\n/**\n * Convert a data-URL string to a Uint8Array of the underlying binary data.\n */\nfunction dataUrlToBytes(dataUrl: string): Uint8Array {\n  const base64 = dataUrl.split(',')[1];\n  const binaryStr = atob(base64);\n  const bytes = new Uint8Array(binaryStr.length);\n  for (let i = 0; i < binaryStr.length; i++) {\n    bytes[i] = binaryStr.charCodeAt(i);\n  }\n  return bytes;\n}\n\n// ─── Factory ──────────────────────────────────────────────────────────────────\n\n/**\n * Creates a reusable CesiumJS capture source backed by a hidden viewer.\n *\n * The viewer is initialized once with `preserveDrawingBuffer: true` so\n * canvas pixels survive after `scene.render()`. All Cesium UI widgets\n * are disabled. The container is positioned off-screen (1x1 px) and\n * resized to the requested resolution on each capture.\n *\n * @param options - Configuration for the hidden viewer\n * @returns Handle with `capture(args)`, `destroy()`, and `ready` flag\n */\nexport async function createCesiumCaptureSource(\n  options: CesiumCaptureSourceOptions = {}\n): Promise<CesiumCaptureSourceHandle> {\n  // Cesium is untyped when loaded via dynamic import in some TS configs\n  const Cesium: any = await import('cesium');\n\n  // Set default access token if provided\n  if (options.accessToken) {\n    Cesium.Ion.defaultAccessToken = options.accessToken;\n  }\n\n  // Create or reuse a hidden container.\n  // CRITICAL: The container must remain fully GPU-rendered for WebGL readback.\n  //   - `left:-9999px`  → GPU skips rendering (off-viewport optimisation)\n  //   - `visibility:hidden` → some browsers throttle WebGL compositing\n  //   - `display:none` → element has no layout, canvas is 0x0\n  // Solution: keep it on-screen at 0,0 but use `clip-path: inset(100%)` to\n  // hide it visually. The element participates in layout AND the GPU renders\n  // the WebGL context, but nothing is painted to the screen.\n  let container = options.container ?? null;\n  let ownsContainer = false;\n  if (!container) {\n    container = document.createElement('div');\n    container.style.cssText =\n      'position:fixed;left:0;top:0;width:1px;height:1px;overflow:hidden;' +\n      'clip-path:inset(100%);pointer-events:none;z-index:-1;';\n    document.body.appendChild(container);\n    ownsContainer = true;\n  }\n\n  // Create a minimal Cesium Viewer with no UI chrome\n  const viewer: any = new Cesium.Viewer(container, {\n    baseLayerPicker: false,\n    fullscreenButton: false,\n    vrButton: false,\n    geocoder: false,\n    homeButton: false,\n    sceneModePicker: false,\n    timeline: false,\n    navigationHelpButton: false,\n    animation: false,\n    scene3DOnly: true,\n    // Only render when we explicitly call scene.render()\n    useDefaultRenderLoop: false,\n    requestRenderMode: true,\n    contextOptions: {\n      webgl: { preserveDrawingBuffer: true },\n    },\n  });\n\n  // Globe settings for clean captures:\n  // - Disable dynamic lighting so the globe is fully illuminated regardless of time-of-day\n  // - Remove skybox/moon chrome for clean satellite imagery output\n  viewer.scene.globe.enableLighting = false;\n  viewer.scene.backgroundColor = Cesium.Color.BLACK;\n  viewer.scene.skyBox = undefined as any;\n  viewer.scene.moon = undefined as any;\n\n  // Raster imagery that does not require a Cesium Ion token (Storybook / local dev).\n  // Default Ion/Bing layers often fail silently without a token → black frames.\n  // We try multiple OSM-compatible tile sources for reliability.\n  const useOsm = options.useOpenStreetMapImagery !== false;\n  if (useOsm) {\n    viewer.imageryLayers.removeAll();\n\n    // ESRI World Imagery — real satellite/aerial photography. No token required\n    // for reasonable usage. Far more realistic than Carto basemaps for a\n    // satellite-camera simulator (shows actual land, ocean, clouds).\n    // Falls back to Carto Voyager (visible colors) if ESRI is unreachable.\n    const tileUrl = options.imageryUrl\n      || 'https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}';\n\n    viewer.imageryLayers.addImageryProvider(\n      new Cesium.UrlTemplateImageryProvider({\n        url: tileUrl,\n        credit: '© Esri, Maxar, Earthstar Geographics',\n        maximumLevel: 19,\n      }),\n    );\n  }\n\n  // Enable terrain if requested\n  if (options.terrain && options.accessToken) {\n    try {\n      viewer.scene.terrainProvider = await Cesium.CesiumTerrainProvider.fromIonAssetId(1);\n    } catch {\n      // Fall back to ellipsoid terrain silently\n    }\n  }\n\n  let destroyed = false;\n\n  const capture = async (args: CaptureArgs): Promise<Uint8Array> => {\n    if (destroyed) return new Uint8Array(0);\n\n    try {\n      // Determine render resolution (halve for sample/preview mode)\n      const res = args.sample ? Math.max(64, Math.round(args.resolution / 2)) : args.resolution;\n\n      // Resize the container to the requested resolution.\n      // The sequence is critical for correct WebGL framebuffer dimensions:\n      //   1. Set CSS dimensions on the container\n      //   2. Force a synchronous reflow so clientWidth/clientHeight update\n      //   3. Call viewer.resize() — Cesium reads clientWidth/clientHeight\n      //   4. Yield an rAF so the GPU/GL viewport picks up the new canvas size\n      // Getting this order wrong causes Cesium to render at stale dimensions\n      // (e.g. 1×1) and produce distorted/stretched imagery.\n      container!.style.width = `${res}px`;\n      container!.style.height = `${res}px`;\n\n      // Force synchronous reflow — reading a layout property forces the browser\n      // to recalculate layout immediately, ensuring clientWidth/clientHeight\n      // reflect the new CSS dimensions before Cesium reads them.\n      void container!.clientWidth;\n\n      viewer.resize();\n\n      // Yield two animation frames: the first lets the browser commit the layout\n      // change to the compositor; the second ensures the GL viewport/framebuffer\n      // is fully allocated at the new dimensions before we render.\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n\n      // Resize again after frames — catches edge cases where the canvas element\n      // inside the viewer didn't update dimensions during the first resize.\n      viewer.resize();\n\n      // Position the camera using CaptureArgs scene coordinates\n      const cameraPosition = positionToCartesian3(Cesium, args.position);\n      const [heading, pitch, roll] = args.rotation;\n\n      viewer.camera.setView({\n        destination: cameraPosition,\n        orientation: {\n          heading: Cesium.Math.toRadians(heading),\n          pitch: Cesium.Math.toRadians(pitch),\n          roll: Cesium.Math.toRadians(roll),\n        },\n      });\n\n      // Resolve effective FOV — prefer the explicit fov arg, but fall back to\n      // the optically-computed value from focal_length + pixel_pitch + resolution\n      // when fov is invalid (≤0 or ≥180). This ensures realistic captures even\n      // when the caller only provides physical optics parameters.\n      const opticalFov = computeOpticalFov(args.focal_length, args.pixel_pitch, args.resolution);\n      let effectiveFov = args.fov;\n\n      if (effectiveFov <= 0 || effectiveFov >= 180) {\n        // Explicit FOV is invalid — use the optics-derived value if available\n        if (opticalFov !== null && opticalFov > 0 && opticalFov < 180) {\n          effectiveFov = opticalFov;\n          if (import.meta.env.DEV) {\n            console.debug(\n              `[CesiumCapture] fov=${args.fov}° invalid, using optics-derived FOV ` +\n              `= ${opticalFov.toFixed(2)}° (f=${args.focal_length}mm, pitch=${args.pixel_pitch}mm, ` +\n              `res=${args.resolution}px)`\n            );\n          }\n        }\n      } else if (import.meta.env.DEV && opticalFov !== null) {\n        // Both are valid — warn when they disagree significantly (>5% relative error).\n        // This catches configuration mistakes where the optics don't match the stated FOV.\n        const relError = Math.abs(effectiveFov - opticalFov) / opticalFov;\n        if (relError > 0.05) {\n          console.warn(\n            `[CesiumCapture] Explicit fov=${effectiveFov}° differs from optics-derived ` +\n            `FOV=${opticalFov.toFixed(2)}° by ${(relError * 100).toFixed(1)}%. ` +\n            `Check focal_length=${args.focal_length}mm / pixel_pitch=${args.pixel_pitch}mm.`\n          );\n        }\n      }\n\n      if (effectiveFov > 0 && effectiveFov < 180) {\n        (viewer.camera.frustum as any).fov = effectiveFov * DEG_TO_RAD;\n      }\n\n      // Render in a loop until imagery tiles finish loading.\n      // Cesium streams tiles over the network, so the first render is often blank.\n      // We poll globe.tilesLoaded (true when all visible tiles are resident),\n      // up to a timeout to avoid hanging on slow networks.\n      const maxWaitMs = options.tileLoadTimeoutMs ?? 10_000;\n      const pollIntervalMs = 200;\n      const startMs = performance.now();\n      const deadline = startMs + maxWaitMs;\n\n      // Initial render — forces tile requests to be dispatched\n      viewer.scene.requestRender();\n      viewer.scene.forceRender();\n\n      // Poll until tiles are loaded or timeout. A first render can trigger tile\n      // downloads; subsequent forceRender() calls rasterize newly arrived tiles.\n      let tileWaitLoops = 0;\n      while (!viewer.scene.globe.tilesLoaded && performance.now() < deadline) {\n        tileWaitLoops++;\n        options.onTileLoadProgress?.(performance.now() - startMs);\n        await new Promise<void>((r) => setTimeout(r, pollIntervalMs));\n        viewer.scene.requestRender();\n        viewer.scene.forceRender();\n      }\n\n      // Three more forced frames after tiles report ready:\n      // 1st: GPU uploads decoded texture data from newly arrived tiles\n      // 2nd: composites all layers into the draw buffer\n      // 3rd: ensures the preserveDrawingBuffer content is stable for readback\n      viewer.scene.requestRender();\n      viewer.scene.forceRender();\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n      viewer.scene.requestRender();\n      viewer.scene.forceRender();\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n      viewer.scene.forceRender();\n\n      const canvas = viewer.scene.canvas as HTMLCanvasElement;\n\n      if (import.meta.env.DEV) {\n        const waitMs = Math.round(performance.now() - startMs);\n        const tilesOk = viewer.scene.globe.tilesLoaded;\n        console.debug(\n          `[CesiumCapture] ${res}x${res} canvas=${canvas.width}x${canvas.height} ` +\n          `tiles=${tilesOk ? 'ok' : 'TIMEOUT'} loops=${tileWaitLoops} wait=${waitMs}ms`\n        );\n      }\n\n      // Verify the canvas actually has non-black content (dev-only diagnostic).\n      // Guard both getContext result and readPixels existence — Cesium's canvas\n      // may expose webgl/webgl2 or neither depending on context options.\n      if (import.meta.env.DEV && canvas.width > 0 && canvas.height > 0) {\n        try {\n          const sampleCtx = canvas.getContext('webgl2') || canvas.getContext('webgl');\n          if (sampleCtx && typeof (sampleCtx as any).readPixels === 'function') {\n            const gl = sampleCtx as WebGLRenderingContext;\n            const px = new Uint8Array(4);\n            gl.readPixels(\n              Math.floor(canvas.width / 2), Math.floor(canvas.height / 2),\n              1, 1, gl.RGBA, gl.UNSIGNED_BYTE, px,\n            );\n            if (px[0] === 0 && px[1] === 0 && px[2] === 0) {\n              console.warn(\n                `[CesiumCapture] Center pixel is black — tiles may not have loaded. ` +\n                `Check network for OSM tile 403/CORS errors.`,\n              );\n            }\n          }\n        } catch {\n          // Non-critical diagnostic — don't let it crash the capture pipeline\n        }\n      }\n\n      // Resolve output format — default to PNG when omitted\n      const fmt = args.format === 'jpeg' ? 'image/jpeg' : 'image/png';\n      const jpegQuality = args.format === 'jpeg' ? (args.jpeg_quality ?? 0.92) : undefined;\n\n      // ── Post-processing pipeline ──────────────────────────────────────\n      // Order matters: DoF blur → monochromatic → encode.\n      // All post-processing happens on an offscreen 2D canvas to avoid\n      // double-reading the WebGL draw buffer.\n\n      // Compute DoF blur eagerly so we know whether an offscreen pass is needed\n      let dofBlurRadius = 0;\n      if (args.focusing_distance > 0 && args.aperture > 0) {\n        const subjectDist = estimateSubjectDistanceM(args.position);\n        dofBlurRadius = computeDofBlurPx(args, subjectDist);\n      }\n\n      const needsOffscreen = dofBlurRadius > 0 || args.monochromatic;\n\n      if (needsOffscreen) {\n        const offscreen = document.createElement('canvas');\n        offscreen.width = canvas.width;\n        offscreen.height = canvas.height;\n        const ctx = offscreen.getContext('2d')!;\n        ctx.drawImage(canvas, 0, 0);\n\n        // 1. Depth-of-field blur: simulate optical defocus from the thin lens model\n        if (dofBlurRadius > 0) {\n          applyDofBlur(ctx, offscreen.width, offscreen.height, dofBlurRadius);\n          if (import.meta.env.DEV) {\n            const subjectDist = estimateSubjectDistanceM(args.position);\n            console.debug(\n              `[CesiumCapture] DoF blur: radius=${dofBlurRadius.toFixed(1)}px ` +\n              `(subject=${(subjectDist / 1000).toFixed(0)}km, focus=${args.focusing_distance}m, ` +\n              `f/${args.aperture}, f=${args.focal_length}mm)`\n            );\n          }\n        }\n\n        // 2. Monochromatic: BT.709 luminance grayscale\n        if (args.monochromatic) {\n          applyGrayscale(ctx, offscreen.width, offscreen.height);\n        }\n\n        const dataUrl = jpegQuality !== undefined\n          ? offscreen.toDataURL(fmt, jpegQuality)\n          : offscreen.toDataURL(fmt);\n        return dataUrlToBytes(dataUrl);\n      }\n\n      const dataUrl = jpegQuality !== undefined\n        ? canvas.toDataURL(fmt, jpegQuality)\n        : canvas.toDataURL(fmt);\n      return dataUrlToBytes(dataUrl);\n    } catch (err) {\n      // Log the actual error in dev so we can diagnose rendering failures\n      if (import.meta.env.DEV) {\n        console.error('[CesiumCapture] Capture failed:', err);\n      }\n      return loadPlaceholderFallback();\n    }\n  };\n\n  const destroy = () => {\n    if (destroyed) return;\n    destroyed = true;\n    try {\n      viewer.destroy();\n    } catch {\n      // Viewer may already be destroyed\n    }\n    if (ownsContainer && container && 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Tree-shakes away when\n * Cesium is not installed (dynamic import).\n *\n * @example\n * ```ts\n * import { createCesiumCaptureSource } from '@zendir/ui/react/3d';\n *\n * const source = await createCesiumCaptureSource({ accessToken: '...' });\n * <Capture imageSource={source.capture} />\n *\n * // Cleanup on unmount:\n * source.destroy();\n * ```\n */\n\nimport type { CaptureArgs } from '../core/widgets/Capture';\nimport { EARTH_RADIUS_KM, DEG_TO_RAD, RAD_TO_DEG } from './ZenSpace3DUtils';\n\n/** Lazy import avoids circular deps; returns bundled placeholder PNG on capture failure */\nasync function loadPlaceholderFallback(): Promise<Uint8Array> {\n  const { loadCapturePlaceholderImage } = await import('../core/widgets/Capture');\n  return loadCapturePlaceholderImage();\n}\n\n// ─── Types ────────────────────────────────────────────────────────────────────\n\nexport interface CesiumCaptureSourceOptions {\n  /**\n   * Container element to host the hidden Cesium viewer.\n   * If not provided, one is auto-created and appended to document.body.\n   */\n  container?: HTMLElement;\n  /** Cesium Ion default access token for imagery/terrain tiles */\n  accessToken?: string;\n  /**\n   * Imagery provider URL template. 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Pass as Capture's imageSource. */\n  capture: (args: CaptureArgs) => Promise<Uint8Array>;\n  /** Tear down the Cesium viewer, remove the hidden container, release WebGL context. */\n  destroy: () => void;\n  /** Whether the viewer is initialized and ready to render. */\n  readonly ready: boolean;\n}\n\n// ─── Helpers ──────────────────────────────────────────────────────────────────\n\n/**\n * Convert ECEF meters (Unreal / game-engine format) to SDK's ECI-like km format.\n *\n * ECEF (Earth-Centered Earth-Fixed): X→0°N 0°E, Y→0°N 90°E, Z→North Pole (meters)\n * SDK (ECI-like):                    X/Z→equatorial plane,   Y→North Pole  (km)\n *\n * Axis mapping:  SDK.x = ECEF.x / 1000\n *                SDK.y = ECEF.z / 1000   (ECEF Z=north → SDK Y=north)\n *                SDK.z = ECEF.y / 1000\n *\n * Export this so callers (e.g. MQTT handlers) can normalize at the boundary\n * before passing positions to CaptureArgs.\n */\nexport function ecefMetersToSdkPosition(\n  ecef: [number, number, number],\n): [number, number, number] {\n  const [ex, ey, ez] = ecef;\n  return [ex / 1000, ez / 1000, ey / 1000];\n}\n\n/**\n * Convert world-frame Euler XYZ rotation + ECEF position to Cesium HPR (degrees).\n *\n * The game engine sends the camera's absolute orientation as Euler 1-2-3\n * (XYZ intrinsic, right-handed, X=right Y=forward Z=up) in the ECEF world frame.\n * Cesium's heading/pitch/roll are relative to the local ENU (East-North-Up) frame\n * at the camera's geographic position, so we must:\n *\n *   1. Build the rotation matrix R from Euler XYZ (camera axes in ECEF)\n *   2. Extract the camera's forward (+Y) and up (+Z) vectors in ECEF\n *   3. Compute the ECEF→ENU rotation matrix at the camera's lat/lon\n *   4. Transform forward/up into the ENU frame\n *   5. Extract heading, pitch, roll from those ENU vectors\n *\n * @param ecefPos  Camera position in ECEF meters [x, y, z]\n * @param eulerDeg Euler XYZ rotation in degrees [rx, ry, rz]\n * @returns [heading, pitch, roll] in degrees (Cesium convention)\n */\nexport function ecefEulerXyzToHpr(\n  ecefPos: [number, number, number],\n  eulerDeg: [number, number, number],\n): [number, number, number] {\n  const [px, py, pz] = ecefPos;\n\n  // ── Lat/Lon from ECEF position (geocentric, sufficient for orientation) ──\n  const rHoriz = Math.sqrt(px * px + py * py);\n  const lat = Math.atan2(pz, rHoriz);\n  const lon = Math.atan2(py, px);\n  const slat = Math.sin(lat), clat = Math.cos(lat);\n  const slon = Math.sin(lon), clon = Math.cos(lon);\n\n  // ── Build camera rotation matrix from Euler XYZ ──\n  // R_game = Rz(rz) · Ry(ry) · Rx(rx)   (fixed-frame / extrinsic equivalent)\n  // Columns of R_game are the camera's body axes expressed in ECEF.\n  const rx = eulerDeg[0] * DEG_TO_RAD;\n  const ry = eulerDeg[1] * DEG_TO_RAD;\n  const rz = eulerDeg[2] * DEG_TO_RAD;\n  const cx = Math.cos(rx), sx = Math.sin(rx);\n  const cy = Math.cos(ry), sy = Math.sin(ry);\n  const cz = Math.cos(rz), sz = Math.sin(rz);\n\n  // Column 1 = camera forward (+Y body axis) in ECEF\n  const fX = sx * sy * cz - cx * sz;\n  const fY = sx * sy * sz + cx * cz;\n  const fZ = sx * cy;\n\n  // Column 2 = camera up (+Z body axis) in ECEF\n  const uX = cx * sy * cz + sx * sz;\n  const uY = cx * sy * sz - sx * cz;\n  const uZ = cx * cy;\n\n  // ── Transform forward and up from ECEF → ENU ──\n  // R_enu rows: East  = [-slon,        clon,        0   ]\n  //             North = [-slat*clon,   -slat*slon,   clat]\n  //             Up    = [ clat*clon,    clat*slon,   slat]\n  const fE = -slon * fX + clon * fY;\n  const fN = -slat * clon * fX - slat * slon * fY + clat * fZ;\n  const fU =  clat * clon * fX + clat * slon * fY + slat * fZ;\n\n  const uE = -slon * uX + clon * uY;\n  const uN = -slat * clon * uX - slat * slon * uY + clat * uZ;\n  const uU =  clat * clon * uX + clat * slon * uY + slat * uZ;\n\n  // ── Extract heading and pitch from forward vector in ENU ──\n  const horizLen = Math.sqrt(fE * fE + fN * fN);\n  // heading = CW from North: atan2(East component, North component)\n  const heading = Math.atan2(fE, fN) * RAD_TO_DEG;\n  // pitch = elevation from horizontal (negative = looking down)\n  const pitch = Math.atan2(fU, horizLen) * RAD_TO_DEG;\n\n  // ── Extract roll from up vector ──\n  // Special case: looking straight up or down (gimbal lock for heading)\n  if (horizLen < 1e-9) {\n    const roll = Math.atan2(uE, uN) * RAD_TO_DEG;\n    return [heading, pitch, roll];\n  }\n\n  // default_right = normalize( forward_enu × [0,0,1] ) — horizontal perp to forward\n  // forward × Z_enu = [fE,fN,fU] × [0,0,1] = [fN, -fE, 0]\n  const drLen = Math.sqrt(fN * fN + fE * fE); // = horizLen\n  const drE = fN / drLen;\n  const drN = -fE / drLen;\n  // drU = 0\n\n  // default_up = normalize( default_right × forward )\n  // dr=[drE,drN,0], f=[fE,fN,fU]  (normalize f for a unit cross product)\n  const fLen = Math.sqrt(fE * fE + fN * fN + fU * fU);\n  const fnE = fE / fLen, fnN = fN / fLen, fnU = fU / fLen;\n  const duE = drN * fnU;          // drN*fnU - 0*fnN\n  const duN = -drE * fnU;         // 0*fnE - drE*fnU\n  const duU = drE * fnN - drN * fnE;\n\n  // roll = atan2( up·default_right, up·default_up )\n  const roll = Math.atan2(\n    uE * drE + uN * drN,                    // up · default_right (drU=0)\n    uE * duE + uN * duN + uU * duU,         // up · default_up\n  ) * RAD_TO_DEG;\n\n  return [heading, pitch, roll];\n}\n\n/**\n * Convert local-frame Euler XYZ intrinsic rotation (right-handed, degrees)\n * to Cesium heading/pitch/roll (degrees).\n *\n * Use this when the rotation is already relative to a local frame aligned with\n * ENU (e.g. manual test inputs). For world-frame ECEF rotations from Unreal,\n * use `ecefEulerXyzToHpr` instead — it accounts for the ENU frame at the\n * camera's geographic position.\n *\n * Euler XYZ: rotation[0] around X, [1] around Y, [2] around Z.\n * Decomposed into Cesium HPR via the rotation matrix R = Rz·Ry·Rx.\n */\nexport function eulerXyzToHpr(\n  eulerDeg: [number, number, number],\n): [number, number, number] {\n  const rx = eulerDeg[0] * DEG_TO_RAD;\n  const ry = eulerDeg[1] * DEG_TO_RAD;\n  const rz = eulerDeg[2] * DEG_TO_RAD;\n\n  const cx = Math.cos(rx), sx = Math.sin(rx);\n  const cy = Math.cos(ry), sy = Math.sin(ry);\n  const cz = Math.cos(rz), sz = Math.sin(rz);\n\n  // R = Rz(rz) · Ry(ry) · Rx(rx)\n  const R02 = cx * sy * cz + sx * sz;\n  const R00 = cy * cz;\n  const R01 = sx * sy * cz - cx * sz;\n  const R12 = cx * sy * sz - sx * cz;\n  const R22 = cx * cy;\n\n  const heading = Math.atan2(R01, R00) * RAD_TO_DEG;\n  const pitch   = Math.asin(Math.max(-1, Math.min(1, -R02))) * RAD_TO_DEG;\n  const roll    = Math.atan2(-R12, R22) * RAD_TO_DEG;\n\n  return [heading, pitch, roll];\n}\n\n/**\n * Convert CaptureArgs position [x, y, z] (km from Earth center, ECI-like)\n * to Cesium Cartesian3 (WGS84 meters).\n *\n * The Y axis points to the North Pole, X/Z define the equatorial plane\n * (matching the ZenSpace3D rendering convention after scale correction).\n *\n * Callers sending ECEF meter coordinates (e.g. Unreal Engine) should convert\n * with `ecefMetersToSdkPosition()` before passing to CaptureArgs.\n */\nfunction positionToCartesian3(Cesium: any, position: [number, number, number]): any {\n  const [x, y, z] = position;\n  const r = Math.sqrt(x * x + y * y + z * z);\n\n  // Guard against zero-length position (would cause NaN in acos)\n  if (r < 1) {\n    return Cesium.Cartesian3.fromDegrees(0, 0, 400_000);\n  }\n\n  // Extract direction → lat/lon (independent of distance scale)\n  const lat = 90 - Math.acos(Math.min(1, Math.max(-1, y / r))) * RAD_TO_DEG;\n  const lon = Math.atan2(z, -x) * RAD_TO_DEG - 180;\n\n  // Altitude is distance above Earth surface in km; Cesium needs meters\n  const altKm = r - EARTH_RADIUS_KM;\n  return Cesium.Cartesian3.fromDegrees(lon, lat, altKm * 1000);\n}\n\n/**\n * Compute the optical field of view from physical sensor parameters.\n *\n * Real satellite cameras derive FOV from:\n *   FOV = 2 × atan( (sensor_size / 2) / focal_length )\n * where sensor_size = resolution × pixel_pitch (mm).\n *\n * Returns the FOV in degrees, or null if the parameters are insufficient\n * (zero focal_length, zero pixel_pitch, or zero resolution).\n */\nfunction computeOpticalFov(focalLengthMm: number, pixelPitchMm: number, resolutionPx: number): number | null {\n  if (focalLengthMm <= 0 || pixelPitchMm <= 0 || resolutionPx <= 0) return null;\n  const sensorSizeMm = resolutionPx * pixelPitchMm;\n  return 2 * Math.atan(sensorSizeMm / (2 * focalLengthMm)) * RAD_TO_DEG;\n}\n\n/**\n * Apply grayscale filter to canvas pixel data in-place.\n * Uses luminance weights (ITU-R BT.709).\n */\nfunction applyGrayscale(ctx: CanvasRenderingContext2D, width: number, height: number): void {\n  const imageData = ctx.getImageData(0, 0, width, height);\n  const data = imageData.data;\n  for (let i = 0; i < data.length; i += 4) {\n    const lum = 0.2126 * data[i] + 0.7152 * data[i + 1] + 0.0722 * data[i + 2];\n    data[i] = data[i + 1] = data[i + 2] = lum;\n  }\n  ctx.putImageData(imageData, 0, 0);\n}\n\n// ─── Depth-of-Field Simulation ────────────────────────────────────────────────\n\n/**\n * Estimate the nadir subject distance in meters from the camera position.\n *\n * The SDK position is in ECI-like coordinates (km). Camera altitude above\n * the Earth surface gives the approximate distance to the ground plane\n * directly below (nadir). For oblique views the actual distance is larger,\n * but nadir is the dominant case for satellite imagery.\n */\nfunction estimateSubjectDistanceM(position: [number, number, number]): number {\n  const [x, y, z] = position;\n  const rKm = Math.sqrt(x * x + y * y + z * z);\n  const altKm = Math.max(0, rKm - EARTH_RADIUS_KM);\n  return altKm * 1000;\n}\n\n/**\n * Compute depth-of-field blur radius in CSS pixels using the thin lens model.\n *\n * Thin lens circle of confusion (CoC) diameter:\n *   c = |f²/N × (S - D) / (D × (S - f))|\n *\n * where:\n *   f = focal length (mm)\n *   N = f-number (aperture)\n *   S = focusing distance (mm) — the plane in sharp focus\n *   D = subject distance (mm) — actual distance to the scene\n *\n * The CoC diameter is converted to pixels via pixel_pitch, then halved to\n * get a blur radius. The result is clamped by the sensor's maximum\n * acceptable CoC (args.coc) to model physical diffraction limits.\n *\n * Returns 0 when the scene is in acceptable focus (blur < 0.5px).\n * Exported for unit testing.\n */\nexport function computeDofBlurPx(args: CaptureArgs, subjectDistanceM: number): number {\n  const fMm = args.focal_length;\n  const N = args.aperture;\n  const sMm = args.focusing_distance * 1000; // meters → mm\n  const dMm = subjectDistanceM * 1000;       // meters → mm\n  const ppMm = args.pixel_pitch;\n\n  if (N <= 0 || fMm <= 0 || dMm <= 0 || ppMm <= 0 || sMm <= fMm) return 0;\n\n  // Subject is essentially at the focus plane — no blur needed\n  if (Math.abs(sMm - dMm) < 1) return 0;\n\n  // Thin lens CoC diameter in mm\n  // c = |f²/N × (S - D) / (D × (S - f))|\n  const cocDiameterMm = Math.abs(\n    (fMm * fMm / N) * (sMm - dMm) / (dMm * (sMm - fMm)),\n  );\n\n  // Note: args.coc is the sensor's acceptable-focus criterion (not a render clamp).\n  // We render the FULL optical blur — the sensor CoC only defines what humans\n  // consider \"in focus\" for DoF range calculations, not the actual blur disc.\n\n  // Convert diameter → pixel radius\n  const radiusPx = (cocDiameterMm / ppMm) / 2;\n\n  // Below half a pixel is imperceptible; cap at 1/4 of image to prevent whiteout\n  if (radiusPx < 0.5) return 0;\n  return Math.min(radiusPx, args.resolution / 4);\n}\n\n/**\n * Apply Gaussian depth-of-field blur to a 2D canvas context.\n * Uses the native CSS `filter: blur()` for GPU-accelerated performance.\n *\n * The blur is applied by:\n *  1. Drawing the current canvas content onto a temp canvas with blur filter\n *  2. Copying the blurred result back\n *\n * This simulates the optical defocus that occurs when the subject distance\n * doesn't match the focusing distance — exactly what happens when a\n * satellite camera's focus plane is set incorrectly.\n */\nfunction applyDofBlur(ctx: CanvasRenderingContext2D, width: number, height: number, radiusPx: number): void {\n  const tmp = document.createElement('canvas');\n  tmp.width = width;\n  tmp.height = height;\n  const tmpCtx = tmp.getContext('2d')!;\n\n  // CSS filter blur uses Gaussian sigma ≈ radius; the visual result closely\n  // matches a real optical defocus disc for moderate blur amounts.\n  tmpCtx.filter = `blur(${radiusPx}px)`;\n  tmpCtx.drawImage(ctx.canvas, 0, 0);\n\n  // Copy blurred result back, replacing the original sharp image\n  ctx.clearRect(0, 0, width, height);\n  ctx.drawImage(tmp, 0, 0);\n}\n\n/**\n * Convert a data-URL string to a Uint8Array of the underlying binary data.\n */\nfunction dataUrlToBytes(dataUrl: string): Uint8Array {\n  const base64 = dataUrl.split(',')[1];\n  const binaryStr = atob(base64);\n  const bytes = new Uint8Array(binaryStr.length);\n  for (let i = 0; i < binaryStr.length; i++) {\n    bytes[i] = binaryStr.charCodeAt(i);\n  }\n  return bytes;\n}\n\n// ─── Factory ──────────────────────────────────────────────────────────────────\n\n/**\n * Creates a reusable CesiumJS capture source backed by a hidden viewer.\n *\n * The viewer is initialized once with `preserveDrawingBuffer: true` so\n * canvas pixels survive after `scene.render()`. All Cesium UI widgets\n * are disabled. The container is positioned off-screen (1x1 px) and\n * resized to the requested resolution on each capture.\n *\n * @param options - Configuration for the hidden viewer\n * @returns Handle with `capture(args)`, `destroy()`, and `ready` flag\n */\nexport async function createCesiumCaptureSource(\n  options: CesiumCaptureSourceOptions = {}\n): Promise<CesiumCaptureSourceHandle> {\n  // Cesium is untyped when loaded via dynamic import in some TS configs\n  const Cesium: any = await import('cesium');\n\n  // Set default access token if provided\n  if (options.accessToken) {\n    Cesium.Ion.defaultAccessToken = options.accessToken;\n  }\n\n  // Create or reuse a hidden container.\n  // CRITICAL: The container must remain fully GPU-rendered for WebGL readback.\n  //   - `left:-9999px`  → GPU skips rendering (off-viewport optimisation)\n  //   - `visibility:hidden` → some browsers throttle WebGL compositing\n  //   - `display:none` → element has no layout, canvas is 0x0\n  // Solution: keep it on-screen at 0,0 but use `clip-path: inset(100%)` to\n  // hide it visually. The element participates in layout AND the GPU renders\n  // the WebGL context, but nothing is painted to the screen.\n  let container = options.container ?? null;\n  let ownsContainer = false;\n  if (!container) {\n    container = document.createElement('div');\n    container.style.cssText =\n      'position:fixed;left:0;top:0;width:1px;height:1px;overflow:hidden;' +\n      'clip-path:inset(100%);pointer-events:none;z-index:-1;';\n    document.body.appendChild(container);\n    ownsContainer = true;\n  }\n\n  // Create a minimal Cesium Viewer with no UI chrome\n  const viewer: any = new Cesium.Viewer(container, {\n    baseLayerPicker: false,\n    fullscreenButton: false,\n    vrButton: false,\n    geocoder: false,\n    homeButton: false,\n    sceneModePicker: false,\n    timeline: false,\n    navigationHelpButton: false,\n    animation: false,\n    scene3DOnly: true,\n    // Only render when we explicitly call scene.render()\n    useDefaultRenderLoop: false,\n    requestRenderMode: true,\n    contextOptions: {\n      webgl: { preserveDrawingBuffer: true },\n    },\n  });\n\n  // Globe settings for clean captures:\n  // - Disable dynamic lighting so the globe is fully illuminated regardless of time-of-day\n  // - Remove skybox/moon chrome for clean satellite imagery output\n  viewer.scene.globe.enableLighting = false;\n  viewer.scene.backgroundColor = Cesium.Color.BLACK;\n  viewer.scene.skyBox = undefined as any;\n  viewer.scene.moon = undefined as any;\n\n  // Raster imagery that does not require a Cesium Ion token (Storybook / local dev).\n  // Default Ion/Bing layers often fail silently without a token → black frames.\n  // We try multiple OSM-compatible tile sources for reliability.\n  const useOsm = options.useOpenStreetMapImagery !== false;\n  if (useOsm) {\n    viewer.imageryLayers.removeAll();\n\n    // ESRI World Imagery — real satellite/aerial photography. No token required\n    // for reasonable usage. Far more realistic than Carto basemaps for a\n    // satellite-camera simulator (shows actual land, ocean, clouds).\n    // Falls back to Carto Voyager (visible colors) if ESRI is unreachable.\n    const tileUrl = options.imageryUrl\n      || 'https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}';\n\n    viewer.imageryLayers.addImageryProvider(\n      new Cesium.UrlTemplateImageryProvider({\n        url: tileUrl,\n        credit: '© Esri, Maxar, Earthstar Geographics',\n        maximumLevel: 19,\n      }),\n    );\n  }\n\n  // Enable terrain if requested\n  if (options.terrain && options.accessToken) {\n    try {\n      viewer.scene.terrainProvider = await Cesium.CesiumTerrainProvider.fromIonAssetId(1);\n    } catch {\n      // Fall back to ellipsoid terrain silently\n    }\n  }\n\n  let destroyed = false;\n\n  const capture = async (args: CaptureArgs): Promise<Uint8Array> => {\n    if (destroyed) return new Uint8Array(0);\n\n    try {\n      // Determine render resolution (halve for sample/preview mode)\n      const res = args.sample ? Math.max(64, Math.round(args.resolution / 2)) : args.resolution;\n\n      // Resize the container to the requested resolution.\n      // The sequence is critical for correct WebGL framebuffer dimensions:\n      //   1. Set CSS dimensions on the container\n      //   2. Force a synchronous reflow so clientWidth/clientHeight update\n      //   3. Call viewer.resize() — Cesium reads clientWidth/clientHeight\n      //   4. Yield an rAF so the GPU/GL viewport picks up the new canvas size\n      // Getting this order wrong causes Cesium to render at stale dimensions\n      // (e.g. 1×1) and produce distorted/stretched imagery.\n      container!.style.width = `${res}px`;\n      container!.style.height = `${res}px`;\n\n      // Force synchronous reflow — reading a layout property forces the browser\n      // to recalculate layout immediately, ensuring clientWidth/clientHeight\n      // reflect the new CSS dimensions before Cesium reads them.\n      void container!.clientWidth;\n\n      viewer.resize();\n\n      // Yield two animation frames: the first lets the browser commit the layout\n      // change to the compositor; the second ensures the GL viewport/framebuffer\n      // is fully allocated at the new dimensions before we render.\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n\n      // Resize again after frames — catches edge cases where the canvas element\n      // inside the viewer didn't update dimensions during the first resize.\n      viewer.resize();\n\n      // Position the camera using CaptureArgs scene coordinates\n      const cameraPosition = positionToCartesian3(Cesium, args.position);\n      const [heading, pitch, roll] = args.rotation;\n\n      viewer.camera.setView({\n        destination: cameraPosition,\n        orientation: {\n          heading: Cesium.Math.toRadians(heading),\n          pitch: Cesium.Math.toRadians(pitch),\n          roll: Cesium.Math.toRadians(roll),\n        },\n      });\n\n      // Resolve effective FOV — prefer the explicit fov arg, but fall back to\n      // the optically-computed value from focal_length + pixel_pitch + resolution\n      // when fov is invalid (≤0 or ≥180). This ensures realistic captures even\n      // when the caller only provides physical optics parameters.\n      const opticalFov = computeOpticalFov(args.focal_length, args.pixel_pitch, args.resolution);\n      let effectiveFov = args.fov;\n\n      if (effectiveFov <= 0 || effectiveFov >= 180) {\n        // Explicit FOV is invalid — use the optics-derived value if available\n        if (opticalFov !== null && opticalFov > 0 && opticalFov < 180) {\n          effectiveFov = opticalFov;\n          if (import.meta.env.DEV) {\n            console.debug(\n              `[CesiumCapture] fov=${args.fov}° invalid, using optics-derived FOV ` +\n              `= ${opticalFov.toFixed(2)}° (f=${args.focal_length}mm, pitch=${args.pixel_pitch}mm, ` +\n              `res=${args.resolution}px)`\n            );\n          }\n        }\n      } else if (import.meta.env.DEV && opticalFov !== null) {\n        // Both are valid — warn when they disagree significantly (>5% relative error).\n        // This catches configuration mistakes where the optics don't match the stated FOV.\n        const relError = Math.abs(effectiveFov - opticalFov) / opticalFov;\n        if (relError > 0.05) {\n          console.warn(\n            `[CesiumCapture] Explicit fov=${effectiveFov}° differs from optics-derived ` +\n            `FOV=${opticalFov.toFixed(2)}° by ${(relError * 100).toFixed(1)}%. ` +\n            `Check focal_length=${args.focal_length}mm / pixel_pitch=${args.pixel_pitch}mm.`\n          );\n        }\n      }\n\n      if (effectiveFov > 0 && effectiveFov < 180) {\n        (viewer.camera.frustum as any).fov = effectiveFov * DEG_TO_RAD;\n      }\n\n      // Render in a loop until imagery tiles finish loading.\n      // Cesium streams tiles over the network, so the first render is often blank.\n      // We poll globe.tilesLoaded (true when all visible tiles are resident),\n      // up to a timeout to avoid hanging on slow networks.\n      const maxWaitMs = options.tileLoadTimeoutMs ?? 10_000;\n      const pollIntervalMs = 200;\n      const startMs = performance.now();\n      const deadline = startMs + maxWaitMs;\n\n      // Initial render — forces tile requests to be dispatched\n      viewer.scene.requestRender();\n      viewer.scene.forceRender();\n\n      // Poll until tiles are loaded or timeout. A first render can trigger tile\n      // downloads; subsequent forceRender() calls rasterize newly arrived tiles.\n      let tileWaitLoops = 0;\n      while (!viewer.scene.globe.tilesLoaded && performance.now() < deadline) {\n        tileWaitLoops++;\n        options.onTileLoadProgress?.(performance.now() - startMs);\n        await new Promise<void>((r) => setTimeout(r, pollIntervalMs));\n        viewer.scene.requestRender();\n        viewer.scene.forceRender();\n      }\n\n      // Three more forced frames after tiles report ready:\n      // 1st: GPU uploads decoded texture data from newly arrived tiles\n      // 2nd: composites all layers into the draw buffer\n      // 3rd: ensures the preserveDrawingBuffer content is stable for readback\n      viewer.scene.requestRender();\n      viewer.scene.forceRender();\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n      viewer.scene.requestRender();\n      viewer.scene.forceRender();\n      await new Promise<void>((r) => requestAnimationFrame(() => r()));\n      viewer.scene.forceRender();\n\n      const canvas = viewer.scene.canvas as HTMLCanvasElement;\n\n      if (import.meta.env.DEV) {\n        const waitMs = Math.round(performance.now() - startMs);\n        const tilesOk = viewer.scene.globe.tilesLoaded;\n        console.debug(\n          `[CesiumCapture] ${res}x${res} canvas=${canvas.width}x${canvas.height} ` +\n          `tiles=${tilesOk ? 'ok' : 'TIMEOUT'} loops=${tileWaitLoops} wait=${waitMs}ms`\n        );\n      }\n\n      // Verify the canvas actually has non-black content (dev-only diagnostic).\n      // Guard both getContext result and readPixels existence — Cesium's canvas\n      // may expose webgl/webgl2 or neither depending on context options.\n      if (import.meta.env.DEV && canvas.width > 0 && canvas.height > 0) {\n        try {\n          const sampleCtx = canvas.getContext('webgl2') || canvas.getContext('webgl');\n          if (sampleCtx && typeof (sampleCtx as any).readPixels === 'function') {\n            const gl = sampleCtx as WebGLRenderingContext;\n            const px = new Uint8Array(4);\n            gl.readPixels(\n              Math.floor(canvas.width / 2), Math.floor(canvas.height / 2),\n              1, 1, gl.RGBA, gl.UNSIGNED_BYTE, px,\n            );\n            if (px[0] === 0 && px[1] === 0 && px[2] === 0) {\n              console.warn(\n                `[CesiumCapture] Center pixel is black — tiles may not have loaded. ` +\n                `Check network for OSM tile 403/CORS errors.`,\n              );\n            }\n          }\n        } catch {\n          // Non-critical diagnostic — don't let it crash the capture pipeline\n        }\n      }\n\n      // Resolve output format — default to PNG when omitted\n      const fmt = args.format === 'jpeg' ? 'image/jpeg' : 'image/png';\n      const jpegQuality = args.format === 'jpeg' ? 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