cozyclay 2.1.0 → 3.0.0

package/tools/demo-worker/sign.mjs

@@ -1,161 +0,0 @@
-#!/usr/bin/env node
-/**
- * HMAC v1 signing primitives used by the demo worker.
- *
- * The Worker verifier in workers/api/src/worker-auth.js signs these exact
- * canonical bytes:
- *
- *   v1
- *   worker id
- *   timestamp (milliseconds)
- *   nonce
- *   HTTP method
- *   request-target path (including query)
- *   job id
- *   lease token
- *   SHA-256(raw body), hexadecimal
- *
- * Keep this module free of network and filesystem side effects when imported.
- * The small CLI at the bottom is deliberately just a convenience for curl.
- */
-
-import { readFileSync } from "node:fs";
-import { resolve } from "node:path";
-import { fileURLToPath } from "node:url";
-import {
-	bodyBytes,
-	canonicalBytes,
-	canonicalString,
-	digestHex,
-	randomNonce,
-	signPayload,
-	signRequest,
-	signedHeaders,
-	toBase64Url,
-} from "./sign-core.mjs";
-
-export {
-	bodyBytes,
-	canonicalBytes,
-	canonicalString,
-	digestHex,
-	randomNonce,
-	signPayload,
-	signRequest,
-	signedHeaders,
-	toBase64Url,
-};
-
-function shellQuote(value) {
-	return `'${String(value).replaceAll("'", "'\\''")}'`;
-}
-
-function parseCli(argv) {
-	const result = {
-		method: null,
-		path: null,
-		jobId: "",
-		leaseToken: "",
-		bodyFile: null,
-		ts: undefined,
-		nonce: undefined,
-	};
-	const positional = [];
-	for (let index = 0; index < argv.length; index += 1) {
-		const arg = argv[index];
-		if (!arg.startsWith("-")) {
-			positional.push(arg);
-			continue;
-		}
-		const take = (name) => {
-			const value = argv[++index];
-			if (value === undefined || value.startsWith("--")) throw new Error(`${name} needs a value`);
-			return value;
-		};
-		switch (arg) {
-			case "--method":
-				result.method = take(arg);
-				break;
-			case "--path":
-				result.path = take(arg);
-				break;
-			case "--job":
-			case "--job-id":
-				result.jobId = take(arg);
-				break;
-			case "--lease":
-			case "--lease-token":
-				result.leaseToken = take(arg);
-				break;
-			case "--body-file":
-				result.bodyFile = take(arg);
-				break;
-			case "--ts":
-				result.ts = Number(take(arg));
-				if (!Number.isFinite(result.ts)) throw new Error("--ts must be a finite number");
-				break;
-			case "--nonce":
-				result.nonce = take(arg);
-				break;
-			case "--help":
-			case "-h":
-				throw new Error(
-					"usage: node tools/demo-worker/sign.mjs <method> <path> [jobId] [leaseToken] [bodyFile]\n" +
-					"   or: node tools/demo-worker/sign.mjs --method GET --path /worker/next [--job id] [--lease token] [--body-file file]",
-				);
-			default:
-				throw new Error(`unknown option ${arg}`);
-		}
-	}
-	if (result.method == null && positional.length > 0) result.method = positional.shift();
-	if (result.path == null && positional.length > 0) result.path = positional.shift();
-	if (!result.jobId && positional.length > 0) result.jobId = positional.shift();
-	if (!result.leaseToken && positional.length > 0) result.leaseToken = positional.shift();
-	if (!result.bodyFile && positional.length > 0) result.bodyFile = positional.shift();
-	if (positional.length > 0) throw new Error(`unexpected positional argument ${positional[0]}`);
-	if (!result.method || !result.path) throw new Error("method and path are required");
-	return result;
-}
-
-/** Run the CLI and return its exit status; exported for focused tests. */
-export function runCli(argv = process.argv.slice(2), env = process.env) {
-	try {
-		if (argv.includes("--help") || argv.includes("-h")) {
-			process.stdout.write(
-				"usage: node tools/demo-worker/sign.mjs <method> <path> [jobId] [leaseToken] [bodyFile]\n" +
-				"   or: node tools/demo-worker/sign.mjs --method GET --path /worker/next [--job id] [--lease token] [--body-file file]\n",
-			);
-			return 0;
-		}
-		const options = parseCli(argv);
-		const secret = env.CC_WORKER_SECRET;
-		const workerId = env.CC_WORKER_ID;
-		if (!secret) throw new Error("CC_WORKER_SECRET is required");
-		if (!workerId) throw new Error("CC_WORKER_ID is required");
-		const body = options.bodyFile ? readFileSync(resolve(options.bodyFile)) : new Uint8Array();
-		const headers = signedHeaders({
-			secret,
-			workerId,
-			method: options.method,
-			path: options.path,
-			jobId: options.jobId,
-			leaseToken: options.leaseToken,
-			body,
-			ts: options.ts,
-			nonce: options.nonce,
-		});
-		for (const [name, value] of Object.entries(headers)) {
-			process.stdout.write(`-H ${shellQuote(`${name}: ${value}`)}\n`);
-		}
-		return 0;
-	} catch (error) {
-		console.error(`demo-worker sign: ${error?.message ?? error}`);
-		return 2;
-	}
-}
-
-const thisFile = fileURLToPath(import.meta.url);
-if (process.argv[1] && resolve(process.argv[1]) === thisFile) {
-	process.exitCode = runCli();
-}
-

package/tools/gt-render/browser.mjs

@@ -1,159 +0,0 @@
-/**
- * Headless Chrome + Vite plumbing for the ground-truth renderer (#428).
- * Same launch/seed pattern as tools/qa-browser.mjs, but owned by one CLI run:
- * every child it starts is terminated on exit or signal.
- */
-import { existsSync, mkdtempSync, rmSync } from "node:fs";
-import { tmpdir } from "node:os";
-import { join } from "node:path";
-import { spawnOwned, terminateOwned } from "../process-supervisor.mjs";
-
-const CHROME_CANDIDATES = [
-	process.env.CHROME_PATH,
-	"/Applications/Google Chrome.app/Contents/MacOS/Google Chrome",
-	"/usr/bin/google-chrome",
-	"/usr/bin/chromium",
-].filter(Boolean);
-
-/** Poll `probe` until it resolves truthy; bounded, fails loudly. */
-export async function waitFor(label, probe, { timeoutMs = 60000, intervalMs = 100, child = null } = {}) {
-	const deadline = Date.now() + timeoutMs;
-	for (;;) {
-		if (child && (child.exitCode !== null || child.signalCode !== null)) throw new Error(`${label}: process exited early`);
-		try {
-			const value = await probe();
-			if (value) return value;
-		} catch {
-			// not ready yet; retried until the deadline
-		}
-		if (Date.now() >= deadline) throw new Error(`${label}: timed out after ${timeoutMs} ms`);
-		await new Promise((resolve) => setTimeout(resolve, intervalMs));
-	}
-}
-
-async function portAnswers(url) {
-	try {
-		await fetch(url);
-		return true;
-	} catch {
-		return false;
-	}
-}
-
-/** Start Vite on `port` in `root` unless `url` is given. */
-export async function startVite({ root, port, children }) {
-	const url = `http://127.0.0.1:${port}`;
-	if (await portAnswers(url)) throw new Error(`port ${port} is already in use; stop it or pass --url to reuse a running server`);
-	const vite = spawnOwned(process.execPath, [join(root, "node_modules/vite/bin/vite.js"), "--host", "127.0.0.1", "--port", String(port), "--strictPort"], {
-		cwd: root,
-		// Point the Studio's live-control socket at an unused port so it can
-		// never attach to another session's hub (the default is 5184).
-		env: { ...process.env, COZYCLAY_LIVE_PORT: process.env.COZYCLAY_LIVE_PORT || "5728" },
-		stdio: ["ignore", "ignore", "inherit"],
-	});
-	children.push(vite);
-	await waitFor("vite startup", async () => (await fetch(`${url}/app/`)).ok, { child: vite });
-	return url;
-}
-
-export async function startChrome({ port, children, cleanups }) {
-	const chromePath = CHROME_CANDIDATES.find(existsSync);
-	if (!chromePath) throw new Error("Google Chrome/Chromium not found; set CHROME_PATH");
-	const versionUrl = `http://127.0.0.1:${port}/json/version`;
-	if (await portAnswers(versionUrl)) throw new Error(`CDP port ${port} is already in use`);
-	const profileDir = mkdtempSync(join(tmpdir(), "cozyclay-gt-render-"));
-	cleanups.push(() => rmSync(profileDir, { recursive: true, force: true }));
-	const chrome = spawnOwned(chromePath, [
-		"--headless=new",
-		`--remote-debugging-port=${port}`,
-		`--user-data-dir=${profileDir}`,
-		"--window-size=1600,1000",
-		"--no-first-run",
-		"--no-default-browser-check",
-		"about:blank",
-	], { stdio: ["ignore", "ignore", "ignore"] });
-	children.push(chrome);
-	await waitFor("chrome CDP startup", async () => (await fetch(versionUrl)).ok, { child: chrome, timeoutMs: 30000 });
-	const targets = await (await fetch(`http://127.0.0.1:${port}/json`)).json();
-	const page = targets.find((target) => target.type === "page" && target.webSocketDebuggerUrl);
-	if (!page) throw new Error("headless Chrome exposed no page target");
-	return connect(page.webSocketDebuggerUrl);
-}
-
-/** Minimal CDP client over Node's global WebSocket. */
-export async function connect(wsUrl) {
-	const ws = new WebSocket(wsUrl);
-	await new Promise((resolve, reject) => {
-		ws.onopen = resolve;
-		ws.onerror = () => reject(new Error(`CDP connect failed: ${wsUrl}`));
-	});
-	let nextId = 1;
-	const pending = new Map();
-	const listeners = new Set();
-	ws.onmessage = (event) => {
-		const message = JSON.parse(event.data);
-		if (message.id && pending.has(message.id)) {
-			const { resolve, reject } = pending.get(message.id);
-			pending.delete(message.id);
-			if (message.error) reject(new Error(`${message.error.message} (${message.error.code})`));
-			else resolve(message.result);
-			return;
-		}
-		for (const listener of listeners) listener(message);
-	};
-	ws.onclose = () => {
-		for (const { reject } of pending.values()) reject(new Error("CDP connection closed"));
-		pending.clear();
-	};
-	const send = (method, params = {}) => new Promise((resolve, reject) => {
-		const id = nextId++;
-		pending.set(id, { resolve, reject });
-		ws.send(JSON.stringify({ id, method, params }));
-	});
-	const evaluate = async (expression) => {
-		const result = await send("Runtime.evaluate", { expression, awaitPromise: true, returnByValue: true });
-		if (result.exceptionDetails) {
-			throw new Error(result.exceptionDetails.exception?.description || result.exceptionDetails.text || "page evaluation failed");
-		}
-		return result.result?.value;
-	};
-	/** Resolve on the next event `method`; subscribe BEFORE triggering it. */
-	const once = (method, timeoutMs = 60000) => {
-		let listener;
-		let timer;
-		const promise = new Promise((resolve, reject) => {
-			listener = (message) => {
-				if (message.method === method) resolve(message.params);
-			};
-			listeners.add(listener);
-			timer = setTimeout(() => reject(new Error(`${method}: no event within ${timeoutMs} ms`)), timeoutMs);
-		});
-		return promise.finally(() => {
-			listeners.delete(listener);
-			clearTimeout(timer);
-		});
-	};
-	return { send, evaluate, once, close: () => ws.close() };
-}
-
-/**
- * Open the Studio on `studioUrl` with a clean origin: storage wiped (so a
- * previous motion's autosaved session cannot come back and mask ?motion=),
- * then the project session seeded so the first-run chooser does not open.
- */
-export async function openStudioClean(cdp, studioUrl) {
-	const origin = new URL(studioUrl).origin;
-	await cdp.send("Page.enable");
-	await cdp.send("Storage.clearDataForOrigin", { origin, storageTypes: "all" });
-	let loaded = cdp.once("Page.loadEventFired");
-	await cdp.send("Page.navigate", { url: `${origin}/favicon.ico` });
-	await loaded;
-	await cdp.evaluate("localStorage.setItem('cozyclay.project-session.v1', JSON.stringify({ name: 'gt-render', updatedAt: Date.now() }))");
-	loaded = cdp.once("Page.loadEventFired");
-	await cdp.send("Page.navigate", { url: studioUrl });
-	await loaded;
-}
-
-export async function terminateAll(children) {
-	await Promise.allSettled(children.splice(0).reverse().map((child) => terminateOwned(child)));
-}

package/tools/gt-render/camera-math.mjs

@@ -1,276 +0,0 @@
-/**
- * Pure camera math for the ground-truth renderer (#428): GVHMR focal
- * conversion, Three.js-compatible intrinsics, static camera placement and
- * pinhole projection. No DOM, no Three, no I/O, so it is unit-tested under
- * Node (test/verify-gt-render-camera.mjs) and `supportValues` is injected
- * verbatim into the Studio page by render.mjs.
- *
- * Conventions (stated once, used everywhere):
- * - World: the Studio's Three.js scene. Right-handed, +Y up, metres.
- * - Studio camera: Three.js PerspectiveCamera, rotation order "YXZ",
- *   rotation = (pitch, yaw, 0), looking down its local -Z, local +Y up.
- *   `R` below is its camera->world rotation Ry(yaw) * Rx(pitch), row-major.
- * - Azimuth/elevation place the camera around the subject: azimuth 0 puts it
- *   on +Z looking toward -Z (the rig's front for a take facing +Z), positive
- *   azimuth swings it toward +X; positive elevation raises it and tilts it
- *   down. yaw = azimuth, pitch = -elevation.
- * - Image: pixel coordinates are continuous, origin at the top-left corner of
- *   the top-left pixel, u to the right, v DOWN. Pixel (col, row) covers
- *   [col, col+1) x [row, row+1); its centre is (col + 0.5, row + 0.5).
- *   cx = W/2, cy = H/2, square pixels (fx = fy). This is exactly where
- *   Three's NDC lands after the viewport transform.
- * - OpenCV extrinsics: X_cv = R_cv * X_world + t_cv with camera x right,
- *   y down, z forward; u = fx * X/Z + cx, v = fy * Y/Z + cy.
- */
-
-/** The 35 mm full-frame diagonal GVHMR's `--f-mm` is measured against. */
-export const FULL_FRAME_DIAGONAL_MM = Math.hypot(24, 36);
-
-const DEG = Math.PI / 180;
-
-/** Focal length in pixels GVHMR derives from `--f-mm` for a W x H video. */
-export function gvhmrFocalPx(fMm, width, height) {
-	return (Math.hypot(width, height) / FULL_FRAME_DIAGONAL_MM) * fMm;
-}
-
-/** Inverse of gvhmrFocalPx (not rounded). */
-export function gvhmrFMmFromFocalPx(focalPx, width, height) {
-	return (focalPx * FULL_FRAME_DIAGONAL_MM) / Math.hypot(width, height);
-}
-
-/** Three's vertical field of view (degrees) that renders with gvhmrFocalPx. */
-export function fovDegFromFMm(fMm, width, height) {
-	return (2 * Math.atan(height / 2 / gvhmrFocalPx(fMm, width, height))) / DEG;
-}
-
-/** Pinhole intrinsics of a Three PerspectiveCamera with vertical `fovDeg`
- * rendered at width x height with aspect = width / height. */
-export function intrinsicsFromFov({ width, height, fovDeg }) {
-	const fy = height / 2 / Math.tan((fovDeg * DEG) / 2);
-	return { width, height, fovDeg, fx: fy, fy, cx: width / 2, cy: height / 2 };
-}
-
-/** Yaw/pitch (radians) and the camera->world rotation for an orbit angle. */
-export function orbitRotation(azimuthDeg, elevationDeg) {
-	const yaw = azimuthDeg * DEG;
-	const pitch = -elevationDeg * DEG;
-	return { yaw, pitch, R: rotationYXZ(yaw, pitch) };
-}
-
-/** Ry(yaw) * Rx(pitch), row-major 3x3: the camera->world rotation Three
- * builds from Euler(pitch, yaw, 0, "YXZ"). Columns are the camera's x (right),
- * y (up) and z (backward) axes in world space. */
-export function rotationYXZ(yaw, pitch) {
-	const cy = Math.cos(yaw);
-	const sy = Math.sin(yaw);
-	const cp = Math.cos(pitch);
-	const sp = Math.sin(pitch);
-	return [
-		cy, sy * sp, sy * cp,
-		0, cp, -sp,
-		-sy, cy * sp, cy * cp,
-	];
-}
-
-/** Placement slopes: a point at lateral offset x and depth d is inside the
- * margin box iff kx * |x| <= d (and likewise ky for y). `margin` is the
- * fraction of each image dimension kept clear on every side. */
-export function marginSlopes({ fx, fy, width, height }, margin) {
-	if (!(margin >= 0 && margin < 0.5)) throw new Error(`margin must be in [0, 0.5), got ${margin}`);
-	return { kx: fx / ((0.5 - margin) * width), ky: fy / ((0.5 - margin) * height) };
-}
-
-/**
- * Support values of a point set for the camera solve, in the camera's
- * rotated frame p' = R^T * P. Exact reduction: the minimal camera distance
- * over any set is a function of these five maxima alone, so the page reduces
- * every skinned vertex of a frame to five numbers.
- *
- * Self-contained on purpose (no outer references): render.mjs injects its
- * source into the browser with Function.prototype.toString.
- *
- * @param {ArrayLike<number>} points flat [x0, y0, z0, x1, ...] in world metres
- * @param {number[]} R row-major camera->world rotation
- * @returns {{ axp: number, axm: number, ayp: number, aym: number, zmax: number, count: number }}
- */
-export function supportValues(points, R, kx, ky) {
-	let axp = -Infinity;
-	let axm = -Infinity;
-	let ayp = -Infinity;
-	let aym = -Infinity;
-	let zmax = -Infinity;
-	const count = Math.floor(points.length / 3);
-	for (let i = 0; i < count; i += 1) {
-		const x = points[i * 3];
-		const y = points[i * 3 + 1];
-		const z = points[i * 3 + 2];
-		const px = R[0] * x + R[3] * y + R[6] * z;
-		const py = R[1] * x + R[4] * y + R[7] * z;
-		const pz = R[2] * x + R[5] * y + R[8] * z;
-		if (pz + kx * px > axp) axp = pz + kx * px;
-		if (pz - kx * px > axm) axm = pz - kx * px;
-		if (pz + ky * py > ayp) ayp = pz + ky * py;
-		if (pz - ky * py > aym) aym = pz - ky * py;
-		if (pz > zmax) zmax = pz;
-	}
-	return { axp, axm, ayp, aym, zmax, count };
-}
-
-/** Union of support values (the support of the union of the point sets). */
-export function mergeSupports(list) {
-	const out = { axp: -Infinity, axm: -Infinity, ayp: -Infinity, aym: -Infinity, zmax: -Infinity, count: 0 };
-	for (const s of list) {
-		for (const key of ["axp", "axm", "ayp", "aym", "zmax"]) out[key] = Math.max(out[key], s[key]);
-		out.count += s.count;
-	}
-	return out;
-}
-
-/**
- * The closest static camera with orientation R that keeps every supported
- * point inside the margin box. In the rotated frame the camera sits at
- * (tx, ty, D); a point p' has depth D - p'z and lateral offset p'x - tx, so
- * the box constraint is D >= p'z + kx * |p'x - tx|. Maximised over the set
- * that is max(axp - kx*tx, axm + kx*tx), minimised at tx = (axp - axm)/(2kx):
- * the extreme points end up symmetric about the image centre.
- *
- * @returns {{ position: {x,y,z}, rotated: [number, number, number], bindingAxis: "x"|"y"|"depth" }}
- */
-export function solvePlacement(support, R, { kx, ky }, minDepth = 0.3) {
-	if (!(support.count > 0)) throw new Error("camera placement needs at least one point");
-	const tx = (support.axp - support.axm) / (2 * kx);
-	const ty = (support.ayp - support.aym) / (2 * ky);
-	const dx = (support.axp + support.axm) / 2;
-	const dy = (support.ayp + support.aym) / 2;
-	const dz = support.zmax + minDepth;
-	const D = Math.max(dx, dy, dz);
-	const bindingAxis = D === dx ? "x" : D === dy ? "y" : "depth";
-	const rotated = [tx, ty, D];
-	return { position: applyRotation(R, rotated), rotated, bindingAxis };
-}
-
-function applyRotation(R, [x, y, z]) {
-	return {
-		x: R[0] * x + R[1] * y + R[2] * z,
-		y: R[3] * x + R[4] * y + R[5] * z,
-		z: R[6] * x + R[7] * y + R[8] * z,
-	};
-}
-
-/** OpenCV world->camera 4x4 (row-major): camera x right, y down, z forward. */
-export function worldToCameraCv(R, position) {
-	// R_cv = diag(1, -1, -1) * R^T
-	const Rcv = [
-		R[0], R[3], R[6],
-		-R[1], -R[4], -R[7],
-		-R[2], -R[5], -R[8],
-	];
-	const t = [0, 1, 2].map((row) => -(Rcv[row * 3] * position.x + Rcv[row * 3 + 1] * position.y + Rcv[row * 3 + 2] * position.z));
-	return [
-		[Rcv[0], Rcv[1], Rcv[2], t[0]],
-		[Rcv[3], Rcv[4], Rcv[5], t[1]],
-		[Rcv[6], Rcv[7], Rcv[8], t[2]],
-		[0, 0, 0, 1],
-	];
-}
-
-/** Three/OpenGL view matrix (camera.matrixWorldInverse) as row-major 4x4:
- * camera x right, y up, looking down -z. */
-export function worldToCameraGl(R, position) {
-	const t = [0, 1, 2].map((col) => -(R[col] * position.x + R[3 + col] * position.y + R[6 + col] * position.z));
-	return [
-		[R[0], R[3], R[6], t[0]],
-		[R[1], R[4], R[7], t[1]],
-		[R[2], R[5], R[8], t[2]],
-		[0, 0, 0, 1],
-	];
-}
-
-/** Project a world point with a camera record ({ fx, fy, cx, cy,
- * worldToCameraCv }). Returns [u, v, depth] in the image convention above;
- * depth <= 0 means behind the camera. */
-export function projectPoint([x, y, z], camera) {
-	const M = camera.worldToCameraCv;
-	const X = M[0][0] * x + M[0][1] * y + M[0][2] * z + M[0][3];
-	const Y = M[1][0] * x + M[1][1] * y + M[1][2] * z + M[1][3];
-	const Z = M[2][0] * x + M[2][1] * y + M[2][2] * z + M[2][3];
-	return [camera.fx * (X / Z) + camera.cx, camera.fy * (Y / Z) + camera.cy, Z];
-}
-
-/**
- * Full static camera for a set of support values: intrinsics from an integer
- * GVHMR f-mm, orientation from azimuth/elevation, position from the solve.
- * The returned record is what camera.json stores.
- */
-export function buildCamera({ width, height, fMm, azimuthDeg, elevationDeg, margin, support, minDepth = 0.3 }) {
-	if (!Number.isInteger(fMm) || fMm <= 0) throw new Error(`f-mm must be a positive integer (GVHMR --f-mm), got ${fMm}`);
-	const fovDeg = fovDegFromFMm(fMm, width, height);
-	const intrinsics = intrinsicsFromFov({ width, height, fovDeg });
-	const { yaw, pitch, R } = orbitRotation(azimuthDeg, elevationDeg);
-	const slopes = marginSlopes(intrinsics, margin);
-	const placement = solvePlacement(support, R, slopes, minDepth);
-	return {
-		...intrinsics,
-		gvhmrFMm: fMm,
-		azimuthDeg,
-		elevationDeg,
-		margin,
-		position: placement.position,
-		yaw,
-		pitch,
-		bindingAxis: placement.bindingAxis,
-		cameraToWorldRotation: R,
-		worldToCameraCv: worldToCameraCv(R, placement.position),
-		worldToCameraGl: worldToCameraGl(R, placement.position),
-	};
-}
-
-/**
- * Rebuild the camera record from a camera.json written by render.mjs, so a
- * later render uses that exact camera (--camera). The pose is taken from
- * position/yaw/pitch/fovDeg and checked against the stored intrinsics and
- * worldToCamera, so a file in another convention is refused, not reinterpreted.
- */
-export function cameraFromRecord(record) {
-	const { width, height, fovDeg, position, yaw, pitch } = record ?? {};
-	const finite = [width, height, fovDeg, yaw, pitch, position?.x, position?.y, position?.z].every(Number.isFinite);
-	if (!finite) throw new Error("camera.json needs width, height, fovDeg, yaw, pitch and position {x, y, z}");
-	const intrinsics = intrinsicsFromFov({ width, height, fovDeg });
-	for (const key of ["fx", "fy", "cx", "cy"]) {
-		if (record[key] !== undefined && Math.abs(record[key] - intrinsics[key]) > 1e-6) throw new Error(`camera.json ${key} ${record[key]} does not match fovDeg (${intrinsics[key]})`);
-	}
-	const R = rotationYXZ(yaw, pitch);
-	const camera = {
-		...intrinsics,
-		gvhmrFMm: record.gvhmrFMm ?? null,
-		azimuthDeg: record.azimuthDeg ?? null,
-		elevationDeg: record.elevationDeg ?? null,
-		margin: record.margin ?? null,
-		position: { x: position.x, y: position.y, z: position.z },
-		yaw,
-		pitch,
-		bindingAxis: record.bindingAxis ?? "given",
-		cameraToWorldRotation: R,
-		worldToCameraCv: worldToCameraCv(R, position),
-		worldToCameraGl: worldToCameraGl(R, position),
-	};
-	if (record.worldToCamera) {
-		const gap = Math.max(...record.worldToCamera.flatMap((row, r) => row.map((value, c) => Math.abs(value - camera.worldToCameraCv[r][c]))));
-		if (!(gap <= 1e-9)) throw new Error(`camera.json worldToCamera differs from its position/yaw/pitch by ${gap}`);
-	}
-	return camera;
-}
-
-/** The same camera moved by `offset` (world metres); orientation unchanged. */
-export function translateCamera(camera, offset) {
-	const position = { x: camera.position.x + offset.x, y: camera.position.y + offset.y, z: camera.position.z + offset.z };
-	const R = camera.cameraToWorldRotation;
-	return { ...camera, position, worldToCameraCv: worldToCameraCv(R, position), worldToCameraGl: worldToCameraGl(R, position) };
-}
-
-/** The minimal support-value arguments a caller needs for a camera orientation. */
-export function supportArgs({ width, height, fMm, azimuthDeg, elevationDeg, margin }) {
-	const intrinsics = intrinsicsFromFov({ width, height, fovDeg: fovDegFromFMm(fMm, width, height) });
-	const { R } = orbitRotation(azimuthDeg, elevationDeg);
-	return { R, ...marginSlopes(intrinsics, margin) };
-}