react-native-image-stitcher 0.14.2 → 0.15.0

package/cpp/stitcher.cpp

@@ -22,6 +22,7 @@
 #include <opencv2/stitching.hpp>
 #include <opencv2/stitching/detail/blenders.hpp>
 #include <opencv2/stitching/detail/camera.hpp>
+#include <opencv2/stitching/detail/exposure_compensate.hpp>
 #include <opencv2/stitching/detail/matchers.hpp>
 #include <opencv2/stitching/detail/motion_estimators.hpp>
 #include <opencv2/stitching/detail/seam_finders.hpp>
@@ -39,6 +40,8 @@
 #include <unistd.h>
 #include <vector>
 
+#include "warp_guard.hpp"
+
 
 namespace retailens {
 
@@ -146,21 +149,6 @@ cv::Mat bake_rotation(const cv::Mat& src, const std::string& orientation,
     return src;
 }
 
-// Crop the non-zero bounding rect from the stitched panorama.  cv::
-// Stitcher's compose stage leaves a black border around the warped
-// region; we trim that here.
-cv::Mat crop_bbox(const cv::Mat& panorama) {
-    cv::Mat gray;
-    cv::cvtColor(panorama, gray, cv::COLOR_BGR2GRAY);
-    cv::Mat mask;
-    cv::threshold(gray, mask, 0, 255, cv::THRESH_BINARY);
-    cv::Rect bbox = cv::boundingRect(mask);
-    if (bbox.width <= 0 || bbox.height <= 0) {
-        return panorama;
-    }
-    return panorama(bbox).clone();
-}
-
 // Map cv::Stitcher::Status → StitchErrorCode.  cv::Stitcher's enum
 // values aren't documented as ABI-stable so we don't rely on
 // numeric equality; switch through the named constants.
@@ -241,6 +229,61 @@ cv::Rect maxInscribedRectFromMask(const cv::Mat& mask) {
     return bestRect;
 }
 
+// Pick the crop rectangle. Prefers the TRUE coverage mask from
+// cv::Stitcher::resultMask() (0xFF where a frame painted, 0 where
+// unfilled) so dark content is kept and only the never-covered wedges
+// drop; falls back to a brightness mask if resultMask wasn't populated
+// (older/edge OpenCV configs). `maskOut` receives the binary mask
+// actually used, so the caller can crop a coverage sidecar to match.
+cv::Rect choose_crop_rect(const cv::Mat& panorama,
+                          const cv::Mat& coverage,
+                          bool useInscribed,
+                          const LogFn& logFn,
+                          cv::Mat& maskOut) {
+    const bool haveCoverage =
+        (!coverage.empty() && coverage.size() == panorama.size());
+    cv::Mat mask;
+    if (haveCoverage) {
+        cv::Mat cov1 = coverage;
+        if (coverage.channels() != 1) {
+            cv::cvtColor(coverage, cov1, cv::COLOR_BGR2GRAY);
+        }
+        // Any painted pixel (>0) is "filled" — robust to feathered edges.
+        cv::threshold(cov1, mask, 0, 255, cv::THRESH_BINARY);
+    } else {
+        log_info(logFn, "[crop]",
+                 "resultMask unusable (empty=%d size=%dx%d vs pano %dx%d) — "
+                 "brightness-mask fallback",
+                 coverage.empty() ? 1 : 0, coverage.cols, coverage.rows,
+                 panorama.cols, panorama.rows);
+        cv::Mat gray;
+        cv::cvtColor(panorama, gray, cv::COLOR_BGR2GRAY);
+        cv::threshold(gray, mask, 0, 255, cv::THRESH_BINARY);
+    }
+    maskOut = mask;
+
+    const cv::Rect bbox = cv::boundingRect(mask);
+    if (bbox.width <= 0 || bbox.height <= 0) {
+        return cv::Rect(0, 0, panorama.cols, panorama.rows);
+    }
+    if (!useInscribed) {
+        return bbox;
+    }
+    const cv::Rect inscribed = maxInscribedRectFromMask(mask);
+    if (inscribed.width <= 0 || inscribed.height <= 0) {
+        log_info(logFn, "[crop]",
+                 "inscribed rect empty — bbox fallback (%dx%d)",
+                 bbox.width, bbox.height);
+        return bbox;
+    }
+    log_info(logFn, "[crop]",
+             "inscribed %dx%d @ (%d,%d) via %s mask (bbox was %dx%d)",
+             inscribed.width, inscribed.height, inscribed.x, inscribed.y,
+             haveCoverage ? "coverage" : "brightness",
+             bbox.width, bbox.height);
+    return inscribed;
+}
+
 }  // namespace
 
 
@@ -526,13 +569,32 @@ static StitchResult stitchFramePathsImpl_(
              framesIncluded, framePaths.size(), finalThreshold, finalAttempt);
     log_info(logFn, "[memstat]", "phase=after_stitch rss=%.1f MB", rss_mb());
 
-    // ── 4.  Crop to non-zero bounding rect ──────────────────────────
-    cv::Mat cropped = crop_bbox(panorama);
+    // ── 4.  Crop (coverage-aware inscribed rect, or bbox) ───────────
+    // Pull cv::Stitcher's coverage mask (0xFF filled / 0 unfilled). It is
+    // computed during stitch(), so this is free and exact — dark content
+    // a frame painted is kept; only never-covered wedges drop.
+    cv::Mat coverage;
+    {
+        const cv::UMat rm = stitcher->resultMask();
+        if (!rm.empty()) {
+            rm.copyTo(coverage);  // download UMat → Mat
+        }
+    }
+    cv::Mat cropMask;
+    const cv::Rect cropRect = choose_crop_rect(
+        panorama, coverage, config.useInscribedRectCrop, logFn, cropMask);
+    cv::Mat cropped = panorama(cropRect).clone();
+    // Crop the binary mask to the same rect → coverage sidecar (debug).
+    cv::Mat croppedCoverage;
+    if (cropMask.size() == panorama.size()) {
+        croppedCoverage = cropMask(cropRect).clone();
+    }
     log_info(logFn, "[dimstat]",
-             "post-crop_bbox %dx%d → %dx%d data=%.2f MB (inscribedRect=%d, currently ignored)",
+             "post-crop %dx%d → %dx%d data=%.2f MB (inscribedRect=%d, coverage=%d)",
              panorama.cols, panorama.rows, cropped.cols, cropped.rows,
              mat_mb(cropped),
-             config.useInscribedRectCrop ? 1 : 0);
+             config.useInscribedRectCrop ? 1 : 0,
+             coverage.empty() ? 0 : 1);
     log_info(logFn, "[memstat]", "phase=after_crop rss=%.1f MB", rss_mb());
 
     // ── 5.  Bake rotation per capture orientation ───────────────────
@@ -565,6 +627,18 @@ static StitchResult stitchFramePathsImpl_(
              outputPath.c_str(), final_image.cols, final_image.rows);
     log_info(logFn, "[memstat]", "phase=after_imwrite rss=%.1f MB", rss_mb());
 
+    // Best-effort coverage sidecar (<output>.coverage.png), bake-rotated
+    // to align with the JPEG, for the debug harness. Never fails stitch.
+    if (!croppedCoverage.empty()) {
+        try {
+            const cv::Mat coverageRotated =
+                bake_rotation(croppedCoverage, config.captureOrientation, logFn);
+            cv::imwrite(outputPath + ".coverage.png", coverageRotated);
+        } catch (...) {
+            // sidecar is debug-only — ignore failures
+        }
+    }
+
     // ── 7.  Fill the result ─────────────────────────────────────────
     const auto t1 = std::chrono::steady_clock::now();
     result.success                = true;
@@ -823,6 +897,10 @@ StitchResult stitchFramePathsManual(
     //   5. CylindricalWarper warps each frame using cameras
     //   6. GraphCutSeamFinder + MultiBandBlender produce final panorama
     cv::Mat panorama;
+    // v0.15 — the blender's dst_mask (TRUE frame coverage) hoisted to
+    // outer scope so the crop + sidecar below use it instead of a
+    // brightness threshold (which drops dark content like a mirror).
+    cv::Mat coverageMask;
     // Breadcrumbs in the device console.  If the next stitch
     // crashes, the last logged step pinpoints the failure point —
     // makes debugging without Xcode much faster.  Prefix is
@@ -1542,6 +1620,44 @@ StitchResult stitchFramePathsManual(
                  composeFrames.empty() ? 0 : composeFrames[0].rows,
                  compose_scale);
 
+        // Step 7.6: cylindrical-fallback pre-pass.  The configured warper
+        // (plane by default) projects as ~tan(theta), so a wide ultra-wide
+        // (0.5x) sweep can blow a single frame's warp canvas past the
+        // 100 MP guard and hard-fail with "degenerate camera params".
+        // warpRoi() is a cheap corner projection (no pixel work), so probe
+        // every frame here; if any would diverge AND we're not already on
+        // the bounded cylindrical projection, fall back to cylindrical for
+        // the one real warp pass below.  Everything downstream (seam /
+        // blender / compose / crop) consumes the warper's OUTPUTS, so the
+        // swap is transparent.  If even cylindrical diverges, the in-loop
+        // guard (step8b) still throws — the genuine-failure safety net.
+        if (config.warperType != "cylindrical" && !composeFrames.empty()) {
+            bool wouldDiverge = false;
+            size_t divergeFrame = 0;
+            for (size_t i = 0; i < composeFrames.size(); i++) {
+                if (composeFrames[i].empty()) continue;
+                cv::Mat preK;
+                cameras[i].K().convertTo(preK, CV_32F);
+                const cv::Rect r = warper->warpRoi(
+                    composeFrames[i].size(), preK, cameras[i].R);
+                if (warpRoiExceedsGuard(r.width, r.height)) {
+                    wouldDiverge = true;
+                    divergeFrame = i;
+                    break;
+                }
+            }
+            if (wouldDiverge) {
+                log_info(logFn, "[stitch-bc]",
+                         "step7.6: '%s' warp diverges at frame %zu (>%lld MP "
+                         "guard) -- falling back to cylindrical projection",
+                         config.warperType.c_str(), divergeFrame,
+                         (long long)(kMaxWarpPixels / 1000000));
+                if (auto cyl = make_warper("cylindrical")) {
+                    warper = cyl->create(warpedScale);
+                }
+            }
+        }
+
         // Step 8: warp + (optional) seam finder + blender feed.
         //
         // Two paths based on caller's seamFinderType:
@@ -1645,12 +1761,14 @@ StitchResult stitchFramePathsManual(
                     // any panorama frame requiring more than 100 MP of
                     // intermediate storage is from a broken estimator,
                     // not a real capture worth completing.
-                    constexpr int64_t kMaxWarpPixels = 100ll * 1000ll * 1000ll;
                     const int64_t roiPixels =
                         static_cast<int64_t>(roi.width)
                         * static_cast<int64_t>(roi.height);
-                    if (roi.width <= 0 || roi.height <= 0
-                        || roiPixels > kMaxWarpPixels) {
+                    // Final safety net.  If we reach here the warper in use
+                    // is already cylindrical (either the host chose it, or
+                    // the step7.6 pre-pass fell back to it) and STILL
+                    // diverges — a genuinely broken estimate, so fail.
+                    if (warpRoiExceedsGuard(roi.width, roi.height)) {
                         log_error(logFn, "[stitch-bc]",
                                   "step8b: warpRoi degenerate for frame "
                                   "%zu (%dx%d = %lld px > %lld limit) — "
@@ -1831,6 +1949,30 @@ StitchResult stitchFramePathsManual(
             }
             masksWarpedU_seam.clear();
 
+            // Exposure compensation — parity with cv::Stitcher::PANORAMA,
+            // which runs a GainCompensator before blending.  Without it,
+            // per-frame auto-exposure differences surface as brightness
+            // steps at the seams.  The manual path previously skipped this
+            // entirely (the high-level path Android uses gets it for free),
+            // which is one reason iOS output looked worse.  GAIN_BLOCKS
+            // matches cv::Stitcher's default compensator.
+            //
+            // NOTE: BATCH path only — it has every warped frame in memory,
+            // which the compensator needs before it can solve gains.  The
+            // STREAM path (low-RAM, one frame at a time) can't feed the
+            // compensator globally and keeps its current no-compensation
+            // behaviour; see docs/stitch-pipeline-architecture.md.
+            auto compensator = cv::detail::ExposureCompensator::createDefault(
+                cv::detail::ExposureCompensator::GAIN_BLOCKS);
+            {
+                std::vector<cv::UMat> compImgs(N), compMasks(N);
+                for (size_t i = 0; i < N; i++) {
+                    imagesWarped[i].copyTo(compImgs[i]);
+                    masksWarped[i].copyTo(compMasks[i]);
+                }
+                compensator->feed(corners, compImgs, compMasks);
+            }
+
             // Feed the blender, releasing each frame as we go.
             log_info(logFn, "[stitch-bc]", "step10a: blender->prepare");
             blender->prepare(corners, sizes);
@@ -1838,6 +1980,10 @@ StitchResult stitchFramePathsManual(
                      "step10b: feeding blender (N=%zu)", N);
             for (size_t i = 0; i < N; i++) {
                 log_info(logFn, "[stitch-bc]", "step10c: feed frame %zu", i);
+                // Apply the per-frame exposure gain solved above, in place,
+                // before converting + feeding the blender.
+                compensator->apply(static_cast<int>(i), corners[i],
+                                   imagesWarped[i], masksWarped[i]);
                 cv::Mat imgS;
                 imagesWarped[i].convertTo(imgS, CV_16S);
                 blender->feed(imgS, masksWarped[i], corners[i]);
@@ -1899,6 +2045,9 @@ StitchResult stitchFramePathsManual(
                  "step11b: blend complete (panoramaS=%dx%d)",
                  panoramaS.cols, panoramaS.rows);
         panoramaS.convertTo(panorama, CV_8U);
+        // Keep the blend coverage mask alive past this try scope (ref-
+        // counted, so this is cheap) for the crop + sidecar below.
+        coverageMask = panoramaMask;
         {
             auto _t = std::chrono::steady_clock::now();
             double _ms = std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -2030,25 +2179,37 @@ StitchResult stitchFramePathsManual(
     // < 50% of bbox area, use bbox — the mask shape is pathological
     // and shipping bbox-with-corners is better than a sliver.
     cv::Mat finalImage = panorama;
+    // v0.15 — coverage cropped to the same region(s) as finalImage, for
+    // the debug-harness sidecar written after rotation below.
+    cv::Mat coverageCropped;
+    const bool haveCoverage =
+        (!coverageMask.empty() && coverageMask.size() == panorama.size());
     try {
-        cv::Mat gray;
-        cv::cvtColor(panorama, gray, cv::COLOR_BGR2GRAY);
+        // Prefer the TRUE coverage mask (blender dst_mask): dark content a
+        // frame painted is kept; only never-covered pixels drop. Fall back
+        // to a brightness mask only if coverage is somehow unavailable.
         cv::Mat mask;
-        cv::threshold(gray, mask, 1, 255, cv::THRESH_BINARY);
+        if (haveCoverage) {
+            cv::threshold(coverageMask, mask, 0, 255, cv::THRESH_BINARY);
+        } else {
+            cv::Mat gray;
+            cv::cvtColor(panorama, gray, cv::COLOR_BGR2GRAY);
+            cv::threshold(gray, mask, 1, 255, cv::THRESH_BINARY);
+        }
 
         // V16 Phase 1b.fix5c — operator-toggleable crop strategy.
         //
-        //   useInscribedRectCrop = NO (default in settings modal):
+        //   useInscribedRectCrop = NO (v0.15 default):
         //     Final crop is just cv::boundingRect(mask) — preserves all
         //     stitched content at the cost of possible black corners
         //     where cv::Stitcher's projection didn't fill.
         //
-        //   useInscribedRectCrop = YES (operator opt-in):
+        //   useInscribedRectCrop = YES (opt in via prop / settings modal):
         //     Run the full inscribed-rect pipeline (morph-close + 50%
         //     safety floor + column-projection second pass) for a clean
         //     -cornered rectangle.  Can over-aggressively shrink the
         //     output on lopsided masks (1146×1102 bbox → 602×1102 strip
-        //     in one field log).
+        //     in one field log) — which is why it's opt-in, not the default.
         cv::Rect bbox;
         if (config.useInscribedRectCrop) {
             cv::Mat closedMask;
@@ -2091,6 +2252,7 @@ StitchResult stitchFramePathsManual(
         if (bbox.width > 0 && bbox.height > 0
             && bbox.width <= panorama.cols && bbox.height <= panorama.rows) {
             finalImage = panorama(bbox).clone();
+            if (haveCoverage) coverageCropped = coverageMask(bbox).clone();
         }
 
         // V16 Phase 1b.fix5c — column-projection second pass ALSO gated
@@ -2140,6 +2302,8 @@ StitchResult stitchFramePathsManual(
                 cv::Rect rectCrop(cropLeft, 0,
                                   cropRight - cropLeft + 1, rows);
                 finalImage = finalImage(rectCrop).clone();
+                if (!coverageCropped.empty())
+                    coverageCropped = coverageCropped(rectCrop).clone();
                 log_info(logFn, "[BatchStitcher]",
                          "rectCrop applied: %dx%d → %dx%d",
                          cols, rows, finalImage.cols, finalImage.rows);
@@ -2163,6 +2327,8 @@ StitchResult stitchFramePathsManual(
                     cv::Rect rectCrop(cropLeft, 0,
                                       cropRight - cropLeft + 1, rows);
                     finalImage = finalImage(rectCrop).clone();
+                    if (!coverageCropped.empty())
+                        coverageCropped = coverageCropped(rectCrop).clone();
                     log_info(logFn, "[BatchStitcher]",
                              "rectCrop relaxed applied: %dx%d → %dx%d",
                              cols, rows, finalImage.cols, finalImage.rows);
@@ -2264,6 +2430,20 @@ StitchResult stitchFramePathsManual(
                                               config.captureOrientation,
                                               logFn);
 
+    // v0.15 — best-effort coverage sidecar (<output>.coverage.png),
+    // cropped + rotated to match the written JPEG, for the debug harness
+    // (computeInscribedRect / debugMaskOverlay prefer it over brightness).
+    if (!coverageCropped.empty()) {
+        try {
+            const cv::Mat covRot = bake_rotation(coverageCropped,
+                                                 config.captureOrientation,
+                                                 logFn);
+            cv::imwrite(outputPath + ".coverage.png", covRot);
+        } catch (...) {
+            // sidecar is debug-only — ignore failures
+        }
+    }
+
     // Encode + write the JPEG.  Clamp quality into [0, 100] to defend
     // against caller bugs.
     //

package/cpp/tests/CMakeLists.txt

@@ -11,16 +11,23 @@
 #
 # Or, from the repo root: `scripts/run-cpp-tests.sh`.
 #
-# What this DOES test (v0.10.0 scope):
+# What this DOES test:
 #   - Pure-C++ types in cpp/: `Pose`, `PlaneTransform`,
 #     `StitcherFrameData`, `PixelBufferReader` interface contract.
-#   - `StitcherWorkletRegistry` lifecycle (count, snapshot, uninstall,
-#     thread-safety) — compiled against JSI/worklets-core stubs under
-#     `cpp/tests/stubs/`.  See `stubs/jsi/jsi.h` for the strategy.
+#   - `timeBudgetCrossed` — the keyframe gate's OpenCV-free time-budget
+#     force-accept predicate (keyframe_timebudget_test.cpp).
+#   - `warpRoiExceedsGuard` — the OpenCV-free warp-canvas size guard that
+#     triggers the cylindrical-fallback pre-pass (warp_guard_test.cpp).
+#   (The StitcherWorkletRegistry test was removed when that source was
+#    archived in the Phase-3 cleanup — its CMake entries had gone stale
+#    and broke the whole suite's configure step.)
 #
 # What this DOES NOT test yet (deferred to v0.11.0+):
-#   - `KeyframeGate` — depends on OpenCV.  Will need an OpenCV-aware
-#     CMake config (link the same opencv_world the prod build uses).
+#   - `KeyframeGate` (the full gate) — depends on OpenCV.  Will need an
+#     OpenCV-aware CMake config (link the same opencv_world the prod
+#     build uses).  NOTE: the OpenCV-free `timeBudgetCrossed` predicate
+#     (the time-budget force-accept boundary logic) IS covered, via
+#     keyframe_timebudget_test.cpp — it's an inline header-only function.
 #   - JSI host-object dispatch — needs a real Hermes runtime.
 #   - Anything in `stitcher.cpp` (uses OpenCV stitching pipeline).
 
@@ -66,14 +73,13 @@ include_directories(
 # Test executable
 # ─────────────────────────────────────────────────────────────────────
 add_executable(stitcher_cpp_tests
-  # Production sources under test (only those whose deps we can satisfy
-  # without OpenCV / a real JSI runtime).
-  ${CMAKE_CURRENT_SOURCE_DIR}/../stitcher_worklet_registry.cpp
-
-  # Test sources.
+  # Test sources.  All subjects are header-only (Pose / PlaneTransform,
+  # StitcherFrameData, and the gate's inline `timeBudgetCrossed`
+  # predicate), so no production .cpp needs linking here.
   ${CMAKE_CURRENT_SOURCE_DIR}/pose_test.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/stitcher_frame_data_test.cpp
-  ${CMAKE_CURRENT_SOURCE_DIR}/stitcher_worklet_registry_test.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/keyframe_timebudget_test.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/warp_guard_test.cpp
 )
 
 target_link_libraries(stitcher_cpp_tests

package/cpp/tests/keyframe_timebudget_test.cpp

@@ -0,0 +1,65 @@
+// SPDX-License-Identifier: Apache-2.0
+//
+// keyframe_timebudget_test.cpp — host unit tests for the pure
+// `retailens::timeBudgetCrossed` predicate (the keyframe gate's
+// time-budget force-accept decision).
+//
+// The full KeyframeGate depends on OpenCV and cannot run in this
+// harness (see CMakeLists.txt).  The time-budget boundary logic was
+// therefore deliberately extracted into an inline, OpenCV-free
+// predicate in keyframe_gate.hpp precisely so it CAN be unit-tested
+// here without linking the gate's OpenCV-dependent .cpp.
+
+#include <gtest/gtest.h>
+
+#include "keyframe_gate.hpp"
+
+using retailens::timeBudgetCrossed;
+
+// intervalMs <= 0 disables the budget entirely (opt-out path).
+TEST(TimeBudgetCrossed, DisabledWhenIntervalNonPositive) {
+  EXPECT_FALSE(timeBudgetCrossed(0.0, 1000, 999999));
+  EXPECT_FALSE(timeBudgetCrossed(-5.0, 1000, 999999));
+}
+
+// Never fires before the first accept (lastAcceptMs sentinel -1),
+// regardless of how large `nowMs` is.
+TEST(TimeBudgetCrossed, NeverFiresBeforeFirstAccept) {
+  EXPECT_FALSE(timeBudgetCrossed(2000.0, -1, 1000000));
+}
+
+// Fires exactly at the boundary (elapsed == interval) and beyond.
+TEST(TimeBudgetCrossed, FiresAtAndAfterBoundary) {
+  EXPECT_TRUE(timeBudgetCrossed(2000.0, 1000, 3000));  // elapsed == 2000
+  EXPECT_TRUE(timeBudgetCrossed(2000.0, 1000, 5000));  // elapsed  > 2000
+}
+
+// Does NOT fire just under the boundary.
+TEST(TimeBudgetCrossed, DoesNotFireJustUnderBoundary) {
+  EXPECT_FALSE(timeBudgetCrossed(2000.0, 1000, 2999));  // elapsed == 1999
+}
+
+// A backwards or equal clock must never fire.  A monotonic source
+// should prevent now < lastAccept, but the predicate must be robust.
+TEST(TimeBudgetCrossed, BackwardsOrEqualClockDoesNotFire) {
+  EXPECT_FALSE(timeBudgetCrossed(2000.0, 5000, 4000));  // now < lastAccept
+  EXPECT_FALSE(timeBudgetCrossed(2000.0, 5000, 5000));  // elapsed 0 < 2000
+}
+
+// Sub-millisecond budget must NOT collapse to "accept every frame":
+// the predicate compares elapsed in double, so a 0.5 ms budget needs
+// ~1 ms elapsed (not 0).  Guards the truncation regression.
+TEST(TimeBudgetCrossed, SubMillisecondBudgetDoesNotAcceptEveryFrame) {
+  EXPECT_FALSE(timeBudgetCrossed(0.5, 1000, 1000));  // elapsed 0.0 < 0.5
+  EXPECT_TRUE(timeBudgetCrossed(0.5, 1000, 1001));   // elapsed 1.0 >= 0.5
+}
+
+// Realistic 2 s budget across a slow pan: a keyframe accepted at t,
+// the next force-accept lands at t + 2000 ms, not before.
+TEST(TimeBudgetCrossed, TwoSecondBudgetTypicalUse) {
+  const int64_t lastAccept = 10000;
+  EXPECT_FALSE(timeBudgetCrossed(2000.0, lastAccept, lastAccept + 1500));
+  EXPECT_FALSE(timeBudgetCrossed(2000.0, lastAccept, lastAccept + 1999));
+  EXPECT_TRUE(timeBudgetCrossed(2000.0, lastAccept, lastAccept + 2000));
+  EXPECT_TRUE(timeBudgetCrossed(2000.0, lastAccept, lastAccept + 2001));
+}

package/cpp/tests/warp_guard_test.cpp

@@ -0,0 +1,48 @@
+// SPDX-License-Identifier: Apache-2.0
+/**
+ * Unit tests for the warp-canvas size guard (cpp/warp_guard.hpp).
+ *
+ * The guard decides when a warp ROI is "degenerate" — the trigger for
+ * both the cylindrical-fallback pre-pass and the in-loop final safety net.
+ * The cases that matter: normal ROIs pass, non-positive dims fail, the
+ * 100 MP boundary is inclusive, the real observed divergence (8171×12336)
+ * is caught, and a ROI whose int32 area would overflow is still caught.
+ */
+#include "warp_guard.hpp"
+
+#include <gtest/gtest.h>
+
+using retailens::warpRoiExceedsGuard;
+
+TEST(WarpGuard, AcceptsNormalRoi) {
+  EXPECT_FALSE(warpRoiExceedsGuard(4000, 2000));  // 8 MP
+  EXPECT_FALSE(warpRoiExceedsGuard(1, 1));
+}
+
+TEST(WarpGuard, RejectsNonPositiveDims) {
+  EXPECT_TRUE(warpRoiExceedsGuard(0, 1000));
+  EXPECT_TRUE(warpRoiExceedsGuard(1000, 0));
+  EXPECT_TRUE(warpRoiExceedsGuard(-5, 1000));
+  EXPECT_TRUE(warpRoiExceedsGuard(1000, -5));
+}
+
+TEST(WarpGuard, BoundaryIsInclusive) {
+  EXPECT_FALSE(warpRoiExceedsGuard(100000, 1000));  // exactly 100 MP — allowed
+  EXPECT_TRUE(warpRoiExceedsGuard(100000, 1001));   // 100.1 MP — over
+}
+
+TEST(WarpGuard, RejectsTheObservedDivergence) {
+  // 8171×12336 = 100.8 MP — the exact STITCH_CAMERA_PARAMS_FAIL canvas.
+  EXPECT_TRUE(warpRoiExceedsGuard(8171, 12336));
+}
+
+TEST(WarpGuard, RejectsInt32OverflowingRoi) {
+  // 65536×65536 = 2^32; an int32 area would wrap to 0 and slip past the
+  // guard. The int64 area math catches it.
+  EXPECT_TRUE(warpRoiExceedsGuard(65536, 65536));
+}
+
+TEST(WarpGuard, HonoursCustomThreshold) {
+  EXPECT_FALSE(warpRoiExceedsGuard(1000, 1000, 2'000'000));  // 1 MP < 2 MP
+  EXPECT_TRUE(warpRoiExceedsGuard(2000, 1000, 1'000'000));   // 2 MP > 1 MP
+}

package/cpp/warp_guard.hpp

@@ -0,0 +1,41 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+#include <cstdint>
+
+// ─────────────────────────────────────────────────────────────────────
+// Warp-canvas size guard — shared by the warp pre-pass (which decides
+// whether to fall back from a diverging plane projection to the bounded
+// cylindrical one) and the in-loop final safety net in stitcher.cpp.
+//
+// Header-only + OpenCV-free on purpose: the predicate below is the one
+// piece of warp-guard logic worth unit-testing in isolation (the int64
+// overflow handling in particular), and the cpp test suite is NOT
+// OpenCV-aware.  Keep this file free of any cv:: dependency.
+// ─────────────────────────────────────────────────────────────────────
+
+namespace retailens {
+
+// A single warped frame requiring more than this many pixels of
+// intermediate storage is from a broken estimator (degenerate camera
+// params), not a real capture: at 3-4 bytes/px that's 300-400 MB for ONE
+// frame, and blending several would jetsam-OOM the app.  100 megapixels.
+constexpr int64_t kMaxWarpPixels = 100LL * 1000LL * 1000LL;
+
+// True if a warp ROI of `width`×`height` px is degenerate: non-positive
+// in either dimension, or strictly larger than `maxPixels` (so a canvas
+// exactly at the limit is still allowed).
+//
+// Computes the area in int64 so a wildly degenerate ROI (e.g.
+// 65536×65536 = 2^32, whose int32 area wraps to 0) is still caught
+// instead of silently slipping past the guard.
+inline bool warpRoiExceedsGuard(int width, int height,
+                                int64_t maxPixels = kMaxWarpPixels) {
+  if (width <= 0 || height <= 0) {
+    return true;
+  }
+  const int64_t pixels =
+      static_cast<int64_t>(width) * static_cast<int64_t>(height);
+  return pixels > maxPixels;
+}
+
+}  // namespace retailens

package/dist/camera/Camera.d.ts

@@ -144,6 +144,11 @@ export interface CameraProps {
     defaultFlowMaxTranslationCm?: number;
     defaultKeyframeMaxCount?: number;
     defaultKeyframeOverlapThreshold?: number;
+    /** Time-budget force-accept (ms) for the keyframe gate — accept a
+     *  keyframe at least this often during a pan even if novelty is low,
+     *  so slow / static pans don't leave temporal gaps.  `0` disables it.
+     *  Default 2000 (2 s).  Applies to both AR and non-AR captures. */
+    defaultMaxKeyframeIntervalMs?: number;
     /** Forward-looking — wires through to cv::Stitcher's compositingResol
      *  once PanoramaSettings exposes the field (currently a no-op). */
     defaultCompositingResolMP?: number;
@@ -151,6 +156,26 @@ export interface CameraProps {
     defaultRegistrationResolMP?: number;
     /** Forward-looking — see above. */
     defaultSeamEstimationResolMP?: number;
+    /**
+     * Crop strategy for the stitched panorama. `false` (default) keeps the
+     * bounding-rect of non-black pixels, which preserves all stitched
+     * content but may leave black corners. `true` crops to the maximum
+     * axis-aligned rectangle inscribed in the coverage mask — clean edges,
+     * no black corners (slightly more CPU at finalize) — but it can shrink
+     * the output substantially on lopsided / ultra-wide masks, which is why
+     * it's opt-in.
+     *
+     * Implemented as a start-time stitcher config (like the other
+     * stitcher settings), so this value is read once at mount to seed the
+     * initial setting; the in-app settings modal can override it at
+     * runtime. It changes image geometry (the crop), not encoding.
+     *
+     * Since the default is `false`, only pass this prop to opt in:
+     * @example
+     * // Crop to a clean inscribed rectangle (no black corners):
+     * <Camera maxInscribedRectCrop={true} />
+     */
+    maxInscribedRectCrop?: boolean;
     enablePhotoMode?: boolean;
     enablePanoramaMode?: boolean;
     showSettingsButton?: boolean;
@@ -169,23 +194,13 @@ export interface CameraProps {
     captureSources?: CaptureSourcesMode;
     style?: StyleProp<ViewStyle>;
     /**
-     * Which incremental stitcher engine to drive.  Default
-     * `'batch-keyframe'` — collects accepted JPEGs and runs
-     * `cv::Stitcher` once at finalize time.  This is the v0.4+
-     * production default and what the v0.5 Frame Processor migration
-     * exercises.
-     *
-     * Switch to a live engine (`'firstwins-rectilinear'` or
-     * `'hybrid'`) for low-latency in-flight stitching.  Live engines
-     * exercise the F8.6 pixel-buffer ingest path (skipping the JPEG
-     * encode/decode round-trip; ~30–50 ms saved per accept) when the
-     * Frame Processor driver is active.
-     *
-     * See `docs/f8-frame-processor-plan.md` and the v0.5.0
-     * CHANGELOG for the trade-offs between batch-keyframe and live
-     * engines.
+     * Which stitcher engine to drive.  Only `'batch-keyframe'` is
+     * supported (and the default): it collects accepted keyframe JPEGs
+     * during the hold-pan-release capture and runs the stitch once at
+     * finalize.  The live engines (hybrid / slit-scan / firstwins) were
+     * archived in the batch-keyframe cleanup — see `archive/`.
      */
-    engine?: 'batch-keyframe' | 'hybrid' | 'slitscan-rotate' | 'slitscan-both' | 'firstwins' | 'firstwins-zoomed' | 'firstwins-rectilinear' | 'slitscan';
+    engine?: 'batch-keyframe';
     /**
      * Optional destination directory for captures.  When set, the lib
      * lands tap-photos at `${outputDir}/photo-${ts}.jpg` and panoramas