fix(motion_estimator): restore affine2d error() and check_subset() (#51) - #52
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jsfeatNext's affine2d kernel was missing the error() and check_subset() methods that original jsfeat defines on it, so motion_estimator.ransac / lmeds with an affine2d kernel threw 'kernel.check_subset/error is not a function'. Port both from jsfeat's affine2d (error = affine reprojection residual; check_subset = true). The parity test added in #49 is flipped from pinning the crash to a full parity check: affine2d RANSAC now matches the oracle's 3x3 model and inlier mask on identical seeded data, and rejects the synthetic outliers. npm test: 57 passed; tsc --noEmit: clean. Closes #51 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This was referenced Jul 7, 2026
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Closes #51. First fix guarded by the new parity suite (Phase 0, #39).
Bug
jsfeatNext's
affine2dkernel was missing theerror()andcheck_subset()methods that original jsfeat defines on it. Somotion_estimator.ransac()/lmeds()with anaffine2dkernel threwTypeError: kernel.check_subset is not a function(thenkernel.error is not a function) — affine motion estimation was completely broken, while homography2d worked (it has its own overrides).Surfaced by the characterization test added in #49, which had to pin the crash to stay green.
Fix
Port both methods onto
affine2dfrom original jsfeat (src/jsfeat_motion_estimator.js):error()— affine reprojection residualsqr(dx) + sqr(dy)check_subset()— returnstrueTest
The parity test is flipped from
expect(...).toThrow(TypeError)to a full parity check: affine2d RANSAC now returns the sametrue, the same 3×3 model (to 4 decimals), and the same inlier mask as the oracle on identical seeded data, and rejects the synthetic outliers.npm test→ 57 passedtsc --noEmit→ clean🤖 Generated with Claude Code