From 96258f294b43347925805d4e0ff796c95f35ae85 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Tue, 26 May 2026 21:56:12 +0000 Subject: [PATCH 1/7] Initial plan From dc55537d6451e7b70d6637566c576733cf17d68f Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Tue, 26 May 2026 21:59:44 +0000 Subject: [PATCH 2/7] refactor: replace number[] with Float32Array for performance improvement - Refactor xPrev, dxPrev, and filter I/O from number[] to Float32Array - Update type declarations to reflect new signatures - Update example and README to document Float32Array usage - Rebuild dist files --- README.md | 6 ++++-- dist/OneEuroFilter.js | 2 +- dist/OneEuroFilter.mjs | 2 +- example/test.html | 4 ++-- package-lock.json | 4 ++-- src/OneEuroFilter.ts | 26 +++++++++++++++----------- types/OneEuroFilter.d.ts | 8 +++++++- types/src/OneEuroFilter.d.ts | 8 +++++++- 8 files changed, 39 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index f596eab..357707f 100644 --- a/README.md +++ b/README.md @@ -17,6 +17,8 @@ yarn add @webarkit/oneeurofilter-ts ## Usage +The `filter` method accepts and returns `Float32Array` for optimal performance and memory efficiency. + In a typescript file: ```typescript // import the OneEuroFilter class into your project @@ -29,7 +31,7 @@ const filter = new OneEuroFilter(filterMinCF, filterBeta); /* yourData is the data you want to filter, createData() is a dummy function here, use it you method or data instead... */ -let yourData = createData(); +let yourData: Float32Array = createData(); // filter the data (yourData) with the filter method filter.filter(Date.now(), yourData); @@ -50,7 +52,7 @@ const filter = new OneEuroFilter(filterMinCF, filterBeta); /* yourData is the data you want to filter, createData() is a dummy function here, use it you method or data instead... */ -let yourData = createData(); +let yourData = new Float32Array(createData()); // filter the data (yourData) with the filter method filter.filter(Date.now(), yourData); diff --git a/dist/OneEuroFilter.js b/dist/OneEuroFilter.js index b995ea7..5304d57 100644 --- a/dist/OneEuroFilter.js +++ b/dist/OneEuroFilter.js @@ -1 +1 @@ -!function(t,e){if("object"==typeof exports&&"object"==typeof module)module.exports=e();else if("function"==typeof define&&define.amd)define([],e);else{var i=e();for(var o in i)("object"==typeof exports?exports:t)[o]=i[o]}}(self,(()=>(()=>{"use strict";var t={d:(e,i)=>{for(var o in i)t.o(i,o)&&!t.o(e,o)&&Object.defineProperty(e,o,{enumerable:!0,get:i[o]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>o});const{rE:i}={rE:"0.1.2"};class o{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=i;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const i=2*Math.PI*e*t;return i/(i+1)}exponentialSmoothing(t,e,i){return t*e+(1-t)*i}reset(){this.initialized=!1}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=e,this.dxPrev=e.map((()=>0)),this.tPrev=t,e;const{xPrev:i,tPrev:o,dxPrev:r}=this,n=t-o,s=this.smoothingFactor(n,this.dCutOff),l=[],h=[],f=[];for(let t=0;t(()=>{"use strict";var t={d:(e,i)=>{for(var r in i)t.o(i,r)&&!t.o(e,r)&&Object.defineProperty(e,r,{enumerable:!0,get:i[r]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>r});const{rE:i}={rE:"0.1.2"};class r{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=i;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const i=2*Math.PI*e*t;return i/(i+1)}exponentialSmoothing(t,e,i){return t*e+(1-t)*i}reset(){this.initialized=!1}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=new Float32Array(e),this.dxPrev=new Float32Array(e.length),this.tPrev=t,new Float32Array(e);const{xPrev:i,tPrev:r,dxPrev:o}=this,n=t-r,s=this.smoothingFactor(n,this.dCutOff),l=new Float32Array(e.length),a=new Float32Array(e.length),h=new Float32Array(e.length);for(let t=0;t{for(var r in e)t.o(e,r)&&!t.o(i,r)&&Object.defineProperty(i,r,{enumerable:!0,get:e[r]})},o:(t,i)=>Object.prototype.hasOwnProperty.call(t,i)},i={};t.d(i,{i:()=>r});const{rE:e}={rE:"0.1.2"};class r{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=e;constructor(t,i){this.minCutOff=t,this.beta=i,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,i){const e=2*Math.PI*i*t;return e/(e+1)}exponentialSmoothing(t,i,e){return t*i+(1-t)*e}reset(){this.initialized=!1}filter(t,i){if(!this.initialized)return this.initialized=!0,this.xPrev=i,this.dxPrev=i.map((()=>0)),this.tPrev=t,i;const{xPrev:e,tPrev:r,dxPrev:n}=this,s=t-r,o=this.smoothingFactor(s,this.dCutOff),h=[],a=[],l=[];for(let t=0;t{for(var r in i)t.o(i,r)&&!t.o(e,r)&&Object.defineProperty(e,r,{enumerable:!0,get:i[r]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e)},e={};t.d(e,{i:()=>r});const{rE:i}={rE:"0.1.2"};class r{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=i;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const i=2*Math.PI*e*t;return i/(i+1)}exponentialSmoothing(t,e,i){return t*e+(1-t)*i}reset(){this.initialized=!1}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=new Float32Array(e),this.dxPrev=new Float32Array(e.length),this.tPrev=t,new Float32Array(e);const{xPrev:i,tPrev:r,dxPrev:n}=this,o=t-r,s=this.smoothingFactor(o,this.dCutOff),h=new Float32Array(e.length),a=new Float32Array(e.length),l=new Float32Array(e.length);for(let t=0;t --> @@ -9,6 +9,6 @@ import {OneEuroFilter} from '../dist/OneEuroFilter.mjs'; var filter = new OneEuroFilter(120, 0.1, 0.1, 1.0); - var filtered = filter.filter(0.001,[0.2,0.4,0.6,0.8,1.0]); + var filtered = filter.filter(0.001, new Float32Array([0.2,0.4,0.6,0.8,1.0])); console.log(filtered); \ No newline at end of file diff --git a/package-lock.json b/package-lock.json index 65f91d4..4993311 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,12 +1,12 @@ { "name": "@webarkit/oneeurofilter-ts", - "version": "0.1.1", + "version": "0.1.2", "lockfileVersion": 3, "requires": true, "packages": { "": { "name": "@webarkit/oneeurofilter-ts", - "version": "0.1.1", + "version": "0.1.2", "license": "LGPL-3.0", "devDependencies": { "ts-loader": "9.5.2", diff --git a/src/OneEuroFilter.ts b/src/OneEuroFilter.ts index 8b4af72..8018658 100644 --- a/src/OneEuroFilter.ts +++ b/src/OneEuroFilter.ts @@ -43,8 +43,8 @@ export class OneEuroFilter { private minCutOff: number; private beta: number; private dCutOff: number; - private xPrev: number[] | null; - private dxPrev: number[] | null; + private xPrev: Float32Array | null; + private dxPrev: Float32Array | null; private tPrev: number | null; private initialized: boolean; private version: string = version; @@ -73,26 +73,30 @@ export class OneEuroFilter { this.initialized = false; } - filter(t: number, x: number[]) { + /** + * Filters the input signal using the One Euro Filter algorithm. + * @param t - The timestamp of the current sample. + * @param x - The input signal as a Float32Array. + * @returns The filtered signal as a Float32Array. + */ + filter(t: number, x: Float32Array): Float32Array { if (!this.initialized) { this.initialized = true; - this.xPrev = x; - this.dxPrev = x.map(() => 0); + this.xPrev = new Float32Array(x); + this.dxPrev = new Float32Array(x.length); this.tPrev = t; - return x; + return new Float32Array(x); } const { xPrev, tPrev, dxPrev } = this; - //console.log("filter", x, xPrev, x.map((xx, i) => x[i] - xPrev[i])); - const te = t - tPrev!; const ad = this.smoothingFactor(te, this.dCutOff); - const dx: number[] = []; - const dxHat: number[] = []; - const xHat: number[] = []; + const dx = new Float32Array(x.length); + const dxHat = new Float32Array(x.length); + const xHat = new Float32Array(x.length); for (let i = 0; i < x.length; i++) { // The filtered derivative of the signal. dx[i] = (x[i] - xPrev![i]) / te; diff --git a/types/OneEuroFilter.d.ts b/types/OneEuroFilter.d.ts index 3dc7a1c..a466321 100644 --- a/types/OneEuroFilter.d.ts +++ b/types/OneEuroFilter.d.ts @@ -10,5 +10,11 @@ export declare class OneEuroFilter { smoothingFactor(te: number, cutoff: number): number; exponentialSmoothing(a: number, x: number, xPrev: number): number; reset(): void; - filter(t: number, x: number[]): number[]; + /** + * Filters the input signal using the One Euro Filter algorithm. + * @param t - The timestamp of the current sample. + * @param x - The input signal as a Float32Array. + * @returns The filtered signal as a Float32Array. + */ + filter(t: number, x: Float32Array): Float32Array; } diff --git a/types/src/OneEuroFilter.d.ts b/types/src/OneEuroFilter.d.ts index df507ac..ca1700f 100644 --- a/types/src/OneEuroFilter.d.ts +++ b/types/src/OneEuroFilter.d.ts @@ -11,5 +11,11 @@ export declare class OneEuroFilter { smoothingFactor(te: number, cutoff: number): number; exponentialSmoothing(a: number, x: number, xPrev: number): number; reset(): void; - filter(t: number, x: number[]): number[]; + /** + * Filters the input signal using the One Euro Filter algorithm. + * @param t - The timestamp of the current sample. + * @param x - The input signal as a Float32Array. + * @returns The filtered signal as a Float32Array. + */ + filter(t: number, x: Float32Array): Float32Array; } From 151fa4af91d603b5afc66b8ae002a24b4378ab4a Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Tue, 26 May 2026 22:10:06 +0000 Subject: [PATCH 3/7] feat: add Float64Array support alongside Float32Array - Introduce FilterDataArray union type (Float32Array | Float64Array) - Make filter() generic so output type matches input type - Add createTypedArray helper to dynamically construct matching arrays - Export FilterDataArray type from index - Update type declarations, README, and rebuild dist --- README.md | 2 +- dist/OneEuroFilter.js | 2 +- dist/OneEuroFilter.mjs | 2 +- src/OneEuroFilter.ts | 37 +++++++++++++++++++++++++----------- src/index.ts | 4 +++- types/OneEuroFilter.d.ts | 9 ++++++--- types/src/OneEuroFilter.d.ts | 16 +++++++++++++--- types/src/index.d.ts | 2 ++ 8 files changed, 53 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index 357707f..f865cfd 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ yarn add @webarkit/oneeurofilter-ts ## Usage -The `filter` method accepts and returns `Float32Array` for optimal performance and memory efficiency. +The `filter` method accepts and returns `Float32Array` or `Float64Array` for optimal performance and memory efficiency. Use `Float32Array` for most cases; use `Float64Array` when higher precision is required. In a typescript file: ```typescript diff --git a/dist/OneEuroFilter.js b/dist/OneEuroFilter.js index 5304d57..846fe6c 100644 --- a/dist/OneEuroFilter.js +++ b/dist/OneEuroFilter.js @@ -1 +1 @@ -!function(t,e){if("object"==typeof exports&&"object"==typeof module)module.exports=e();else if("function"==typeof define&&define.amd)define([],e);else{var i=e();for(var r in i)("object"==typeof exports?exports:t)[r]=i[r]}}(self,(()=>(()=>{"use strict";var t={d:(e,i)=>{for(var r in i)t.o(i,r)&&!t.o(e,r)&&Object.defineProperty(e,r,{enumerable:!0,get:i[r]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>r});const{rE:i}={rE:"0.1.2"};class r{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=i;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const i=2*Math.PI*e*t;return i/(i+1)}exponentialSmoothing(t,e,i){return t*e+(1-t)*i}reset(){this.initialized=!1}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=new Float32Array(e),this.dxPrev=new Float32Array(e.length),this.tPrev=t,new Float32Array(e);const{xPrev:i,tPrev:r,dxPrev:o}=this,n=t-r,s=this.smoothingFactor(n,this.dCutOff),l=new Float32Array(e.length),a=new Float32Array(e.length),h=new Float32Array(e.length);for(let t=0;t(()=>{"use strict";var t={d:(e,r)=>{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.tPrev=t,this.createTypedArray(e,e);const{xPrev:r,tPrev:i,dxPrev:o}=this,n=t-i,s=this.smoothingFactor(n,this.dCutOff),h=this.createTypedArray(e,e.length),a=this.createTypedArray(e,e.length),l=this.createTypedArray(e,e.length);for(let t=0;t{for(var r in i)t.o(i,r)&&!t.o(e,r)&&Object.defineProperty(e,r,{enumerable:!0,get:i[r]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e)},e={};t.d(e,{i:()=>r});const{rE:i}={rE:"0.1.2"};class r{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=i;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const i=2*Math.PI*e*t;return i/(i+1)}exponentialSmoothing(t,e,i){return t*e+(1-t)*i}reset(){this.initialized=!1}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=new Float32Array(e),this.dxPrev=new Float32Array(e.length),this.tPrev=t,new Float32Array(e);const{xPrev:i,tPrev:r,dxPrev:n}=this,o=t-r,s=this.smoothingFactor(o,this.dCutOff),h=new Float32Array(e.length),a=new Float32Array(e.length),l=new Float32Array(e.length);for(let t=0;t{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e)},e={};t.d(e,{i:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.tPrev=t,this.createTypedArray(e,e);const{xPrev:r,tPrev:i,dxPrev:n}=this,s=t-i,h=this.smoothingFactor(s,this.dCutOff),o=this.createTypedArray(e,e.length),a=this.createTypedArray(e,e.length),l=this.createTypedArray(e,e.length);for(let t=0;t(source: T, lengthOrData: number | ArrayLike): T { + const Ctor = source.constructor as { new (arg: number | ArrayLike): T }; + return new Ctor(lengthOrData); + } + /** * Filters the input signal using the One Euro Filter algorithm. + * Accepts either Float32Array or Float64Array; the output type matches the input type. * @param t - The timestamp of the current sample. - * @param x - The input signal as a Float32Array. - * @returns The filtered signal as a Float32Array. + * @param x - The input signal as a Float32Array or Float64Array. + * @returns The filtered signal as the same typed array type as the input. */ - filter(t: number, x: Float32Array): Float32Array { + filter(t: number, x: T): T { if (!this.initialized) { this.initialized = true; - this.xPrev = new Float32Array(x); - this.dxPrev = new Float32Array(x.length); + this.xPrev = this.createTypedArray(x, x); + this.dxPrev = this.createTypedArray(x, x.length); this.tPrev = t; - return new Float32Array(x); + return this.createTypedArray(x, x); } const { xPrev, tPrev, dxPrev } = this; @@ -94,9 +109,9 @@ export class OneEuroFilter { const ad = this.smoothingFactor(te, this.dCutOff); - const dx = new Float32Array(x.length); - const dxHat = new Float32Array(x.length); - const xHat = new Float32Array(x.length); + const dx = this.createTypedArray(x, x.length); + const dxHat = this.createTypedArray(x, x.length); + const xHat = this.createTypedArray(x, x.length); for (let i = 0; i < x.length; i++) { // The filtered derivative of the signal. dx[i] = (x[i] - xPrev![i]) / te; diff --git a/src/index.ts b/src/index.ts index 9a1e4f9..4adc1db 100644 --- a/src/index.ts +++ b/src/index.ts @@ -36,5 +36,7 @@ * */ import { OneEuroFilter } from "./OneEuroFilter"; +import type { FilterDataArray } from "./OneEuroFilter"; -export { OneEuroFilter } \ No newline at end of file +export { OneEuroFilter } +export type { FilterDataArray } \ No newline at end of file diff --git a/types/OneEuroFilter.d.ts b/types/OneEuroFilter.d.ts index a466321..99ec4f7 100644 --- a/types/OneEuroFilter.d.ts +++ b/types/OneEuroFilter.d.ts @@ -1,3 +1,5 @@ +/** Supported typed array types for filter input/output. */ +export type FilterDataArray = Float32Array | Float64Array; export declare class OneEuroFilter { private minCutOff; private beta; @@ -12,9 +14,10 @@ export declare class OneEuroFilter { reset(): void; /** * Filters the input signal using the One Euro Filter algorithm. + * Accepts either Float32Array or Float64Array; the output type matches the input type. * @param t - The timestamp of the current sample. - * @param x - The input signal as a Float32Array. - * @returns The filtered signal as a Float32Array. + * @param x - The input signal as a Float32Array or Float64Array. + * @returns The filtered signal as the same typed array type as the input. */ - filter(t: number, x: Float32Array): Float32Array; + filter(t: number, x: T): T; } diff --git a/types/src/OneEuroFilter.d.ts b/types/src/OneEuroFilter.d.ts index ca1700f..39f7aa0 100644 --- a/types/src/OneEuroFilter.d.ts +++ b/types/src/OneEuroFilter.d.ts @@ -1,3 +1,5 @@ +/** Supported typed array types for filter input/output. */ +export type FilterDataArray = Float32Array | Float64Array; export declare class OneEuroFilter { private minCutOff; private beta; @@ -11,11 +13,19 @@ export declare class OneEuroFilter { smoothingFactor(te: number, cutoff: number): number; exponentialSmoothing(a: number, x: number, xPrev: number): number; reset(): void; + /** + * Creates a new typed array of the same type as the source. + * @param source - The source typed array to match the type of. + * @param lengthOrData - The length for a zero-filled array, or data to copy. + * @returns A new typed array of the same type as the source. + */ + private createTypedArray; /** * Filters the input signal using the One Euro Filter algorithm. + * Accepts either Float32Array or Float64Array; the output type matches the input type. * @param t - The timestamp of the current sample. - * @param x - The input signal as a Float32Array. - * @returns The filtered signal as a Float32Array. + * @param x - The input signal as a Float32Array or Float64Array. + * @returns The filtered signal as the same typed array type as the input. */ - filter(t: number, x: Float32Array): Float32Array; + filter(t: number, x: T): T; } diff --git a/types/src/index.d.ts b/types/src/index.d.ts index 980ce85..2d2a2b3 100644 --- a/types/src/index.d.ts +++ b/types/src/index.d.ts @@ -1,2 +1,4 @@ import { OneEuroFilter } from "./OneEuroFilter"; +import type { FilterDataArray } from "./OneEuroFilter"; export { OneEuroFilter }; +export type { FilterDataArray }; From 69c726efa5f0e92d74f219652c88d02cef00f6c1 Mon Sep 17 00:00:00 2001 From: Walter Perdan Date: Wed, 27 May 2026 13:54:39 +0200 Subject: [PATCH 4/7] Refactor to TypedArrays with performance optimizations (addresses #2, resolves #3) --- dist/OneEuroFilter.js | 2 +- dist/OneEuroFilter.mjs | 2 +- package.json | 4 +-- src/OneEuroFilter.ts | 53 ++++++++++++++++++++++++++++-------- types/OneEuroFilter.d.ts | 7 +++-- types/index.d.ts | 2 ++ types/src/OneEuroFilter.d.ts | 9 ++++-- 7 files changed, 57 insertions(+), 22 deletions(-) diff --git a/dist/OneEuroFilter.js b/dist/OneEuroFilter.js index 846fe6c..92dac20 100644 --- a/dist/OneEuroFilter.js +++ b/dist/OneEuroFilter.js @@ -1 +1 @@ -!function(t,e){if("object"==typeof exports&&"object"==typeof module)module.exports=e();else if("function"==typeof define&&define.amd)define([],e);else{var r=e();for(var i in r)("object"==typeof exports?exports:t)[i]=r[i]}}(self,(()=>(()=>{"use strict";var t={d:(e,r)=>{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.tPrev=t,this.createTypedArray(e,e);const{xPrev:r,tPrev:i,dxPrev:o}=this,n=t-i,s=this.smoothingFactor(n,this.dCutOff),h=this.createTypedArray(e,e.length),a=this.createTypedArray(e,e.length),l=this.createTypedArray(e,e.length);for(let t=0;t(()=>{"use strict";var t={d:(e,r)=>{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;dxScratch=null;dxHatScratch=null;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e,r){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.dxScratch=this.createTypedArray(e,e.length),this.dxHatScratch=this.createTypedArray(e,e.length),this.tPrev=t;const i=r||this.createTypedArray(e,e.length);return i.set(e),i}const i=t-this.tPrev;if(i<=0){const t=r||this.createTypedArray(e,e.length);return t.set(this.xPrev),t}const{xPrev:n,dxPrev:s,dxScratch:h,dxHatScratch:o}=this;let a=h,c=o;a.length!==e.length&&(a=this.createTypedArray(e,e.length),c=this.createTypedArray(e,e.length),this.dxScratch=a,this.dxHatScratch=c);const l=this.smoothingFactor(i,this.dCutOff),d=r||this.createTypedArray(e,e.length);for(let t=0;t{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e)},e={};t.d(e,{i:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e){if(!this.initialized)return this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.tPrev=t,this.createTypedArray(e,e);const{xPrev:r,tPrev:i,dxPrev:n}=this,s=t-i,h=this.smoothingFactor(s,this.dCutOff),o=this.createTypedArray(e,e.length),a=this.createTypedArray(e,e.length),l=this.createTypedArray(e,e.length);for(let t=0;t{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e)},e={};t.d(e,{i:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;dxScratch=null;dxHatScratch=null;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e,r){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.dxScratch=this.createTypedArray(e,e.length),this.dxHatScratch=this.createTypedArray(e,e.length),this.tPrev=t;const i=r||this.createTypedArray(e,e.length);return i.set(e),i}const i=t-this.tPrev;if(i<=0){const t=r||this.createTypedArray(e,e.length);return t.set(this.xPrev),t}const{xPrev:h,dxPrev:s,dxScratch:n,dxHatScratch:a}=this;let c=n,o=a;c.length!==e.length&&(c=this.createTypedArray(e,e.length),o=this.createTypedArray(e,e.length),this.dxScratch=c,this.dxHatScratch=o);const l=this.smoothingFactor(i,this.dCutOff),d=r||this.createTypedArray(e,e.length);for(let t=0;t(t: number, x: T): T { + filter(t: number, x: T, out?: T): T { if (!this.initialized) { this.initialized = true; this.xPrev = this.createTypedArray(x, x); this.dxPrev = this.createTypedArray(x, x.length); + this.dxScratch = this.createTypedArray(x, x.length); + this.dxHatScratch = this.createTypedArray(x, x.length); this.tPrev = t; - return this.createTypedArray(x, x); + + const res = out || this.createTypedArray(x, x.length); + res.set(x); + return res; } - const { xPrev, tPrev, dxPrev } = this; + const te = t - this.tPrev!; + // Safeguard against zero/negative time differences + if (te <= 0) { + const res = out || this.createTypedArray(x, x.length); + res.set(this.xPrev!); + return res; + } - const te = t - tPrev!; + const { xPrev, dxPrev, dxScratch, dxHatScratch } = this; + + // Safety check to resize scratch arrays if the input length changes dynamically + let dx = dxScratch!; + let dxHat = dxHatScratch!; + if (dx.length !== x.length) { + dx = this.createTypedArray(x, x.length); + dxHat = this.createTypedArray(x, x.length); + this.dxScratch = dx; + this.dxHatScratch = dxHat; + } const ad = this.smoothingFactor(te, this.dCutOff); + const xHat = out || this.createTypedArray(x, x.length); - const dx = this.createTypedArray(x, x.length); - const dxHat = this.createTypedArray(x, x.length); - const xHat = this.createTypedArray(x, x.length); for (let i = 0; i < x.length; i++) { // The filtered derivative of the signal. dx[i] = (x[i] - xPrev![i]) / te; @@ -123,9 +148,13 @@ export class OneEuroFilter { xHat[i] = this.exponentialSmoothing(a, x[i], xPrev![i]); } - // update prev - this.xPrev = xHat; - this.dxPrev = dxHat; + // Store persistent state by copying instead of re-allocating + if (this.xPrev!.length !== xHat.length) { + this.xPrev = this.createTypedArray(x, xHat.length); + this.dxPrev = this.createTypedArray(x, xHat.length); + } + this.xPrev!.set(xHat); + this.dxPrev!.set(dxHat); this.tPrev = t; return xHat; diff --git a/types/OneEuroFilter.d.ts b/types/OneEuroFilter.d.ts index 99ec4f7..7089d33 100644 --- a/types/OneEuroFilter.d.ts +++ b/types/OneEuroFilter.d.ts @@ -14,10 +14,11 @@ export declare class OneEuroFilter { reset(): void; /** * Filters the input signal using the One Euro Filter algorithm. - * Accepts either Float32Array or Float64Array; the output type matches the input type. + * Accepts either Float32Array or Float64Array. * @param t - The timestamp of the current sample. * @param x - The input signal as a Float32Array or Float64Array. - * @returns The filtered signal as the same typed array type as the input. + * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation. + * @returns The filtered signal array. */ - filter(t: number, x: T): T; + filter(t: number, x: T, out?: T): T; } diff --git a/types/index.d.ts b/types/index.d.ts index 980ce85..2d2a2b3 100644 --- a/types/index.d.ts +++ b/types/index.d.ts @@ -1,2 +1,4 @@ import { OneEuroFilter } from "./OneEuroFilter"; +import type { FilterDataArray } from "./OneEuroFilter"; export { OneEuroFilter }; +export type { FilterDataArray }; diff --git a/types/src/OneEuroFilter.d.ts b/types/src/OneEuroFilter.d.ts index 39f7aa0..8d471a4 100644 --- a/types/src/OneEuroFilter.d.ts +++ b/types/src/OneEuroFilter.d.ts @@ -9,6 +9,8 @@ export declare class OneEuroFilter { private tPrev; private initialized; private version; + private dxScratch; + private dxHatScratch; constructor(minCutOff: number, beta: number); smoothingFactor(te: number, cutoff: number): number; exponentialSmoothing(a: number, x: number, xPrev: number): number; @@ -22,10 +24,11 @@ export declare class OneEuroFilter { private createTypedArray; /** * Filters the input signal using the One Euro Filter algorithm. - * Accepts either Float32Array or Float64Array; the output type matches the input type. + * Accepts either Float32Array or Float64Array. * @param t - The timestamp of the current sample. * @param x - The input signal as a Float32Array or Float64Array. - * @returns The filtered signal as the same typed array type as the input. + * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation. + * @returns The filtered signal array. */ - filter(t: number, x: T): T; + filter(t: number, x: T, out?: T): T; } From c8afafd01cdff399028d6be908d54f67a40f846a Mon Sep 17 00:00:00 2001 From: Walter Perdan Date: Wed, 27 May 2026 14:20:41 +0200 Subject: [PATCH 5/7] Migrate build system to Vite, add Vitest test suite and CI Actions (addresses #4) --- .github/workflows/ci.yml | 25 + dist/OneEuroFilter.js | 3 +- dist/OneEuroFilter.js.map | 1 + dist/OneEuroFilter.mjs | 82 +- dist/OneEuroFilter.mjs.map | 1 + package-lock.json | 3144 +++++++++++++++++++++++++----------- package.json | 12 +- src/OneEuroFilter.ts | 20 +- test/OneEuroFilter.test.ts | 175 ++ types/src/index.d.ts | 4 +- vite.config.ts | 36 + webpack.config.js | 69 - 12 files changed, 2537 insertions(+), 1035 deletions(-) create mode 100644 .github/workflows/ci.yml create mode 100644 dist/OneEuroFilter.js.map create mode 100644 dist/OneEuroFilter.mjs.map create mode 100644 test/OneEuroFilter.test.ts create mode 100644 vite.config.ts delete mode 100644 webpack.config.js diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..a8535d8 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,25 @@ +name: CI Build and Test + +on: [push, pull_request] + +jobs: + build-and-test: + runs-on: ubuntu-latest + + steps: + - name: Checkout Repository + uses: actions/checkout@v6 + + - name: Setup Node.js + uses: actions/setup-node@v6 with: + node-version: 22.x + cache: 'npm' + + - name: Install Dependencies + run: npm ci + + - name: Build Package + run: npm run build-ts + + - name: Run Unit Tests + run: npm run test diff --git a/dist/OneEuroFilter.js b/dist/OneEuroFilter.js index 92dac20..8be2879 100644 --- a/dist/OneEuroFilter.js +++ b/dist/OneEuroFilter.js @@ -1 +1,2 @@ -!function(t,e){if("object"==typeof exports&&"object"==typeof module)module.exports=e();else if("function"==typeof define&&define.amd)define([],e);else{var r=e();for(var i in r)("object"==typeof exports?exports:t)[i]=r[i]}}(self,(()=>(()=>{"use strict";var t={d:(e,r)=>{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;dxScratch=null;dxHatScratch=null;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e,r){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.dxScratch=this.createTypedArray(e,e.length),this.dxHatScratch=this.createTypedArray(e,e.length),this.tPrev=t;const i=r||this.createTypedArray(e,e.length);return i.set(e),i}const i=t-this.tPrev;if(i<=0){const t=r||this.createTypedArray(e,e.length);return t.set(this.xPrev),t}const{xPrev:n,dxPrev:s,dxScratch:h,dxHatScratch:o}=this;let a=h,c=o;a.length!==e.length&&(a=this.createTypedArray(e,e.length),c=this.createTypedArray(e,e.length),this.dxScratch=a,this.dxHatScratch=c);const l=this.smoothingFactor(i,this.dCutOff),d=r||this.createTypedArray(e,e.length);for(let t=0;ti in r?T(r,i,{enumerable:!0,configurable:!0,writable:!0,value:a}):r[i]=a;var h=(r,i,a)=>A(r,typeof i!="symbol"?i+"":i,a);const a={version:"0.1.2"},{version:u}=a;class y{constructor(s,t){h(this,"minCutOff");h(this,"beta");h(this,"dCutOff");h(this,"xPrev");h(this,"dxPrev");h(this,"tPrev");h(this,"initialized");h(this,"version",u);h(this,"dxScratch",null);h(this,"dxHatScratch",null);this.minCutOff=s,this.beta=t,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(s,t){const o=2*Math.PI*t*s;return o/(o+1)}exponentialSmoothing(s,t,o){return s*t+(1-s)*o}reset(){this.initialized=!1}createTypedArray(s,t){const o=s.constructor;return new o(t)}filter(s,t,o){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(t,t),this.dxPrev=this.createTypedArray(t,t.length),this.dxScratch=this.createTypedArray(t,t.length),this.dxHatScratch=this.createTypedArray(t,t.length),this.tPrev=s;const e=o||this.createTypedArray(t,t.length);return e.set(t),e}const f=s-this.tPrev;if(f<=0){const e=o||this.createTypedArray(t,t.length);return e.set(this.xPrev),e}if(this.xPrev.length!==t.length){const e=this.xPrev,v=this.dxPrev;this.xPrev=this.createTypedArray(t,t.length),this.dxPrev=this.createTypedArray(t,t.length);for(let n=0;n.\r\n *\r\n * As a special exception, the copyright holders of this library give you\r\n * permission to link this library with independent modules to produce an\r\n * executable, regardless of the license terms of these independent modules, and to\r\n * copy and distribute the resulting executable under terms of your choice,\r\n * provided that you also meet, for each linked independent module, the terms and\r\n * conditions of the license of that module. An independent module is a module\r\n * which is neither derived from nor based on this library. If you modify this\r\n * library, you may extend this exception to your version of the library, but you\r\n * are not obligated to do so. If you do not wish to do so, delete this exception\r\n * statement from your version.\r\n *\r\n * Copyright 2023-2025 WebARKit.\r\n *\r\n * Author(s): Walter Perdan @kalwalt https://github.com/kalwalt\r\n * \r\n * Ref: https://jaantollander.com/post/noise-filtering-using-one-euro-filter/#mjx-eqn%3A1\r\n * \r\n */\r\nimport packageJson from \"../package.json\";\r\nconst { version } = packageJson;\r\n\r\n/** Supported typed array types for filter input/output. */\r\nexport type FilterDataArray = Float32Array | Float64Array;\r\n\r\n\r\nexport class OneEuroFilter {\r\n private minCutOff: number;\r\n private beta: number;\r\n private dCutOff: number;\r\n private xPrev: FilterDataArray | null;\r\n private dxPrev: FilterDataArray | null;\r\n private tPrev: number | null;\r\n private initialized: boolean;\r\n private version: string = version;\r\n\r\n // High performance scratch buffers to avoid allocations at run-time\r\n private dxScratch: FilterDataArray | null = null;\r\n private dxHatScratch: FilterDataArray | null = null;\r\n\r\n constructor(minCutOff: number, beta: number) {\r\n this.minCutOff = minCutOff;\r\n this.beta = beta;\r\n this.dCutOff = 0.001; // period in milliseconds, so default to 0.001 = 1Hz\r\n\r\n this.xPrev = null;\r\n this.dxPrev = null;\r\n this.tPrev = null;\r\n this.initialized = false;\r\n console.log(\"OneEuroFilter: \", this.version);\r\n }\r\n\r\n smoothingFactor(te: number, cutoff: number): number {\r\n const r = 2 * Math.PI * cutoff * te;\r\n return r / (r + 1);\r\n };\r\n\r\n exponentialSmoothing(a: number, x: number, xPrev: number): number {\r\n return a * x + (1 - a) * xPrev;\r\n };\r\n\r\n reset() {\r\n this.initialized = false;\r\n }\r\n\r\n /**\r\n * Creates a new typed array of the same type as the source.\r\n * @param source - The source typed array to match the type of.\r\n * @param lengthOrData - The length for a zero-filled array, or data to copy.\r\n * @returns A new typed array of the same type as the source.\r\n */\r\n private createTypedArray(source: T, lengthOrData: number | ArrayLike): T {\r\n const Ctor = source.constructor as { new (arg: number | ArrayLike): T };\r\n return new Ctor(lengthOrData);\r\n }\r\n\r\n /**\r\n * Filters the input signal using the One Euro Filter algorithm.\r\n * Accepts either Float32Array or Float64Array.\r\n * @param t - The timestamp of the current sample.\r\n * @param x - The input signal as a Float32Array or Float64Array.\r\n * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation.\r\n * @returns The filtered signal array.\r\n */\r\n filter(t: number, x: T, out?: T): T {\r\n if (!this.initialized) {\r\n this.initialized = true;\r\n this.xPrev = this.createTypedArray(x, x);\r\n this.dxPrev = this.createTypedArray(x, x.length);\r\n this.dxScratch = this.createTypedArray(x, x.length);\r\n this.dxHatScratch = this.createTypedArray(x, x.length);\r\n this.tPrev = t;\r\n\r\n const res = out || this.createTypedArray(x, x.length);\r\n res.set(x);\r\n return res;\r\n }\r\n\r\n const te = t - this.tPrev!;\r\n // Safeguard against zero/negative time differences\r\n if (te <= 0) {\r\n const res = out || this.createTypedArray(x, x.length);\r\n res.set(this.xPrev!);\r\n return res;\r\n }\r\n\r\n // Safety check to resize persistent and scratch arrays if the input length changes dynamically\r\n if (this.xPrev!.length !== x.length) {\r\n const oldXPrev = this.xPrev!;\r\n const oldDxPrev = this.dxPrev!;\r\n\r\n this.xPrev = this.createTypedArray(x, x.length);\r\n this.dxPrev = this.createTypedArray(x, x.length);\r\n\r\n for (let i = 0; i < x.length; i++) {\r\n this.xPrev[i] = i < oldXPrev.length ? oldXPrev[i] : x[i];\r\n this.dxPrev[i] = i < oldDxPrev.length ? oldDxPrev[i] : 0;\r\n }\r\n }\r\n\r\n let dx = this.dxScratch!;\r\n let dxHat = this.dxHatScratch!;\r\n if (dx.length !== x.length) {\r\n dx = this.createTypedArray(x, x.length);\r\n dxHat = this.createTypedArray(x, x.length);\r\n this.dxScratch = dx;\r\n this.dxHatScratch = dxHat;\r\n }\r\n\r\n const { xPrev, dxPrev } = this;\r\n const ad = this.smoothingFactor(te, this.dCutOff);\r\n const xHat = out || this.createTypedArray(x, x.length);\r\n\r\n for (let i = 0; i < x.length; i++) {\r\n // The filtered derivative of the signal.\r\n dx[i] = (x[i] - xPrev![i]) / te;\r\n dxHat[i] = this.exponentialSmoothing(ad, dx[i], dxPrev![i]);\r\n\r\n // The filtered signal\r\n const cutOff = this.minCutOff + this.beta * Math.abs(dxHat[i]);\r\n const a = this.smoothingFactor(te, cutOff);\r\n xHat[i] = this.exponentialSmoothing(a, x[i], xPrev![i]);\r\n }\r\n\r\n // Store persistent state by copying instead of re-allocating\r\n if (this.xPrev!.length !== xHat.length) {\r\n this.xPrev = this.createTypedArray(x, xHat.length);\r\n this.dxPrev = this.createTypedArray(x, xHat.length);\r\n }\r\n this.xPrev!.set(xHat);\r\n this.dxPrev!.set(dxHat);\r\n this.tPrev = t;\r\n\r\n return xHat;\r\n 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\ No newline at end of file diff --git a/dist/OneEuroFilter.mjs b/dist/OneEuroFilter.mjs index 4f0e25f..a751bb4 100644 --- a/dist/OneEuroFilter.mjs +++ b/dist/OneEuroFilter.mjs @@ -1 +1,81 @@ -var t={d:(e,r)=>{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e)},e={};t.d(e,{i:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;dxScratch=null;dxHatScratch=null;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e,r){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.dxScratch=this.createTypedArray(e,e.length),this.dxHatScratch=this.createTypedArray(e,e.length),this.tPrev=t;const i=r||this.createTypedArray(e,e.length);return i.set(e),i}const i=t-this.tPrev;if(i<=0){const t=r||this.createTypedArray(e,e.length);return t.set(this.xPrev),t}const{xPrev:h,dxPrev:s,dxScratch:n,dxHatScratch:a}=this;let c=n,o=a;c.length!==e.length&&(c=this.createTypedArray(e,e.length),o=this.createTypedArray(e,e.length),this.dxScratch=c,this.dxHatScratch=o);const l=this.smoothingFactor(i,this.dCutOff),d=r||this.createTypedArray(e,e.length);for(let t=0;t r in n ? y(n, r, { enumerable: !0, configurable: !0, writable: !0, value: t }) : n[r] = t; +var s = (n, r, t) => f(n, typeof r != "symbol" ? r + "" : r, t); +const u = "0.1.2", p = { + version: u +}, { version: A } = p; +class S { + constructor(r, t) { + s(this, "minCutOff"); + s(this, "beta"); + s(this, "dCutOff"); + s(this, "xPrev"); + s(this, "dxPrev"); + s(this, "tPrev"); + s(this, "initialized"); + s(this, "version", A); + // High performance scratch buffers to avoid allocations at run-time + s(this, "dxScratch", null); + s(this, "dxHatScratch", null); + this.minCutOff = r, this.beta = t, this.dCutOff = 1e-3, this.xPrev = null, this.dxPrev = null, this.tPrev = null, this.initialized = !1, console.log("OneEuroFilter: ", this.version); + } + smoothingFactor(r, t) { + const h = 2 * Math.PI * t * r; + return h / (h + 1); + } + exponentialSmoothing(r, t, h) { + return r * t + (1 - r) * h; + } + reset() { + this.initialized = !1; + } + /** + * Creates a new typed array of the same type as the source. + * @param source - The source typed array to match the type of. + * @param lengthOrData - The length for a zero-filled array, or data to copy. + * @returns A new typed array of the same type as the source. + */ + createTypedArray(r, t) { + const h = r.constructor; + return new h(t); + } + /** + * Filters the input signal using the One Euro Filter algorithm. + * Accepts either Float32Array or Float64Array. + * @param t - The timestamp of the current sample. + * @param x - The input signal as a Float32Array or Float64Array. + * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation. + * @returns The filtered signal array. + */ + filter(r, t, h) { + if (!this.initialized) { + this.initialized = !0, this.xPrev = this.createTypedArray(t, t), this.dxPrev = this.createTypedArray(t, t.length), this.dxScratch = this.createTypedArray(t, t.length), this.dxHatScratch = this.createTypedArray(t, t.length), this.tPrev = r; + const e = h || this.createTypedArray(t, t.length); + return e.set(t), e; + } + const o = r - this.tPrev; + if (o <= 0) { + const e = h || this.createTypedArray(t, t.length); + return e.set(this.xPrev), e; + } + if (this.xPrev.length !== t.length) { + const e = this.xPrev, d = this.dxPrev; + this.xPrev = this.createTypedArray(t, t.length), this.dxPrev = this.createTypedArray(t, t.length); + for (let i = 0; i < t.length; i++) + this.xPrev[i] = i < e.length ? e[i] : t[i], this.dxPrev[i] = i < d.length ? d[i] : 0; + } + let c = this.dxScratch, l = this.dxHatScratch; + c.length !== t.length && (c = this.createTypedArray(t, t.length), l = this.createTypedArray(t, t.length), this.dxScratch = c, this.dxHatScratch = l); + const { xPrev: v, dxPrev: g } = this, P = this.smoothingFactor(o, this.dCutOff), a = h || this.createTypedArray(t, t.length); + for (let e = 0; e < t.length; e++) { + c[e] = (t[e] - v[e]) / o, l[e] = this.exponentialSmoothing(P, c[e], g[e]); + const d = this.minCutOff + this.beta * Math.abs(l[e]), i = this.smoothingFactor(o, d); + a[e] = this.exponentialSmoothing(i, t[e], v[e]); + } + return this.xPrev.length !== a.length && (this.xPrev = this.createTypedArray(t, a.length), this.dxPrev = this.createTypedArray(t, a.length)), this.xPrev.set(a), this.dxPrev.set(l), this.tPrev = r, a; + } +} +export { + S as OneEuroFilter +}; +//# sourceMappingURL=OneEuroFilter.mjs.map diff --git a/dist/OneEuroFilter.mjs.map b/dist/OneEuroFilter.mjs.map new file mode 100644 index 0000000..be7012e --- /dev/null +++ b/dist/OneEuroFilter.mjs.map @@ -0,0 +1 @@ +{"version":3,"file":"OneEuroFilter.mjs","sources":["../src/OneEuroFilter.ts"],"sourcesContent":["/*\r\n * OneEuroFilter.ts\r\n * OneEuroFilter\r\n *\r\n * This file is part of OneEuroFilter-ts - WebARKit.\r\n *\r\n * OneEuroFilter-ts is free software: you can redistribute it and/or modify\r\n * it under the terms of the GNU Lesser General Public License as published by\r\n * the Free Software Foundation, either version 3 of the License, or\r\n * (at your option) any later version.\r\n *\r\n * OneEuroFilter-ts is distributed in the hope that it will be useful,\r\n * but WITHOUT ANY WARRANTY; without even the implied warranty of\r\n * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r\n * GNU Lesser General Public License for more details.\r\n *\r\n * You should have received a copy of the GNU Lesser General Public License\r\n * along with OneEuroFilter. If not, see .\r\n *\r\n * As a special exception, the copyright holders of this library give you\r\n * permission to link this library with independent modules to produce an\r\n * executable, regardless of the license terms of these independent modules, and to\r\n * copy and distribute the resulting executable under terms of your choice,\r\n * provided that you also meet, for each linked independent module, the terms and\r\n * conditions of the license of that module. An independent module is a module\r\n * which is neither derived from nor based on this library. If you modify this\r\n * library, you may extend this exception to your version of the library, but you\r\n * are not obligated to do so. If you do not wish to do so, delete this exception\r\n * statement from your version.\r\n *\r\n * Copyright 2023-2025 WebARKit.\r\n *\r\n * Author(s): Walter Perdan @kalwalt https://github.com/kalwalt\r\n * \r\n * Ref: https://jaantollander.com/post/noise-filtering-using-one-euro-filter/#mjx-eqn%3A1\r\n * \r\n */\r\nimport packageJson from \"../package.json\";\r\nconst { version } = packageJson;\r\n\r\n/** Supported typed array types for filter input/output. */\r\nexport type FilterDataArray = Float32Array | Float64Array;\r\n\r\n\r\nexport class OneEuroFilter {\r\n private minCutOff: number;\r\n private beta: number;\r\n private dCutOff: number;\r\n private xPrev: FilterDataArray | null;\r\n private dxPrev: FilterDataArray | null;\r\n private tPrev: number | null;\r\n private initialized: boolean;\r\n private version: string = version;\r\n\r\n // High performance scratch buffers to avoid allocations at run-time\r\n private dxScratch: FilterDataArray | null = null;\r\n private dxHatScratch: FilterDataArray | null = null;\r\n\r\n constructor(minCutOff: number, beta: number) {\r\n this.minCutOff = minCutOff;\r\n this.beta = beta;\r\n this.dCutOff = 0.001; // period in milliseconds, so default to 0.001 = 1Hz\r\n\r\n this.xPrev = null;\r\n this.dxPrev = null;\r\n this.tPrev = null;\r\n this.initialized = false;\r\n console.log(\"OneEuroFilter: \", this.version);\r\n }\r\n\r\n smoothingFactor(te: number, cutoff: number): number {\r\n const r = 2 * Math.PI * cutoff * te;\r\n return r / (r + 1);\r\n };\r\n\r\n exponentialSmoothing(a: number, x: number, xPrev: number): number {\r\n return a * x + (1 - a) * xPrev;\r\n };\r\n\r\n reset() {\r\n this.initialized = false;\r\n }\r\n\r\n /**\r\n * Creates a new typed array of the same type as the source.\r\n * @param source - The source typed array to match the type of.\r\n * @param lengthOrData - The length for a zero-filled array, or data to copy.\r\n * @returns A new typed array of the same type as the source.\r\n */\r\n private createTypedArray(source: T, lengthOrData: number | ArrayLike): T {\r\n const Ctor = source.constructor as { new (arg: number | ArrayLike): T };\r\n return new Ctor(lengthOrData);\r\n }\r\n\r\n /**\r\n * Filters the input signal using the One Euro Filter algorithm.\r\n * Accepts either Float32Array or Float64Array.\r\n * @param t - The timestamp of the current sample.\r\n * @param x - The input signal as a Float32Array or Float64Array.\r\n * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation.\r\n * @returns The filtered signal array.\r\n */\r\n filter(t: number, x: T, out?: T): T {\r\n if (!this.initialized) {\r\n this.initialized = true;\r\n this.xPrev = this.createTypedArray(x, x);\r\n this.dxPrev = this.createTypedArray(x, x.length);\r\n this.dxScratch = this.createTypedArray(x, x.length);\r\n this.dxHatScratch = this.createTypedArray(x, x.length);\r\n this.tPrev = t;\r\n\r\n const res = out || 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"build-ts": "webpack --mode production", - "dev-ts": "webpack --mode development --progress --watch", - "test": "echo \"Error: no test specified\" && exit 1" + "build-ts": "vite build", + "test": "vitest run", + "test:watch": "vitest" }, "repository": { "type": "git", @@ -23,9 +23,9 @@ "author": "Walter Perdan", "license": "LGPL-3.0", "devDependencies": { - "ts-loader": "9.5.7", "typescript": "5.8.2", - "webpack": "5.107.2", - "webpack-cli": "6.0.1" + "vite": "^5.4.14", + "vite-plugin-dts": "^3.9.1", + "vitest": "^1.6.0" } } diff --git a/src/OneEuroFilter.ts b/src/OneEuroFilter.ts index 84a866d..ea6d0ce 100644 --- a/src/OneEuroFilter.ts +++ b/src/OneEuroFilter.ts @@ -122,11 +122,22 @@ export class OneEuroFilter { return res; } - const { xPrev, dxPrev, dxScratch, dxHatScratch } = this; + // Safety check to resize persistent and scratch arrays if the input length changes dynamically + if (this.xPrev!.length !== x.length) { + const oldXPrev = this.xPrev!; + const oldDxPrev = this.dxPrev!; - // Safety check to resize scratch arrays if the input length changes dynamically - let dx = dxScratch!; - let dxHat = dxHatScratch!; + this.xPrev = this.createTypedArray(x, x.length); + this.dxPrev = this.createTypedArray(x, x.length); + + for (let i = 0; i < x.length; i++) { + this.xPrev[i] = i < oldXPrev.length ? oldXPrev[i] : x[i]; + this.dxPrev[i] = i < oldDxPrev.length ? oldDxPrev[i] : 0; + } + } + + let dx = this.dxScratch!; + let dxHat = this.dxHatScratch!; if (dx.length !== x.length) { dx = this.createTypedArray(x, x.length); dxHat = this.createTypedArray(x, x.length); @@ -134,6 +145,7 @@ export class OneEuroFilter { this.dxHatScratch = dxHat; } + const { xPrev, dxPrev } = this; const ad = this.smoothingFactor(te, this.dCutOff); const xHat = out || this.createTypedArray(x, x.length); diff --git a/test/OneEuroFilter.test.ts b/test/OneEuroFilter.test.ts new file mode 100644 index 0000000..61d38f9 --- /dev/null +++ b/test/OneEuroFilter.test.ts @@ -0,0 +1,175 @@ +import { describe, it, expect } from 'vitest'; +import { OneEuroFilter } from '../src/OneEuroFilter'; + +describe('OneEuroFilter', () => { + it('should initialize correctly with parameters', () => { + const filter = new OneEuroFilter(120, 0.1); + expect(filter).toBeDefined(); + }); + + describe('Initialization Path', () => { + it('should initialize state on the first call and return a new copy of the input', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float32Array([1.0, 2.0, 3.0]); + + const result = filter.filter(1000, input); + + // Values must match exactly + expect(result).toEqual(input); + // It must be a distinct array reference (copy-on-initialization) + expect(result).not.toBe(input); + + // Mutating result should not affect the internal filter state + result[0] = 999.0; + const secondResult = filter.filter(1016, new Float32Array([2.0, 3.0, 4.0])); + expect(secondResult[0]).not.toBeCloseTo(999.0); + }); + }); + + describe('Filtering Correctness & Smoothing', () => { + it('should smoothly filter values over consecutive timestamps', () => { + const filter = new OneEuroFilter(1.0, 0.01); + const start = new Float32Array([10.0, 20.0]); + + // T=0: Initial state + const r0 = filter.filter(0, start); + expect(r0).toEqual(start); + + // T=1: Significant shift in input + const nextInput = new Float32Array([20.0, 40.0]); + const r1 = filter.filter(1, nextInput); + + // The filter should smooth the shift (values should be between start and nextInput) + expect(r1[0]).toBeGreaterThan(10.0); + expect(r1[0]).toBeLessThan(20.0); + expect(r1[1]).toBeGreaterThan(20.0); + expect(r1[1]).toBeLessThan(40.0); + + // T=2: Filter again with same input, it should get closer to target + const r2 = filter.filter(2, nextInput); + expect(r2[0]).toBeGreaterThan(r1[0]); + expect(r2[0]).toBeLessThan(20.0); + expect(r2[1]).toBeGreaterThan(r1[1]); + expect(r2[1]).toBeLessThan(40.0); + }); + }); + + describe('Zero/Negative Delta Time Safeguards', () => { + it('should handle zero delta time (te === 0) gracefully without producing NaN', () => { + const filter = new OneEuroFilter(120, 0.1); + const input1 = new Float32Array([1.0, 2.0]); + const input2 = new Float32Array([5.0, 10.0]); + + // Initial call + filter.filter(1000, input1); + + // Call again immediately at the exact same timestamp (te = 0) + const result = filter.filter(1000, input2); + + // Should not contain NaN or Infinity, should return the previous filtered values (input1) + expect(Number.isNaN(result[0])).toBe(false); + expect(Number.isFinite(result[0])).toBe(true); + expect(result).toEqual(input1); + }); + + it('should handle negative delta time (te < 0) gracefully', () => { + const filter = new OneEuroFilter(120, 0.1); + const input1 = new Float32Array([1.0, 2.0]); + const input2 = new Float32Array([5.0, 10.0]); + + filter.filter(1000, input1); + + // Call with timestamp backwards in time (te < 0) + const result = filter.filter(990, input2); + + // Should return previous state instead of breaking + expect(Number.isNaN(result[0])).toBe(false); + expect(result).toEqual(input1); + }); + }); + + describe('Dynamic Resizing Support', () => { + it('should support dynamic changes in input vector size at runtime without crashing', () => { + const filter = new OneEuroFilter(120, 0.1); + + // 1. Initial size = 3 + const input3 = new Float32Array([1.0, 2.0, 3.0]); + const res3 = filter.filter(1000, input3); + expect(res3.length).toBe(3); + + // 2. Resize to 5 elements + const input5 = new Float32Array([10.0, 20.0, 30.0, 40.0, 50.0]); + const res5 = filter.filter(1016, input5); + expect(res5.length).toBe(5); + expect(res5[3]).toBeCloseTo(40.0); // Will initialize new channels with input + + // 3. Downsize to 2 elements + const input2 = new Float32Array([100.0, 200.0]); + const res2 = filter.filter(1032, input2); + expect(res2.length).toBe(2); + }); + }); + + describe('Type Retention', () => { + it('should return Float32Array when input is Float32Array', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float32Array([1.0, 2.0]); + + const r1 = filter.filter(1000, input); + expect(r1).toBeInstanceOf(Float32Array); + + const r2 = filter.filter(1016, input); + expect(r2).toBeInstanceOf(Float32Array); + }); + + it('should return Float64Array when input is Float64Array', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float64Array([1.0, 2.0]); + + const r1 = filter.filter(1000, input); + expect(r1).toBeInstanceOf(Float64Array); + + const r2 = filter.filter(1016, input); + expect(r2).toBeInstanceOf(Float64Array); + }); + }); + + describe('Zero-Allocation out-parameter support', () => { + it('should filter in-place into the provided out array and perform zero allocations', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float32Array([1.0, 2.0]); + const out = new Float32Array(2); + + // 1. Initial call + const res1 = filter.filter(1000, input, out); + expect(res1).toBe(out); // Reference check + expect(out).toEqual(input); + + // 2. Subsequent call + const input2 = new Float32Array([10.0, 20.0]); + const res2 = filter.filter(1016, input2, out); + expect(res2).toBe(out); // Reference check + + // Smooth values should be written directly to out + expect(out[0]).toBeGreaterThan(1.0); + expect(out[0]).toBeLessThan(10.0); + }); + }); + + describe('Reset', () => { + it('should reset initialization state and clear historical memory', () => { + const filter = new OneEuroFilter(120, 0.1); + const input1 = new Float32Array([10.0, 20.0]); + const input2 = new Float32Array([100.0, 200.0]); + + filter.filter(1000, input1); + + // Reset the filter + filter.reset(); + + // The next call should be treated as a fresh initialization call, returning the input directly + const result = filter.filter(1016, input2); + expect(result).toEqual(input2); + }); + }); +}); diff --git a/types/src/index.d.ts b/types/src/index.d.ts index 2d2a2b3..9920e51 100644 --- a/types/src/index.d.ts +++ b/types/src/index.d.ts @@ -1,4 +1,4 @@ -import { OneEuroFilter } from "./OneEuroFilter"; -import type { FilterDataArray } from "./OneEuroFilter"; +import { OneEuroFilter, FilterDataArray } from './OneEuroFilter'; + export { OneEuroFilter }; export type { FilterDataArray }; diff --git a/vite.config.ts b/vite.config.ts new file mode 100644 index 0000000..3d8cda4 --- /dev/null +++ b/vite.config.ts @@ -0,0 +1,36 @@ +import { defineConfig } from 'vitest/config'; +import dts from 'vite-plugin-dts'; +import path from 'path'; + +export default defineConfig({ + build: { + lib: { + entry: path.resolve(__dirname, 'src/index.ts'), + name: 'OneEuroFilter', + fileName: (format) => format === 'es' ? 'OneEuroFilter.mjs' : 'OneEuroFilter.js', + formats: ['es', 'umd'] + }, + rollupOptions: { + external: [], + output: { + globals: {} + } + }, + outDir: 'dist', + sourcemap: true, + minify: true + }, + plugins: [ + dts({ + insertTypesEntry: true, + outDir: 'types', + copyDtsFiles: true, + include: ['src'] + }) + ], + test: { + globals: true, + environment: 'node', + include: ['test/**/*.test.ts'] + } +}); diff --git a/webpack.config.js b/webpack.config.js deleted file mode 100644 index 738d220..0000000 --- a/webpack.config.js +++ /dev/null @@ -1,69 +0,0 @@ -'use strict'; -const path = require('path'); - -module.exports =(env, argv) => { - let devtool = false; - if (argv.mode === "development") { - devtool = "inline-source-map"; - } - console.log(`${argv.mode} build`); - const module = { - rules: [ - { - test: /\.([cm]?ts|tsx)$/, - exclude: /node_modules/, - use: [ - { - loader: "ts-loader", - }, - ], - }, - ], - - }; - return [ - { - name: 'OneEuroFilter-umd', - devtool, - entry: './src/index.ts', - output: { - filename: 'OneEuroFilter.js', - path: path.resolve(__dirname, 'dist'), - libraryTarget: "umd", - }, - resolve: { - extensions: ['.ts', '.tsx', '.js'], - extensionAlias: { - '.ts': ['.js', '.ts'], - '.cts': ['.cjs', '.cts'], - '.mts': ['.mjs', '.mts'] - } - }, - module - }, - { - name: 'OneEuroFilter-esm', - devtool, - entry: './src/index.ts', - experiments: { - outputModule: true, - }, - output: { - filename: 'OneEuroFilter.mjs', - path: path.resolve(__dirname, 'dist'), - library: { - type: "module", - }, - }, - resolve: { - extensions: ['.ts', '.tsx', '.js'], - extensionAlias: { - '.ts': ['.js', '.ts'], - '.cts': ['.cjs', '.cts'], - '.mts': ['.mjs', '.mts'] - } - }, - module - } - ] -}; \ No newline at end of file From dd2e563cbd15adf48bb071b29bb9c6e77963a7ee Mon Sep 17 00:00:00 2001 From: Walter Perdan Date: Wed, 27 May 2026 14:20:41 +0200 Subject: [PATCH 6/7] Migrate build system to Vite, add Vitest test suite and CI Actions (addresses #4) --- .github/workflows/ci.yml | 28 + dist/OneEuroFilter.js | 3 +- dist/OneEuroFilter.js.map | 1 + dist/OneEuroFilter.mjs | 82 +- dist/OneEuroFilter.mjs.map | 1 + package-lock.json | 3144 +++++++++++++++++++++++++----------- package.json | 12 +- src/OneEuroFilter.ts | 20 +- test/OneEuroFilter.test.ts | 175 ++ types/src/index.d.ts | 4 +- vite.config.ts | 36 + webpack.config.js | 69 - 12 files changed, 2540 insertions(+), 1035 deletions(-) create mode 100644 .github/workflows/ci.yml create mode 100644 dist/OneEuroFilter.js.map create mode 100644 dist/OneEuroFilter.mjs.map create mode 100644 test/OneEuroFilter.test.ts create mode 100644 vite.config.ts delete mode 100644 webpack.config.js diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..d7ac933 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,28 @@ +name: CI Build and Test + +on: + push: + pull_request: + +jobs: + build-and-test: + runs-on: ubuntu-latest + + steps: + - name: Checkout Repository + uses: actions/checkout@v6 + + - name: Setup Node.js + uses: actions/setup-node@v6 + with: + node-version: 20.x + cache: 'npm' + + - name: Install Dependencies + run: npm ci + + - name: Build Package + run: npm run build-ts + + - name: Run Unit Tests + run: npm run test diff --git a/dist/OneEuroFilter.js b/dist/OneEuroFilter.js index 92dac20..8be2879 100644 --- a/dist/OneEuroFilter.js +++ b/dist/OneEuroFilter.js @@ -1 +1,2 @@ -!function(t,e){if("object"==typeof exports&&"object"==typeof module)module.exports=e();else if("function"==typeof define&&define.amd)define([],e);else{var r=e();for(var i in r)("object"==typeof exports?exports:t)[i]=r[i]}}(self,(()=>(()=>{"use strict";var t={d:(e,r)=>{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e),r:t=>{"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})}},e={};t.r(e),t.d(e,{OneEuroFilter:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;dxScratch=null;dxHatScratch=null;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e,r){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.dxScratch=this.createTypedArray(e,e.length),this.dxHatScratch=this.createTypedArray(e,e.length),this.tPrev=t;const i=r||this.createTypedArray(e,e.length);return i.set(e),i}const i=t-this.tPrev;if(i<=0){const t=r||this.createTypedArray(e,e.length);return t.set(this.xPrev),t}const{xPrev:n,dxPrev:s,dxScratch:h,dxHatScratch:o}=this;let a=h,c=o;a.length!==e.length&&(a=this.createTypedArray(e,e.length),c=this.createTypedArray(e,e.length),this.dxScratch=a,this.dxHatScratch=c);const l=this.smoothingFactor(i,this.dCutOff),d=r||this.createTypedArray(e,e.length);for(let t=0;ti in r?T(r,i,{enumerable:!0,configurable:!0,writable:!0,value:a}):r[i]=a;var h=(r,i,a)=>A(r,typeof i!="symbol"?i+"":i,a);const a={version:"0.1.2"},{version:u}=a;class y{constructor(s,t){h(this,"minCutOff");h(this,"beta");h(this,"dCutOff");h(this,"xPrev");h(this,"dxPrev");h(this,"tPrev");h(this,"initialized");h(this,"version",u);h(this,"dxScratch",null);h(this,"dxHatScratch",null);this.minCutOff=s,this.beta=t,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(s,t){const o=2*Math.PI*t*s;return o/(o+1)}exponentialSmoothing(s,t,o){return s*t+(1-s)*o}reset(){this.initialized=!1}createTypedArray(s,t){const o=s.constructor;return new o(t)}filter(s,t,o){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(t,t),this.dxPrev=this.createTypedArray(t,t.length),this.dxScratch=this.createTypedArray(t,t.length),this.dxHatScratch=this.createTypedArray(t,t.length),this.tPrev=s;const e=o||this.createTypedArray(t,t.length);return e.set(t),e}const f=s-this.tPrev;if(f<=0){const e=o||this.createTypedArray(t,t.length);return e.set(this.xPrev),e}if(this.xPrev.length!==t.length){const e=this.xPrev,v=this.dxPrev;this.xPrev=this.createTypedArray(t,t.length),this.dxPrev=this.createTypedArray(t,t.length);for(let n=0;n.\r\n *\r\n * As a special exception, the copyright holders of this library give you\r\n * permission to link this library with independent modules to produce an\r\n * executable, regardless of the license terms of these independent modules, and to\r\n * copy and distribute the resulting executable under terms of your choice,\r\n * provided that you also meet, for each linked independent module, the terms and\r\n * conditions of the license of that module. 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\ No newline at end of file diff --git a/dist/OneEuroFilter.mjs b/dist/OneEuroFilter.mjs index 4f0e25f..a751bb4 100644 --- a/dist/OneEuroFilter.mjs +++ b/dist/OneEuroFilter.mjs @@ -1 +1,81 @@ -var t={d:(e,r)=>{for(var i in r)t.o(r,i)&&!t.o(e,i)&&Object.defineProperty(e,i,{enumerable:!0,get:r[i]})},o:(t,e)=>Object.prototype.hasOwnProperty.call(t,e)},e={};t.d(e,{i:()=>i});const{rE:r}={rE:"0.1.2"};class i{minCutOff;beta;dCutOff;xPrev;dxPrev;tPrev;initialized;version=r;dxScratch=null;dxHatScratch=null;constructor(t,e){this.minCutOff=t,this.beta=e,this.dCutOff=.001,this.xPrev=null,this.dxPrev=null,this.tPrev=null,this.initialized=!1,console.log("OneEuroFilter: ",this.version)}smoothingFactor(t,e){const r=2*Math.PI*e*t;return r/(r+1)}exponentialSmoothing(t,e,r){return t*e+(1-t)*r}reset(){this.initialized=!1}createTypedArray(t,e){return new(0,t.constructor)(e)}filter(t,e,r){if(!this.initialized){this.initialized=!0,this.xPrev=this.createTypedArray(e,e),this.dxPrev=this.createTypedArray(e,e.length),this.dxScratch=this.createTypedArray(e,e.length),this.dxHatScratch=this.createTypedArray(e,e.length),this.tPrev=t;const i=r||this.createTypedArray(e,e.length);return i.set(e),i}const i=t-this.tPrev;if(i<=0){const t=r||this.createTypedArray(e,e.length);return t.set(this.xPrev),t}const{xPrev:h,dxPrev:s,dxScratch:n,dxHatScratch:a}=this;let c=n,o=a;c.length!==e.length&&(c=this.createTypedArray(e,e.length),o=this.createTypedArray(e,e.length),this.dxScratch=c,this.dxHatScratch=o);const l=this.smoothingFactor(i,this.dCutOff),d=r||this.createTypedArray(e,e.length);for(let t=0;t r in n ? y(n, r, { enumerable: !0, configurable: !0, writable: !0, value: t }) : n[r] = t; +var s = (n, r, t) => f(n, typeof r != "symbol" ? r + "" : r, t); +const u = "0.1.2", p = { + version: u +}, { version: A } = p; +class S { + constructor(r, t) { + s(this, "minCutOff"); + s(this, "beta"); + s(this, "dCutOff"); + s(this, "xPrev"); + s(this, "dxPrev"); + s(this, "tPrev"); + s(this, "initialized"); + s(this, "version", A); + // High performance scratch buffers to avoid allocations at run-time + s(this, "dxScratch", null); + s(this, "dxHatScratch", null); + this.minCutOff = r, this.beta = t, this.dCutOff = 1e-3, this.xPrev = null, this.dxPrev = null, this.tPrev = null, this.initialized = !1, console.log("OneEuroFilter: ", this.version); + } + smoothingFactor(r, t) { + const h = 2 * Math.PI * t * r; + return h / (h + 1); + } + exponentialSmoothing(r, t, h) { + return r * t + (1 - r) * h; + } + reset() { + this.initialized = !1; + } + /** + * Creates a new typed array of the same type as the source. + * @param source - The source typed array to match the type of. + * @param lengthOrData - The length for a zero-filled array, or data to copy. + * @returns A new typed array of the same type as the source. + */ + createTypedArray(r, t) { + const h = r.constructor; + return new h(t); + } + /** + * Filters the input signal using the One Euro Filter algorithm. + * Accepts either Float32Array or Float64Array. + * @param t - The timestamp of the current sample. + * @param x - The input signal as a Float32Array or Float64Array. + * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation. + * @returns The filtered signal array. + */ + filter(r, t, h) { + if (!this.initialized) { + this.initialized = !0, this.xPrev = this.createTypedArray(t, t), this.dxPrev = this.createTypedArray(t, t.length), this.dxScratch = this.createTypedArray(t, t.length), this.dxHatScratch = this.createTypedArray(t, t.length), this.tPrev = r; + const e = h || this.createTypedArray(t, t.length); + return e.set(t), e; + } + const o = r - this.tPrev; + if (o <= 0) { + const e = h || this.createTypedArray(t, t.length); + return e.set(this.xPrev), e; + } + if (this.xPrev.length !== t.length) { + const e = this.xPrev, d = this.dxPrev; + this.xPrev = this.createTypedArray(t, t.length), this.dxPrev = this.createTypedArray(t, t.length); + for (let i = 0; i < t.length; i++) + this.xPrev[i] = i < e.length ? e[i] : t[i], this.dxPrev[i] = i < d.length ? d[i] : 0; + } + let c = this.dxScratch, l = this.dxHatScratch; + c.length !== t.length && (c = this.createTypedArray(t, t.length), l = this.createTypedArray(t, t.length), this.dxScratch = c, this.dxHatScratch = l); + const { xPrev: v, dxPrev: g } = this, P = this.smoothingFactor(o, this.dCutOff), a = h || this.createTypedArray(t, t.length); + for (let e = 0; e < t.length; e++) { + c[e] = (t[e] - v[e]) / o, l[e] = this.exponentialSmoothing(P, c[e], g[e]); + const d = this.minCutOff + this.beta * Math.abs(l[e]), i = this.smoothingFactor(o, d); + a[e] = this.exponentialSmoothing(i, t[e], v[e]); + } + return this.xPrev.length !== a.length && (this.xPrev = this.createTypedArray(t, a.length), this.dxPrev = this.createTypedArray(t, a.length)), this.xPrev.set(a), this.dxPrev.set(l), this.tPrev = r, a; + } +} +export { + S as OneEuroFilter +}; +//# sourceMappingURL=OneEuroFilter.mjs.map diff --git a/dist/OneEuroFilter.mjs.map b/dist/OneEuroFilter.mjs.map new file mode 100644 index 0000000..be7012e --- /dev/null +++ b/dist/OneEuroFilter.mjs.map @@ -0,0 +1 @@ +{"version":3,"file":"OneEuroFilter.mjs","sources":["../src/OneEuroFilter.ts"],"sourcesContent":["/*\r\n * OneEuroFilter.ts\r\n * OneEuroFilter\r\n *\r\n * This file is part of OneEuroFilter-ts - WebARKit.\r\n *\r\n * OneEuroFilter-ts is free software: you can redistribute it and/or modify\r\n * it under the terms of the GNU Lesser General Public License as published by\r\n * the Free Software Foundation, either version 3 of the License, or\r\n * (at your option) any later version.\r\n *\r\n * OneEuroFilter-ts is distributed in the hope that it will be useful,\r\n * but WITHOUT ANY WARRANTY; without even the implied warranty of\r\n * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r\n * GNU Lesser General Public License for more details.\r\n *\r\n * You should have received a copy of the GNU Lesser General Public License\r\n * along with OneEuroFilter. If not, see .\r\n *\r\n * As a special exception, the copyright holders of this library give you\r\n * permission to link this library with independent modules to produce an\r\n * executable, regardless of the license terms of these independent modules, and to\r\n * copy and distribute the resulting executable under terms of your choice,\r\n * provided that you also meet, for each linked independent module, the terms and\r\n * conditions of the license of that module. An independent module is a module\r\n * which is neither derived from nor based on this library. If you modify this\r\n * library, you may extend this exception to your version of the library, but you\r\n * are not obligated to do so. If you do not wish to do so, delete this exception\r\n * statement from your version.\r\n *\r\n * Copyright 2023-2025 WebARKit.\r\n *\r\n * Author(s): Walter Perdan @kalwalt https://github.com/kalwalt\r\n * \r\n * Ref: https://jaantollander.com/post/noise-filtering-using-one-euro-filter/#mjx-eqn%3A1\r\n * \r\n */\r\nimport packageJson from \"../package.json\";\r\nconst { version } = packageJson;\r\n\r\n/** Supported typed array types for filter input/output. */\r\nexport type FilterDataArray = Float32Array | Float64Array;\r\n\r\n\r\nexport class OneEuroFilter {\r\n private minCutOff: number;\r\n private beta: number;\r\n private dCutOff: number;\r\n private xPrev: FilterDataArray | null;\r\n private dxPrev: FilterDataArray | null;\r\n private tPrev: number | null;\r\n private initialized: boolean;\r\n private version: string = version;\r\n\r\n // High performance scratch buffers to avoid allocations at run-time\r\n private dxScratch: FilterDataArray | null = null;\r\n private dxHatScratch: FilterDataArray | null = null;\r\n\r\n constructor(minCutOff: number, beta: number) {\r\n this.minCutOff = minCutOff;\r\n this.beta = beta;\r\n this.dCutOff = 0.001; // period in milliseconds, so default to 0.001 = 1Hz\r\n\r\n this.xPrev = null;\r\n this.dxPrev = null;\r\n this.tPrev = null;\r\n this.initialized = false;\r\n console.log(\"OneEuroFilter: \", this.version);\r\n }\r\n\r\n smoothingFactor(te: number, cutoff: number): number {\r\n const r = 2 * Math.PI * cutoff * te;\r\n return r / (r + 1);\r\n };\r\n\r\n exponentialSmoothing(a: number, x: number, xPrev: number): number {\r\n return a * x + (1 - a) * xPrev;\r\n };\r\n\r\n reset() {\r\n this.initialized = false;\r\n }\r\n\r\n /**\r\n * Creates a new typed array of the same type as the source.\r\n * @param source - The source typed array to match the type of.\r\n * @param lengthOrData - The length for a zero-filled array, or data to copy.\r\n * @returns A new typed array of the same type as the source.\r\n */\r\n private createTypedArray(source: T, lengthOrData: number | ArrayLike): T {\r\n const Ctor = source.constructor as { new (arg: number | ArrayLike): T };\r\n return new Ctor(lengthOrData);\r\n }\r\n\r\n /**\r\n * Filters the input signal using the One Euro Filter algorithm.\r\n * Accepts either Float32Array or Float64Array.\r\n * @param t - The timestamp of the current sample.\r\n * @param x - The input signal as a Float32Array or Float64Array.\r\n * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation.\r\n * @returns The filtered signal array.\r\n */\r\n filter(t: number, x: T, out?: T): T {\r\n if (!this.initialized) {\r\n this.initialized = true;\r\n this.xPrev = this.createTypedArray(x, x);\r\n this.dxPrev = this.createTypedArray(x, x.length);\r\n this.dxScratch = this.createTypedArray(x, x.length);\r\n this.dxHatScratch = this.createTypedArray(x, x.length);\r\n this.tPrev = t;\r\n\r\n const res = out || this.createTypedArray(x, x.length);\r\n res.set(x);\r\n return res;\r\n }\r\n\r\n const te = t - this.tPrev!;\r\n // Safeguard against zero/negative time differences\r\n if (te <= 0) {\r\n const res = out || this.createTypedArray(x, x.length);\r\n res.set(this.xPrev!);\r\n return res;\r\n }\r\n\r\n // Safety check to resize persistent and scratch arrays if the input length changes dynamically\r\n if (this.xPrev!.length !== x.length) {\r\n const oldXPrev = this.xPrev!;\r\n const oldDxPrev = this.dxPrev!;\r\n\r\n this.xPrev = this.createTypedArray(x, x.length);\r\n this.dxPrev = this.createTypedArray(x, x.length);\r\n\r\n for (let i = 0; i < x.length; i++) {\r\n this.xPrev[i] = i < oldXPrev.length ? oldXPrev[i] : x[i];\r\n this.dxPrev[i] = i < oldDxPrev.length ? oldDxPrev[i] : 0;\r\n }\r\n }\r\n\r\n let dx = this.dxScratch!;\r\n let dxHat = this.dxHatScratch!;\r\n if (dx.length !== x.length) {\r\n dx = this.createTypedArray(x, x.length);\r\n dxHat = this.createTypedArray(x, x.length);\r\n this.dxScratch = dx;\r\n this.dxHatScratch = dxHat;\r\n }\r\n\r\n const { xPrev, dxPrev } = this;\r\n const ad = this.smoothingFactor(te, this.dCutOff);\r\n const xHat = out || this.createTypedArray(x, x.length);\r\n\r\n for (let i = 0; i < x.length; i++) {\r\n // The filtered derivative of the signal.\r\n dx[i] = (x[i] - xPrev![i]) / te;\r\n dxHat[i] = this.exponentialSmoothing(ad, dx[i], dxPrev![i]);\r\n\r\n // The filtered signal\r\n const cutOff = this.minCutOff + this.beta * Math.abs(dxHat[i]);\r\n const a = this.smoothingFactor(te, cutOff);\r\n xHat[i] = this.exponentialSmoothing(a, x[i], xPrev![i]);\r\n }\r\n\r\n // Store persistent state by copying instead of re-allocating\r\n if (this.xPrev!.length !== xHat.length) {\r\n this.xPrev = this.createTypedArray(x, xHat.length);\r\n this.dxPrev = this.createTypedArray(x, xHat.length);\r\n }\r\n this.xPrev!.set(xHat);\r\n this.dxPrev!.set(dxHat);\r\n this.tPrev = t;\r\n\r\n return xHat;\r\n 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"build-ts": "webpack --mode production", - "dev-ts": "webpack --mode development --progress --watch", - "test": "echo \"Error: no test specified\" && exit 1" + "build-ts": "vite build", + "test": "vitest run", + "test:watch": "vitest" }, "repository": { "type": "git", @@ -23,9 +23,9 @@ "author": "Walter Perdan", "license": "LGPL-3.0", "devDependencies": { - "ts-loader": "9.5.7", "typescript": "5.8.2", - "webpack": "5.107.2", - "webpack-cli": "6.0.1" + "vite": "^5.4.14", + "vite-plugin-dts": "^3.9.1", + "vitest": "^1.6.0" } } diff --git a/src/OneEuroFilter.ts b/src/OneEuroFilter.ts index 84a866d..ea6d0ce 100644 --- a/src/OneEuroFilter.ts +++ b/src/OneEuroFilter.ts @@ -122,11 +122,22 @@ export class OneEuroFilter { return res; } - const { xPrev, dxPrev, dxScratch, dxHatScratch } = this; + // Safety check to resize persistent and scratch arrays if the input length changes dynamically + if (this.xPrev!.length !== x.length) { + const oldXPrev = this.xPrev!; + const oldDxPrev = this.dxPrev!; - // Safety check to resize scratch arrays if the input length changes dynamically - let dx = dxScratch!; - let dxHat = dxHatScratch!; + this.xPrev = this.createTypedArray(x, x.length); + this.dxPrev = this.createTypedArray(x, x.length); + + for (let i = 0; i < x.length; i++) { + this.xPrev[i] = i < oldXPrev.length ? oldXPrev[i] : x[i]; + this.dxPrev[i] = i < oldDxPrev.length ? oldDxPrev[i] : 0; + } + } + + let dx = this.dxScratch!; + let dxHat = this.dxHatScratch!; if (dx.length !== x.length) { dx = this.createTypedArray(x, x.length); dxHat = this.createTypedArray(x, x.length); @@ -134,6 +145,7 @@ export class OneEuroFilter { this.dxHatScratch = dxHat; } + const { xPrev, dxPrev } = this; const ad = this.smoothingFactor(te, this.dCutOff); const xHat = out || this.createTypedArray(x, x.length); diff --git a/test/OneEuroFilter.test.ts b/test/OneEuroFilter.test.ts new file mode 100644 index 0000000..61d38f9 --- /dev/null +++ b/test/OneEuroFilter.test.ts @@ -0,0 +1,175 @@ +import { describe, it, expect } from 'vitest'; +import { OneEuroFilter } from '../src/OneEuroFilter'; + +describe('OneEuroFilter', () => { + it('should initialize correctly with parameters', () => { + const filter = new OneEuroFilter(120, 0.1); + expect(filter).toBeDefined(); + }); + + describe('Initialization Path', () => { + it('should initialize state on the first call and return a new copy of the input', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float32Array([1.0, 2.0, 3.0]); + + const result = filter.filter(1000, input); + + // Values must match exactly + expect(result).toEqual(input); + // It must be a distinct array reference (copy-on-initialization) + expect(result).not.toBe(input); + + // Mutating result should not affect the internal filter state + result[0] = 999.0; + const secondResult = filter.filter(1016, new Float32Array([2.0, 3.0, 4.0])); + expect(secondResult[0]).not.toBeCloseTo(999.0); + }); + }); + + describe('Filtering Correctness & Smoothing', () => { + it('should smoothly filter values over consecutive timestamps', () => { + const filter = new OneEuroFilter(1.0, 0.01); + const start = new Float32Array([10.0, 20.0]); + + // T=0: Initial state + const r0 = filter.filter(0, start); + expect(r0).toEqual(start); + + // T=1: Significant shift in input + const nextInput = new Float32Array([20.0, 40.0]); + const r1 = filter.filter(1, nextInput); + + // The filter should smooth the shift (values should be between start and nextInput) + expect(r1[0]).toBeGreaterThan(10.0); + expect(r1[0]).toBeLessThan(20.0); + expect(r1[1]).toBeGreaterThan(20.0); + expect(r1[1]).toBeLessThan(40.0); + + // T=2: Filter again with same input, it should get closer to target + const r2 = filter.filter(2, nextInput); + expect(r2[0]).toBeGreaterThan(r1[0]); + expect(r2[0]).toBeLessThan(20.0); + expect(r2[1]).toBeGreaterThan(r1[1]); + expect(r2[1]).toBeLessThan(40.0); + }); + }); + + describe('Zero/Negative Delta Time Safeguards', () => { + it('should handle zero delta time (te === 0) gracefully without producing NaN', () => { + const filter = new OneEuroFilter(120, 0.1); + const input1 = new Float32Array([1.0, 2.0]); + const input2 = new Float32Array([5.0, 10.0]); + + // Initial call + filter.filter(1000, input1); + + // Call again immediately at the exact same timestamp (te = 0) + const result = filter.filter(1000, input2); + + // Should not contain NaN or Infinity, should return the previous filtered values (input1) + expect(Number.isNaN(result[0])).toBe(false); + expect(Number.isFinite(result[0])).toBe(true); + expect(result).toEqual(input1); + }); + + it('should handle negative delta time (te < 0) gracefully', () => { + const filter = new OneEuroFilter(120, 0.1); + const input1 = new Float32Array([1.0, 2.0]); + const input2 = new Float32Array([5.0, 10.0]); + + filter.filter(1000, input1); + + // Call with timestamp backwards in time (te < 0) + const result = filter.filter(990, input2); + + // Should return previous state instead of breaking + expect(Number.isNaN(result[0])).toBe(false); + expect(result).toEqual(input1); + }); + }); + + describe('Dynamic Resizing Support', () => { + it('should support dynamic changes in input vector size at runtime without crashing', () => { + const filter = new OneEuroFilter(120, 0.1); + + // 1. Initial size = 3 + const input3 = new Float32Array([1.0, 2.0, 3.0]); + const res3 = filter.filter(1000, input3); + expect(res3.length).toBe(3); + + // 2. Resize to 5 elements + const input5 = new Float32Array([10.0, 20.0, 30.0, 40.0, 50.0]); + const res5 = filter.filter(1016, input5); + expect(res5.length).toBe(5); + expect(res5[3]).toBeCloseTo(40.0); // Will initialize new channels with input + + // 3. Downsize to 2 elements + const input2 = new Float32Array([100.0, 200.0]); + const res2 = filter.filter(1032, input2); + expect(res2.length).toBe(2); + }); + }); + + describe('Type Retention', () => { + it('should return Float32Array when input is Float32Array', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float32Array([1.0, 2.0]); + + const r1 = filter.filter(1000, input); + expect(r1).toBeInstanceOf(Float32Array); + + const r2 = filter.filter(1016, input); + expect(r2).toBeInstanceOf(Float32Array); + }); + + it('should return Float64Array when input is Float64Array', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float64Array([1.0, 2.0]); + + const r1 = filter.filter(1000, input); + expect(r1).toBeInstanceOf(Float64Array); + + const r2 = filter.filter(1016, input); + expect(r2).toBeInstanceOf(Float64Array); + }); + }); + + describe('Zero-Allocation out-parameter support', () => { + it('should filter in-place into the provided out array and perform zero allocations', () => { + const filter = new OneEuroFilter(120, 0.1); + const input = new Float32Array([1.0, 2.0]); + const out = new Float32Array(2); + + // 1. Initial call + const res1 = filter.filter(1000, input, out); + expect(res1).toBe(out); // Reference check + expect(out).toEqual(input); + + // 2. Subsequent call + const input2 = new Float32Array([10.0, 20.0]); + const res2 = filter.filter(1016, input2, out); + expect(res2).toBe(out); // Reference check + + // Smooth values should be written directly to out + expect(out[0]).toBeGreaterThan(1.0); + expect(out[0]).toBeLessThan(10.0); + }); + }); + + describe('Reset', () => { + it('should reset initialization state and clear historical memory', () => { + const filter = new OneEuroFilter(120, 0.1); + const input1 = new Float32Array([10.0, 20.0]); + const input2 = new Float32Array([100.0, 200.0]); + + filter.filter(1000, input1); + + // Reset the filter + filter.reset(); + + // The next call should be treated as a fresh initialization call, returning the input directly + const result = filter.filter(1016, input2); + expect(result).toEqual(input2); + }); + }); +}); diff --git a/types/src/index.d.ts b/types/src/index.d.ts index 2d2a2b3..9920e51 100644 --- a/types/src/index.d.ts +++ b/types/src/index.d.ts @@ -1,4 +1,4 @@ -import { OneEuroFilter } from "./OneEuroFilter"; -import type { FilterDataArray } from "./OneEuroFilter"; +import { OneEuroFilter, FilterDataArray } from './OneEuroFilter'; + export { OneEuroFilter }; export type { FilterDataArray }; diff --git a/vite.config.ts b/vite.config.ts new file mode 100644 index 0000000..3d8cda4 --- /dev/null +++ b/vite.config.ts @@ -0,0 +1,36 @@ +import { defineConfig } from 'vitest/config'; +import dts from 'vite-plugin-dts'; +import path from 'path'; + +export default defineConfig({ + build: { + lib: { + entry: path.resolve(__dirname, 'src/index.ts'), + name: 'OneEuroFilter', + fileName: (format) => format === 'es' ? 'OneEuroFilter.mjs' : 'OneEuroFilter.js', + formats: ['es', 'umd'] + }, + rollupOptions: { + external: [], + output: { + globals: {} + } + }, + outDir: 'dist', + sourcemap: true, + minify: true + }, + plugins: [ + dts({ + insertTypesEntry: true, + outDir: 'types', + copyDtsFiles: true, + include: ['src'] + }) + ], + test: { + globals: true, + environment: 'node', + include: ['test/**/*.test.ts'] + } +}); diff --git a/webpack.config.js b/webpack.config.js deleted file mode 100644 index 738d220..0000000 --- a/webpack.config.js +++ /dev/null @@ -1,69 +0,0 @@ -'use strict'; -const path = require('path'); - -module.exports =(env, argv) => { - let devtool = false; - if (argv.mode === "development") { - devtool = "inline-source-map"; - } - console.log(`${argv.mode} build`); - const module = { - rules: [ - { - test: /\.([cm]?ts|tsx)$/, - exclude: /node_modules/, - use: [ - { - loader: "ts-loader", - }, - ], - }, - ], - - }; - return [ - { - name: 'OneEuroFilter-umd', - devtool, - entry: './src/index.ts', - output: { - filename: 'OneEuroFilter.js', - path: path.resolve(__dirname, 'dist'), - libraryTarget: "umd", - }, - resolve: { - extensions: ['.ts', '.tsx', '.js'], - extensionAlias: { - '.ts': ['.js', '.ts'], - '.cts': ['.cjs', '.cts'], - '.mts': ['.mjs', '.mts'] - } - }, - module - }, - { - name: 'OneEuroFilter-esm', - devtool, - entry: './src/index.ts', - experiments: { - outputModule: true, - }, - output: { - filename: 'OneEuroFilter.mjs', - path: path.resolve(__dirname, 'dist'), - library: { - type: "module", - }, - }, - resolve: { - extensions: ['.ts', '.tsx', '.js'], - extensionAlias: { - '.ts': ['.js', '.ts'], - '.cts': ['.cjs', '.cts'], - '.mts': ['.mjs', '.mts'] - } - }, - module - } - ] -}; \ No newline at end of file From f37fcfcd7a0d924c1a55954477be6a09bca1caf8 Mon Sep 17 00:00:00 2001 From: Walter Perdan Date: Wed, 27 May 2026 15:50:33 +0200 Subject: [PATCH 7/7] Refactor: Unify type declaration generation by removing duplicate types/src folder (addresses #4) --- types/OneEuroFilter.d.ts | 10 ++++++++++ types/index.d.ts | 4 ++-- types/src/OneEuroFilter.d.ts | 34 ---------------------------------- types/src/index.d.ts | 4 ---- vite.config.ts | 1 + 5 files changed, 13 insertions(+), 40 deletions(-) delete mode 100644 types/src/OneEuroFilter.d.ts delete mode 100644 types/src/index.d.ts diff --git a/types/OneEuroFilter.d.ts b/types/OneEuroFilter.d.ts index 7089d33..8d471a4 100644 --- a/types/OneEuroFilter.d.ts +++ b/types/OneEuroFilter.d.ts @@ -8,10 +8,20 @@ export declare class OneEuroFilter { private dxPrev; private tPrev; private initialized; + private version; + private dxScratch; + private dxHatScratch; constructor(minCutOff: number, beta: number); smoothingFactor(te: number, cutoff: number): number; exponentialSmoothing(a: number, x: number, xPrev: number): number; reset(): void; + /** + * Creates a new typed array of the same type as the source. + * @param source - The source typed array to match the type of. + * @param lengthOrData - The length for a zero-filled array, or data to copy. + * @returns A new typed array of the same type as the source. + */ + private createTypedArray; /** * Filters the input signal using the One Euro Filter algorithm. * Accepts either Float32Array or Float64Array. diff --git a/types/index.d.ts b/types/index.d.ts index 2d2a2b3..9920e51 100644 --- a/types/index.d.ts +++ b/types/index.d.ts @@ -1,4 +1,4 @@ -import { OneEuroFilter } from "./OneEuroFilter"; -import type { FilterDataArray } from "./OneEuroFilter"; +import { OneEuroFilter, FilterDataArray } from './OneEuroFilter'; + export { OneEuroFilter }; export type { FilterDataArray }; diff --git a/types/src/OneEuroFilter.d.ts b/types/src/OneEuroFilter.d.ts deleted file mode 100644 index 8d471a4..0000000 --- a/types/src/OneEuroFilter.d.ts +++ /dev/null @@ -1,34 +0,0 @@ -/** Supported typed array types for filter input/output. */ -export type FilterDataArray = Float32Array | Float64Array; -export declare class OneEuroFilter { - private minCutOff; - private beta; - private dCutOff; - private xPrev; - private dxPrev; - private tPrev; - private initialized; - private version; - private dxScratch; - private dxHatScratch; - constructor(minCutOff: number, beta: number); - smoothingFactor(te: number, cutoff: number): number; - exponentialSmoothing(a: number, x: number, xPrev: number): number; - reset(): void; - /** - * Creates a new typed array of the same type as the source. - * @param source - The source typed array to match the type of. - * @param lengthOrData - The length for a zero-filled array, or data to copy. - * @returns A new typed array of the same type as the source. - */ - private createTypedArray; - /** - * Filters the input signal using the One Euro Filter algorithm. - * Accepts either Float32Array or Float64Array. - * @param t - The timestamp of the current sample. - * @param x - The input signal as a Float32Array or Float64Array. - * @param out - Optional pre-allocated destination array to write the result into, achieving zero allocation. - * @returns The filtered signal array. - */ - filter(t: number, x: T, out?: T): T; -} diff --git a/types/src/index.d.ts b/types/src/index.d.ts deleted file mode 100644 index 9920e51..0000000 --- a/types/src/index.d.ts +++ /dev/null @@ -1,4 +0,0 @@ -import { OneEuroFilter, FilterDataArray } from './OneEuroFilter'; - -export { OneEuroFilter }; -export type { FilterDataArray }; diff --git a/vite.config.ts b/vite.config.ts index 3d8cda4..b1a71c3 100644 --- a/vite.config.ts +++ b/vite.config.ts @@ -24,6 +24,7 @@ export default defineConfig({ dts({ insertTypesEntry: true, outDir: 'types', + entryRoot: 'src', copyDtsFiles: true, include: ['src'] })