chore(release): bump version to 0.16.0 and rebuild dist

[kalwalt]

Summary

Release prep for 0.16.0 (Phase A of the release runbook). Minor bump from 0.15.0: two feat: commits in this range (injectable RNG #189, Levenberg-Marquardt refinement #187), no breaking changes.

Includes everything merged since 0.15.0:

• motion_estimator.ransac: doc comment promises a refit over all inliers; jsfeatNext has no layer that performs one #185, motion_estimator.lmeds needs the same post-convergence refit as ransac — OpenCV refines both through one branch #188 — the missing RANSAC/LMEDS refit layer (find_homography)
• motion_estimator.get_subset uses the global Math.random; make the RNG injectable #189 — injectable RNG for reproducible RANSAC/LMEDS
• homography2d: DLT normal equations accumulated in Float32, capping achievable precision #186 — homography2d's DLT solve in F64 instead of F32
• Add non-linear refinement (Levenberg–Marquardt) for homography and affine, as OpenCV does after RANSAC #187 — Levenberg-Marquardt refinement (linalg.lm_solve, homography2d.refine/affine2d.refine)
• release.yml still authenticates npm publish via NODE_AUTH_TOKEN; switch to OIDC trusted publishing #194 — npm Trusted Publishing (OIDC), replacing the expired NPM_TOKEN
• S64_t is declared but unsupported: matrix_t silently returns a Float64Array view #139 — matrix_t rejects S64_t instead of silently returning a wrong view
• examples/sample_orb: fix coordinate un-scaling and outline width defects in training code #142 — ORB example training: outline sizing and coordinate un-scaling fixes

Changes in this PR

• package.json: 0.15.0 → 0.16.0
• package-lock.json: regenerated with npm 11; npm audit fix applied for a high-severity transitive brace-expansion advisory (dev-only dependency)
• dist/jsfeatNext.js, dist/jsfeatNext.mjs, types/: rebuilt fresh via npm run build-ts
• CHANGELOG.md: new 0.16.0 section generated via git-cliff

Testing

• npm test: 353/353 passing on the regenerated lockfile + rebuilt dist.
• Manually verified both examples/sample_orb.html and examples/sample_orb_pinball.html against the freshly rebuilt dist/ — confirmed working.

[qodo-code-review]

PR Summary by Qodo

Prepare jsfeatNext 0.16.0 release artifacts

⚙️ Configuration changes 📝 Documentation 🕐 20-40 Minutes

AI Description

• Bump package metadata to 0.16.0 and document changes since 0.15.0.
• Rebuild UMD, ESM, and TypeScript declaration artifacts for the release.
• Refresh the lockfile and remediate the brace-expansion development dependency advisory.

Diagram

graph TD
  R["Release 0.16.0"] --> P["Package manifest"] --> B["Vite build"] --> D["Runtime bundles"]
  B --> T["Type declarations"]
  R --> L["Dependency lock"]
  R --> C["Changelog"]

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High-Level Assessment

The current approach matches the repository's release model: update authoritative package metadata, regenerate the lockfile, rebuild checked-in publishable bundles and declarations, and generate release notes. Building only during publication or omitting generated artifacts was considered, but would make the reviewed commit differ from the exact package contents exported through dist/ and types/.

Files changed (13) +459 / -51

Documentation (1) +50 / -0

CHANGELOG.mdAdd the 0.16.0 release notes +50/-0

Add the 0.16.0 release notes

• Adds categorized release notes for fixes, CI, documentation, features, and tests merged since 0.15.0. The entry is dated 2026-09-06.

CHANGELOG.md

Other (12) +409 / -51

jsfeatNext.jsRebuild the 0.16.0 UMD bundle +2/-2

Rebuild the 0.16.0 UMD bundle

• Regenerates the minified UMD/CommonJS bundle with version 0.16.0. The bundle incorporates the accumulated matrix validation, deterministic sampling, homography refitting, F64 precision, and Levenberg-Marquardt APIs.

dist/jsfeatNext.js

jsfeatNext.mjsRebuild the 0.16.0 ESM bundle +165/-25

Rebuild the 0.16.0 ESM bundle

• Regenerates the readable ESM distribution with the 0.16.0 version and all functionality merged since 0.15.0, including robust-estimation refitting and nonlinear refinement.

dist/jsfeatNext.mjs

package-lock.jsonRefresh release version and secure transitive dependency +6/-6

Refresh release version and secure transitive dependency

• Updates lockfile package metadata to 0.16.0 and upgrades the development-only brace-expansion dependency from 5.0.7 to 5.0.9. The updated package now declares Node 20 or newer.

package-lock.json

package.jsonBump package version to 0.16.0 +1/-1

Bump package version to 0.16.0

• Changes the published package version from 0.15.0 to 0.16.0 for the minor release.

package.json

index.d.tsExport the generated RandomFn type +1/-1

Export the generated RandomFn type

• Adds RandomFn to the package-level type exports so consumers can type injectable random-number generators.

types/src/index.d.ts

linalg.d.tsDeclare the Levenberg-Marquardt solver API +45/-0

Declare the Levenberg-Marquardt solver API

• Adds the LMCallback contract and the linalg.lm_solve declaration. Documentation defines residual and Jacobian behavior, convergence controls, and numerical strategy.

types/src/linalg/linalg.d.ts

math.d.tsDeclare the seedable mulberry32 generator +15/-0

Declare the seedable mulberry32 generator

• Adds the RandomFn import and declares math.mulberry32 for reproducible RANSAC and LMEDS sampling.

types/src/math/math.d.ts

matrix_t.d.tsDocument unsupported S64 matrix rejection +12/-0

Document unsupported S64 matrix rejection

• Adds the private S64_t validation declaration and explains why unsupported 64-bit integer matrices are rejected instead of exposed through an incorrect F64 view.

types/src/matrix_t/matrix_t.d.ts

motion_estimator.d.tsExpose reproducible sampling and homography refitting APIs +61/-8

Expose reproducible sampling and homography refitting APIs

• Adds injectable RNG support to get_subset and documents minimal-sample behavior for RANSAC and LMEDS. Declares find_homography with linear refitting, mask recomputation, optional LMEDS thresholds, and LM refinement.

types/src/motion_estimator/motion_estimator.d.ts

ransac_params_t.d.tsAdd RNG configuration to robust estimation parameters +10/-2

Add RNG configuration to robust estimation parameters

• Declares the RandomFn-backed rng property and constructor argument while preserving Math.random as the default.

types/src/motion_estimator/ransac_params_t.d.ts

motion_model.d.tsDeclare F64 homography and refinement capabilities +74/-6

Declare F64 homography and refinement capabilities

• Documents F64 normalization and DLT scratch matrices, plus affine and homography refinement methods. It also describes the private F64 homography model buffer used to avoid premature rounding.

types/src/motion_model/motion_model.d.ts

types.d.tsExtend motion kernels with optional refinement +17/-0

Extend motion kernels with optional refinement

• Adds the optional MotionKernel.refine contract and defines RandomFn as a Math.random-compatible source for deterministic robust estimation.

types/src/types.d.ts

[qodo-code-review]

Code Review by Qodo

🐞 Bugs (0) 📘 Rule violations (0) 📜 Skill insights (0)

1. Solver errors drain shared buffers ✗ Dismissed 📘 Rule violation ☼ Reliability

Description

lm_solve acquires eight cache nodes before invoking callback.compute, but releases them only at
the normal function epilogue instead of in a finally block. If any callback invocation throws,
those nodes remain checked out; repeated failures exhaust the fixed pool and make later algorithm
calls fail inside get_buffer.

Code

dist/jsfeatNext.mjs[800]

+		let o = e.rows, s = t, c = e.data, u = this.cache.get_buffer(s << 3), d = this.cache.get_buffer(s << 3), f = this.cache.get_buffer(s * o << 3), p = this.cache.get_buffer(o * o << 3), m = this.cache.get_buffer(o * o << 3), h = this.cache.get_buffer(o << 3), g = this.cache.get_buffer(o << 3), _ = this.cache.get_buffer(o << 3), v = u.f64, y = d.f64, b = f.f64, x = p.f64, S = m.f64, C = h.f64;

Evidence

Compliance rule 2965982 requires every shared-buffer allocation to have a matching release on
success and error paths. The newly distributed solver borrows eight nodes before calling an external
callback, its releases are only at the function epilogue, and the cache implementation explicitly
assumes balanced calls without an underflow check.

Rule 2965982: Release all shared buffer pool allocations with a matching put_buffer call
dist/jsfeatNext.mjs[799-850]
src/linalg/linalg.ts[693-805]
src/cache/cache.ts[99-129]

Agent prompt

The issue below was found during a code review. Follow the provided context and guidance below and implement a solution

## Issue description
`lm_solve` leaks all borrowed cache nodes when `callback.compute` throws because releases occur only on normal completion.

## Issue Context
The cache has no underflow protection and requires every borrowed node to be returned. Update the TypeScript source, then rebuild the generated distribution artifacts.

## Fix Focus Areas
- src/linalg/linalg.ts[693-805]
- dist/jsfeatNext.mjs[799-850]

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

---

Context sources

✅ Compliance rules (platform): 27 rules

✅ Skills: license-header-adder

Review mode: ⚖️ Balanced: This release packages substantial runtime changes across RANSAC/LMEDS, homography and affine refinement, numerical precision, RNG behavior, and public TypeScript APIs, so it carries genuine cross-cutting correctness risk but is not clearly dense enough to require redundant extended review.

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