@bindimaps/hyperlocal-web-sdk 0.0.1

package/README.md

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+# @bindimaps/hyperlocal-web-sdk
+
+Core SDK for image-based indoor localisation using the BindiMaps Landseer API.
+
+## Installation
+
+```bash
+npm install @bindimaps/hyperlocal-web-sdk
+```
+
+## Quick Start
+
+```typescript
+import { estimatePosition, type CapturedFrame } from "@bindimaps/hyperlocal-web-sdk"
+
+const frames: CapturedFrame[] = capturedFrames // Array of { timestamp, imageData: Blob }
+
+const result = await estimatePosition(
+  frames,
+  "your-location-id",
+  { latitude: -33.8688, longitude: 151.2093 },
+)
+
+if (result.type === "success") {
+  console.log("Position:", result.position, "Floor:", result.floorId)
+} else {
+  console.error("Failed:", result.code, result.message)
+}
+```
+
+## API Reference
+
+### `estimatePosition(frames, locationId, gpsPosition, options?)`
+
+Estimate a user's indoor position from captured camera frames and GPS.
+
+#### Parameters
+
+| Parameter | Type | Description |
+|-----------|------|-------------|
+| `frames` | `CapturedFrame[]` | Captured camera frames (minimum 6) |
+| `locationId` | `string` | Bindi location ID to localise within |
+| `gpsPosition` | `GeoCoordinate` | Approximate GPS coordinates |
+| `options` | `EstimatePositionOptions` | Optional config (environment, mock mode) |
+
+#### Returns `Promise<PositionResult>`
+
+Success:
+```typescript
+{
+  type: "success"
+  position: { latitude: number; longitude: number }
+  floorId: string
+  headingDegrees: number
+}
+```
+
+Error:
+```typescript
+{
+  type: "error"
+  code: "invalid_input" | "insufficient_frames" | "no_match" | "location_mismatch" | "api_error"
+  message: string
+  details?: string
+}
+```
+
+## Types
+
+### `CapturedFrame`
+
+```typescript
+type CapturedFrame = {
+  timestamp: Date
+  imageData: Blob  // JPEG image data
+}
+```
+
+### `GeoCoordinate`
+
+```typescript
+type GeoCoordinate = {
+  latitude: number
+  longitude: number
+}
+```
+
+### `EstimatePositionOptions`
+
+```typescript
+type EstimatePositionOptions = {
+  environment?: HyperlocalEnvironment
+  mock?: MockPositionConfig
+}
+```
+
+### `MockPositionConfig`
+
+```typescript
+type MockPositionConfig =
+  | true
+  | {
+      position?: GeoCoordinate
+      floorId?: string
+      headingDegrees?: number
+    }
+```
+
+## Mock Mode
+
+Use mock mode for local development and testing without a real camera or API connection:
+
+```typescript
+// Simple mock — returns default position based on GPS input
+const result = await estimatePosition(frames, "loc-id", gps, { mock: true })
+
+// Custom mock — specify exact values
+const result = await estimatePosition(frames, "loc-id", gps, {
+  mock: {
+    position: { latitude: -33.87, longitude: 151.21 },
+    floorId: "level-2",
+    headingDegrees: 180,
+  }
+})
+```
+
+Mock mode:
+- Skips all validation, protobuf, and gRPC calls
+- Returns after a 500ms simulated delay
+- Always returns `type: "success"`
+
+## Error Codes
+
+| Code | Description |
+|------|-------------|
+| `invalid_input` | Invalid `locationId`, GPS input, or frame payload shape |
+| `insufficient_frames` | Fewer than 6 frames provided |
+| `no_match` | Images didn't match any known location features |
+| `location_mismatch` | Matched a different location than the requested `locationId` |
+| `api_error` | Network or transport failure |
+
+## Integration with React
+
+For React applications, use `@bindimaps/hyperlocal-react` which provides hooks for camera stream management and frame capture.
+
+```bash
+npm install @bindimaps/hyperlocal-react
+```
+
+See the [@bindimaps/hyperlocal-react README](https://www.npmjs.com/package/@bindimaps/hyperlocal-react) for React-specific documentation.
+
+## Development
+
+```bash
+yarn build       # Build the library
+yarn start       # Watch mode
+yarn type-check  # Type check
+```
+
+## License
+
+MIT

package/dist/index.d.ts

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+/**
+ * @bindimaps/hyperlocal-web-sdk
+ *
+ * SDK for image-based indoor localisation using the Landseer API.
+ */
+type GeoCoordinate = {
+    latitude: number;
+    longitude: number;
+};
+type CapturedFrame = {
+    timestamp: Date;
+    imageData: Blob;
+};
+type PositionEstimate = {
+    type: "success";
+    position: GeoCoordinate;
+    floorId: string;
+    headingDegrees: number;
+};
+type PositionErrorCode = "invalid_input" | "insufficient_frames" | "no_match" | "location_mismatch" | "api_error";
+type PositionError = {
+    type: "error";
+    code: PositionErrorCode;
+    message: string;
+    details?: string;
+};
+type PositionResult = PositionEstimate | PositionError;
+type MockPositionConfig = true | {
+    position?: GeoCoordinate;
+    floorId?: string;
+    headingDegrees?: number;
+};
+type EstimatePositionOptions = {
+    environment?: HyperlocalEnvironment;
+    mock?: MockPositionConfig;
+};
+declare const MIN_LOCALISATION_IMAGE_COUNT = 6;
+declare enum HyperlocalEnvironment {
+    UNSPECIFIED = 0,
+    DEV_PREVIEW = 1,
+    DEV_PUBLIC = 2,
+    PROD_PREVIEW = 3,
+    PROD_PUBLIC = 4
+}
+/**
+ * Estimate a user's indoor position from captured camera frames and GPS.
+ *
+ * @param frames - Captured camera frames (minimum 6)
+ * @param locationId - The Bindi location ID to localise within
+ * @param gpsPosition - Approximate GPS coordinates
+ * @param options - Optional configuration (environment, mock mode)
+ */
+declare const estimatePosition: (frames: CapturedFrame[], locationId: string, gpsPosition: GeoCoordinate, options?: EstimatePositionOptions) => Promise<PositionResult>;
+
+export { type CapturedFrame, type EstimatePositionOptions, type GeoCoordinate, HyperlocalEnvironment, MIN_LOCALISATION_IMAGE_COUNT, type MockPositionConfig, type PositionError, type PositionErrorCode, type PositionEstimate, type PositionResult, estimatePosition };

package/dist/index.js

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+var __async = (__this, __arguments, generator) => {
+  return new Promise((resolve, reject) => {
+    var fulfilled = (value) => {
+      try {
+        step(generator.next(value));
+      } catch (e) {
+        reject(e);
+      }
+    };
+    var rejected = (value) => {
+      try {
+        step(generator.throw(value));
+      } catch (e) {
+        reject(e);
+      }
+    };
+    var step = (x) => x.done ? resolve(x.value) : Promise.resolve(x.value).then(fulfilled, rejected);
+    step((generator = generator.apply(__this, __arguments)).next());
+  });
+};
+
+// ../../../node_modules/@bindimaps/landseer/bmproto/landseer/landseer_pb.js
+import { enumDesc, fileDesc, messageDesc, serviceDesc, tsEnum } from "@bufbuild/protobuf/codegenv2";
+import { file_google_protobuf_wrappers } from "@bufbuild/protobuf/wkt";
+var file_bmproto_landseer_landseer = /* @__PURE__ */ fileDesc("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", [file_google_protobuf_wrappers]);
+var EnvironmentSchema = /* @__PURE__ */ enumDesc(file_bmproto_landseer_landseer, 1);
+var Environment = /* @__PURE__ */ tsEnum(EnvironmentSchema);
+var LocaliseTypeSchema = /* @__PURE__ */ enumDesc(file_bmproto_landseer_landseer, 3);
+var LocaliseType = /* @__PURE__ */ tsEnum(LocaliseTypeSchema);
+var LandseerAPIService = /* @__PURE__ */ serviceDesc(file_bmproto_landseer_landseer, 0);
+
+// src/index.ts
+import { createClient } from "@connectrpc/connect";
+import { createGrpcWebTransport } from "@connectrpc/connect-web";
+
+// src/image-selection.ts
+var getImageThumbnail = (blob, size = 16) => __async(null, null, function* () {
+  const bitmap = yield createImageBitmap(blob, { resizeWidth: size, resizeHeight: size, resizeQuality: "low" });
+  const canvas = document.createElement("canvas");
+  canvas.width = size;
+  canvas.height = size;
+  const ctx = canvas.getContext("2d");
+  if (!ctx) throw new Error("Could not get canvas context");
+  ctx.drawImage(bitmap, 0, 0);
+  bitmap.close();
+  const imageData = ctx.getImageData(0, 0, size, size).data;
+  const grayscale = new Uint8Array(size * size);
+  for (let i = 0; i < imageData.length; i += 4) {
+    grayscale[i / 4] = (imageData[i] + imageData[i + 1] + imageData[i + 2]) / 3;
+  }
+  return grayscale;
+});
+var calculateDistance = (a, b) => {
+  let sum = 0;
+  for (let i = 0; i < a.length; i++) {
+    const diff = a[i] - b[i];
+    sum += diff * diff;
+  }
+  return Math.sqrt(sum);
+};
+var selectDiverseFrames = (frames, count) => __async(null, null, function* () {
+  if (frames.length <= count) return frames;
+  const thumbnails = yield Promise.all(frames.map((f) => getImageThumbnail(f.imageData)));
+  const selectedIndices = /* @__PURE__ */ new Set([0]);
+  while (selectedIndices.size < count) {
+    let maxMinDist = -1;
+    let bestCandidateIdx = -1;
+    for (let i = 0; i < frames.length; i++) {
+      if (selectedIndices.has(i)) continue;
+      let minDist = Infinity;
+      for (const selectedIdx of selectedIndices) {
+        const dist = calculateDistance(thumbnails[i], thumbnails[selectedIdx]);
+        if (dist < minDist) minDist = dist;
+      }
+      if (minDist > maxMinDist) {
+        maxMinDist = minDist;
+        bestCandidateIdx = i;
+      }
+    }
+    if (bestCandidateIdx === -1) break;
+    selectedIndices.add(bestCandidateIdx);
+  }
+  return [...selectedIndices].sort((a, b) => a - b).map((idx) => frames[idx]);
+});
+
+// src/index.ts
+var MIN_LOCALISATION_IMAGE_COUNT = 6;
+var USE_DIVERSE_FRAME_SELECTION = false;
+var HyperlocalEnvironment = /* @__PURE__ */ ((HyperlocalEnvironment2) => {
+  HyperlocalEnvironment2[HyperlocalEnvironment2["UNSPECIFIED"] = 0] = "UNSPECIFIED";
+  HyperlocalEnvironment2[HyperlocalEnvironment2["DEV_PREVIEW"] = 1] = "DEV_PREVIEW";
+  HyperlocalEnvironment2[HyperlocalEnvironment2["DEV_PUBLIC"] = 2] = "DEV_PUBLIC";
+  HyperlocalEnvironment2[HyperlocalEnvironment2["PROD_PREVIEW"] = 3] = "PROD_PREVIEW";
+  HyperlocalEnvironment2[HyperlocalEnvironment2["PROD_PUBLIC"] = 4] = "PROD_PUBLIC";
+  return HyperlocalEnvironment2;
+})(HyperlocalEnvironment || {});
+var toLandseerEnv = (env) => {
+  const map = {
+    [0 /* UNSPECIFIED */]: Environment.UNSPECIFIED,
+    [1 /* DEV_PREVIEW */]: Environment.DEV_PREVIEW,
+    [2 /* DEV_PUBLIC */]: Environment.DEV_PUBLIC,
+    [3 /* PROD_PREVIEW */]: Environment.PROD_PREVIEW,
+    [4 /* PROD_PUBLIC */]: Environment.PROD_PUBLIC
+  };
+  return map[env];
+};
+var blobToUint8Array = (blob) => __async(null, null, function* () {
+  const arrayBuffer = yield blob.arrayBuffer();
+  return new Uint8Array(arrayBuffer);
+});
+var getBaseUrl = (environment) => environment === 4 /* PROD_PUBLIC */ || environment === 3 /* PROD_PREVIEW */ ? "https://landseer.bindimaps.app" : "https://landseer.bindi.dev";
+var isValidGpsPosition = (gpsPosition) => {
+  if (!gpsPosition || typeof gpsPosition !== "object") return false;
+  const maybeGps = gpsPosition;
+  return Number.isFinite(maybeGps.latitude) && Number.isFinite(maybeGps.longitude) && Number(maybeGps.latitude) >= -90 && Number(maybeGps.latitude) <= 90 && Number(maybeGps.longitude) >= -180 && Number(maybeGps.longitude) <= 180;
+};
+var normalizeHeadingDegrees = (headingDegrees) => Number.isFinite(headingDegrees) ? Number(headingDegrees) : 0;
+var validateInputs = (frames, locationId, gpsPosition) => {
+  if (typeof locationId !== "string" || locationId.trim().length === 0) {
+    return {
+      type: "error",
+      code: "invalid_input",
+      message: "locationId must be a non-empty string."
+    };
+  }
+  if (!isValidGpsPosition(gpsPosition)) {
+    return {
+      type: "error",
+      code: "invalid_input",
+      message: "gpsPosition coordinates are out of range (lat: -90..90, lng: -180..180)."
+    };
+  }
+  if (!Array.isArray(frames)) {
+    return {
+      type: "error",
+      code: "invalid_input",
+      message: "frames must be an array."
+    };
+  }
+  if (frames.length < MIN_LOCALISATION_IMAGE_COUNT) {
+    return {
+      type: "error",
+      code: "insufficient_frames",
+      message: `At least ${MIN_LOCALISATION_IMAGE_COUNT} frames are required for localisation.`,
+      details: `Received ${frames.length} frames, required ${MIN_LOCALISATION_IMAGE_COUNT}.`
+    };
+  }
+  return null;
+};
+var buildRequest = (frames, gpsPosition, environment) => __async(null, null, function* () {
+  const selectedFrames = USE_DIVERSE_FRAME_SELECTION ? yield selectDiverseFrames(frames, MIN_LOCALISATION_IMAGE_COUNT) : frames;
+  const now = /* @__PURE__ */ new Date();
+  const ts = BigInt(now.getTime());
+  const gps = {
+    gpsLocation: {
+      lat: gpsPosition.latitude,
+      lon: gpsPosition.longitude,
+      horizontalAccuracyMeters: 0,
+      mslAltitudeMeters: 0,
+      verticalAccuracyMeters: 0,
+      $typeName: "bmproto.landseer.LatLon"
+    },
+    ts,
+    $typeName: "bmproto.landseer.GpsLogEntry"
+  };
+  const images = yield Promise.all(
+    selectedFrames.map((img) => __async(null, null, function* () {
+      return {
+        ts: BigInt(img.timestamp.getTime()),
+        imageData: yield blobToUint8Array(img.imageData),
+        $typeName: "bmproto.landseer.LocationEstimateImage"
+      };
+    }))
+  );
+  return {
+    ts,
+    gps,
+    images,
+    env: toLandseerEnv(environment),
+    $typeName: "bmproto.landseer.LocationEstimateRequest"
+  };
+});
+var interpretResponse = (response, locationId) => {
+  var _a;
+  if (response.errors.length > 0 || response.localiseType === LocaliseType.FAILED || !response.locationEstimate || !response.locationEstimate.floorId || !Number.isFinite(response.locationEstimate.latitude) || !Number.isFinite(response.locationEstimate.longitude)) {
+    return {
+      type: "error",
+      code: "no_match",
+      message: response.errors.length > 0 ? response.errors.join(", ") : "Localisation failed \u2014 no match found.",
+      details: response.errors.length > 0 ? response.errors.join("; ") : `localiseType=${response.localiseType}`
+    };
+  }
+  if (!response.locationEstimate.locationId || response.locationEstimate.locationId !== locationId) {
+    return {
+      type: "error",
+      code: "location_mismatch",
+      message: "Matched a different location than requested.",
+      details: `expected=${locationId}, got=${(_a = response.locationEstimate.locationId) != null ? _a : "undefined"}`
+    };
+  }
+  return {
+    type: "success",
+    position: {
+      latitude: response.locationEstimate.latitude,
+      longitude: response.locationEstimate.longitude
+    },
+    floorId: response.locationEstimate.floorId,
+    headingDegrees: normalizeHeadingDegrees(response.locationEstimate.headingDegrees)
+  };
+};
+var estimatePosition = (frames, locationId, gpsPosition, options) => __async(null, null, function* () {
+  var _a, _b, _c, _d;
+  if (options == null ? void 0 : options.mock) {
+    yield new Promise((resolve) => setTimeout(resolve, 500));
+    const config = options.mock === true ? {} : options.mock;
+    return {
+      type: "success",
+      position: (_a = config.position) != null ? _a : gpsPosition,
+      floorId: (_b = config.floorId) != null ? _b : "mock-floor-1",
+      headingDegrees: (_c = config.headingDegrees) != null ? _c : 45
+    };
+  }
+  const validationError = validateInputs(frames, locationId, gpsPosition);
+  if (validationError) return validationError;
+  const environment = (_d = options == null ? void 0 : options.environment) != null ? _d : 4 /* PROD_PUBLIC */;
+  try {
+    const req = yield buildRequest(frames, gpsPosition, environment);
+    const transport = createGrpcWebTransport({ baseUrl: getBaseUrl(environment) });
+    const client = createClient(LandseerAPIService, transport);
+    const response = yield client.locationEstimate(req, {
+      signal: AbortSignal.timeout(3e4)
+    });
+    return interpretResponse(response, locationId);
+  } catch (err) {
+    return {
+      type: "error",
+      code: "api_error",
+      message: "Network or transport error during localisation.",
+      details: err instanceof Error ? err.message : String(err)
+    };
+  }
+});
+export {
+  HyperlocalEnvironment,
+  MIN_LOCALISATION_IMAGE_COUNT,
+  estimatePosition
+};
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../../../../node_modules/@bindimaps/landseer/bmproto/landseer/landseer_pb.js","../src/index.ts","../src/image-selection.ts"],"sourcesContent":["// @generated by protoc-gen-es v2.9.0\n// @generated from file bmproto/landseer/landseer.proto (package bmproto.landseer, syntax proto3)\n/* eslint-disable */\n\nimport { enumDesc, fileDesc, messageDesc, serviceDesc, tsEnum } from \"@bufbuild/protobuf/codegenv2\";\nimport { file_google_protobuf_wrappers } from \"@bufbuild/protobuf/wkt\";\n\n/**\n * Describes the file bmproto/landseer/landseer.proto.\n */\nexport const file_bmproto_landseer_landseer = /*@__PURE__*/\n  fileDesc(\"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\", [file_google_protobuf_wrappers]);\n\n/**\n * Describes the message bmproto.landseer.HealthzRequest.\n * Use `create(HealthzRequestSchema)` to create a new message.\n */\nexport const HealthzRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 0);\n\n/**\n * Describes the message bmproto.landseer.HealthzResponse.\n * Use `create(HealthzResponseSchema)` to create a new message.\n */\nexport const HealthzResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 1);\n\n/**\n * Describes the message bmproto.landseer.Pose.\n * Use `create(PoseSchema)` to create a new message.\n */\nexport const PoseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 2);\n\n/**\n * Describes the message bmproto.landseer.PinholeIntrinsics.\n * Use `create(PinholeIntrinsicsSchema)` to create a new message.\n */\nexport const PinholeIntrinsicsSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 3);\n\n/**\n * Describes the message bmproto.landseer.DeltaEncoding.\n * Use `create(DeltaEncodingSchema)` to create a new message.\n */\nexport const DeltaEncodingSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 4);\n\n/**\n * Describes the message bmproto.landseer.AccelerometerLog.\n * Use `create(AccelerometerLogSchema)` to create a new message.\n */\nexport const AccelerometerLogSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 5);\n\n/**\n * Describes the message bmproto.landseer.GyroLog.\n * Use `create(GyroLogSchema)` to create a new message.\n */\nexport const GyroLogSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 6);\n\n/**\n * Describes the message bmproto.landseer.RotationLog.\n * Use `create(RotationLogSchema)` to create a new message.\n */\nexport const RotationLogSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 7);\n\n/**\n * Describes the message bmproto.landseer.Frame.\n * Use `create(FrameSchema)` to create a new message.\n */\nexport const FrameSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 8);\n\n/**\n * Describes the message bmproto.landseer.LatLon.\n * Use `create(LatLonSchema)` to create a new message.\n */\nexport const LatLonSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 9);\n\n/**\n * Describes the message bmproto.landseer.SlamPose.\n * Use `create(SlamPoseSchema)` to create a new message.\n */\nexport const SlamPoseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 10);\n\n/**\n * Describes the message bmproto.landseer.DevicePosition.\n * Use `create(DevicePositionSchema)` to create a new message.\n */\nexport const DevicePositionSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 11);\n\n/**\n * Describes the message bmproto.landseer.DevicePositionLog.\n * Use `create(DevicePositionLogSchema)` to create a new message.\n */\nexport const DevicePositionLogSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 12);\n\n/**\n * Describes the message bmproto.landseer.GpsLogEntry.\n * Use `create(GpsLogEntrySchema)` to create a new message.\n */\nexport const GpsLogEntrySchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 13);\n\n/**\n * Describes the message bmproto.landseer.LocaliseRequest.\n * Use `create(LocaliseRequestSchema)` to create a new message.\n */\nexport const LocaliseRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 14);\n\n/**\n * Describes the message bmproto.landseer.Matrix.\n * Use `create(MatrixSchema)` to create a new message.\n */\nexport const MatrixSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 15);\n\n/**\n * Describes the message bmproto.landseer.LocaliseResponse.\n * Use `create(LocaliseResponseSchema)` to create a new message.\n */\nexport const LocaliseResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 16);\n\n/**\n * Describes the message bmproto.landseer.SubmitScanRequest.\n * Use `create(SubmitScanRequestSchema)` to create a new message.\n */\nexport const SubmitScanRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 17);\n\n/**\n * Describes the message bmproto.landseer.SubmitScanResponse.\n * Use `create(SubmitScanResponseSchema)` to create a new message.\n */\nexport const SubmitScanResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 18);\n\n/**\n * Describes the message bmproto.landseer.GetFloorTransformsRequest.\n * Use `create(GetFloorTransformsRequestSchema)` to create a new message.\n */\nexport const GetFloorTransformsRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 19);\n\n/**\n * Describes the message bmproto.landseer.FloorTransform.\n * Use `create(FloorTransformSchema)` to create a new message.\n */\nexport const FloorTransformSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 20);\n\n/**\n * Describes the message bmproto.landseer.GetFloorTransformsResponse.\n * Use `create(GetFloorTransformsResponseSchema)` to create a new message.\n */\nexport const GetFloorTransformsResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 21);\n\n/**\n * Describes the message bmproto.landseer.LocaliseAsyncAck.\n * Use `create(LocaliseAsyncAckSchema)` to create a new message.\n */\nexport const LocaliseAsyncAckSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 22);\n\n/**\n * Describes the message bmproto.landseer.LocaliseAsyncResponse.\n * Use `create(LocaliseAsyncResponseSchema)` to create a new message.\n */\nexport const LocaliseAsyncResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 23);\n\n/**\n * Describes the message bmproto.landseer.LocaliseAsyncRequest.\n * Use `create(LocaliseAsyncRequestSchema)` to create a new message.\n */\nexport const LocaliseAsyncRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 24);\n\n/**\n * Describes the message bmproto.landseer.StartLocaliseRequest.\n * Use `create(StartLocaliseRequestSchema)` to create a new message.\n */\nexport const StartLocaliseRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 25);\n\n/**\n * Describes the message bmproto.landseer.StartLocaliseResponse.\n * Use `create(StartLocaliseResponseSchema)` to create a new message.\n */\nexport const StartLocaliseResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 26);\n\n/**\n * Describes the message bmproto.landseer.ModelPoseEstimate.\n * Use `create(ModelPoseEstimateSchema)` to create a new message.\n */\nexport const ModelPoseEstimateSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 27);\n\n/**\n * Describes the message bmproto.landseer.LocalisePending.\n * Use `create(LocalisePendingSchema)` to create a new message.\n */\nexport const LocalisePendingSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 28);\n\n/**\n * Describes the message bmproto.landseer.LocaliseError.\n * Use `create(LocaliseErrorSchema)` to create a new message.\n */\nexport const LocaliseErrorSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 29);\n\n/**\n * Describes the message bmproto.landseer.GetLocaliseResultRequest.\n * Use `create(GetLocaliseResultRequestSchema)` to create a new message.\n */\nexport const GetLocaliseResultRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 30);\n\n/**\n * Describes the message bmproto.landseer.GetLocaliseResultResponse.\n * Use `create(GetLocaliseResultResponseSchema)` to create a new message.\n */\nexport const GetLocaliseResultResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 31);\n\n/**\n * Describes the message bmproto.landseer.LocationEstimateImage.\n * Use `create(LocationEstimateImageSchema)` to create a new message.\n */\nexport const LocationEstimateImageSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 32);\n\n/**\n * Describes the message bmproto.landseer.LocationEstimateRequest.\n * Use `create(LocationEstimateRequestSchema)` to create a new message.\n */\nexport const LocationEstimateRequestSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 33);\n\n/**\n * Describes the message bmproto.landseer.LocationEstimate.\n * Use `create(LocationEstimateSchema)` to create a new message.\n */\nexport const LocationEstimateSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 34);\n\n/**\n * Describes the message bmproto.landseer.LocationEstimateResponse.\n * Use `create(LocationEstimateResponseSchema)` to create a new message.\n */\nexport const LocationEstimateResponseSchema = /*@__PURE__*/\n  messageDesc(file_bmproto_landseer_landseer, 35);\n\n/**\n * Describes the enum bmproto.landseer.DeviceType.\n */\nexport const DeviceTypeSchema = /*@__PURE__*/\n  enumDesc(file_bmproto_landseer_landseer, 0);\n\n/**\n * @generated from enum bmproto.landseer.DeviceType\n */\nexport const DeviceType = /*@__PURE__*/\n  tsEnum(DeviceTypeSchema);\n\n/**\n * Describes the enum bmproto.landseer.Environment.\n */\nexport const EnvironmentSchema = /*@__PURE__*/\n  enumDesc(file_bmproto_landseer_landseer, 1);\n\n/**\n * specifies the CMS environment we will use for localisation\n *\n * @generated from enum bmproto.landseer.Environment\n */\nexport const Environment = /*@__PURE__*/\n  tsEnum(EnvironmentSchema);\n\n/**\n * Describes the enum bmproto.landseer.TransformType.\n */\nexport const TransformTypeSchema = /*@__PURE__*/\n  enumDesc(file_bmproto_landseer_landseer, 2);\n\n/**\n * @generated from enum bmproto.landseer.TransformType\n */\nexport const TransformType = /*@__PURE__*/\n  tsEnum(TransformTypeSchema);\n\n/**\n * Describes the enum bmproto.landseer.LocaliseType.\n */\nexport const LocaliseTypeSchema = /*@__PURE__*/\n  enumDesc(file_bmproto_landseer_landseer, 3);\n\n/**\n * @generated from enum bmproto.landseer.LocaliseType\n */\nexport const LocaliseType = /*@__PURE__*/\n  tsEnum(LocaliseTypeSchema);\n\n/**\n * @generated from service bmproto.landseer.LandseerAPIService\n */\nexport const LandseerAPIService = /*@__PURE__*/\n  serviceDesc(file_bmproto_landseer_landseer, 0);\n\n","/**\n * @bindimaps/hyperlocal-web-sdk\n *\n * SDK for image-based indoor localisation using the Landseer API.\n */\n\nimport type {\n    GpsLogEntry,\n    LocationEstimateImage,\n    LocationEstimateRequest,\n    LocationEstimateResponse,\n} from \"@bindimaps/landseer/bmproto/landseer/landseer_pb\"\nimport {\n    LandseerAPIService,\n    Environment as LandseerEnvironment,\n    LocaliseType,\n} from \"@bindimaps/landseer/bmproto/landseer/landseer_pb\"\nimport { createClient } from \"@connectrpc/connect\"\nimport { createGrpcWebTransport } from \"@connectrpc/connect-web\"\nimport { selectDiverseFrames } from \"./image-selection\"\n\n// ============================================================================\n// Types\n// ============================================================================\n\nexport type GeoCoordinate = {\n    latitude: number\n    longitude: number\n}\n\nexport type CapturedFrame = {\n    timestamp: Date\n    imageData: Blob\n}\n\nexport type PositionEstimate = {\n    type: \"success\"\n    position: GeoCoordinate\n    floorId: string\n    headingDegrees: number\n}\n\nexport type PositionErrorCode =\n    | \"invalid_input\"\n    | \"insufficient_frames\"\n    | \"no_match\"\n    | \"location_mismatch\"\n    | \"api_error\"\n\nexport type PositionError = {\n    type: \"error\"\n    code: PositionErrorCode\n    message: string\n    details?: string\n}\n\nexport type PositionResult = PositionEstimate | PositionError\n\nexport type MockPositionConfig =\n    | true\n    | {\n        position?: GeoCoordinate\n        floorId?: string\n        headingDegrees?: number\n    }\n\nexport type EstimatePositionOptions = {\n    environment?: HyperlocalEnvironment\n    mock?: MockPositionConfig\n}\n\n// ============================================================================\n// Constants\n// ============================================================================\n\nexport const MIN_LOCALISATION_IMAGE_COUNT = 6\nconst USE_DIVERSE_FRAME_SELECTION = false\n\n// Prefixed to avoid clashing with other `Environment` enums of the same name\nexport enum HyperlocalEnvironment {\n    UNSPECIFIED = 0,\n    DEV_PREVIEW = 1,\n    DEV_PUBLIC = 2,\n    PROD_PREVIEW = 3,\n    PROD_PUBLIC = 4,\n}\n\n// ============================================================================\n// Internal Helpers\n// ============================================================================\n\nconst toLandseerEnv = (env: HyperlocalEnvironment): LandseerEnvironment => {\n    const map: Record<HyperlocalEnvironment, LandseerEnvironment> = {\n        [HyperlocalEnvironment.UNSPECIFIED]: LandseerEnvironment.UNSPECIFIED,\n        [HyperlocalEnvironment.DEV_PREVIEW]: LandseerEnvironment.DEV_PREVIEW,\n        [HyperlocalEnvironment.DEV_PUBLIC]: LandseerEnvironment.DEV_PUBLIC,\n        [HyperlocalEnvironment.PROD_PREVIEW]: LandseerEnvironment.PROD_PREVIEW,\n        [HyperlocalEnvironment.PROD_PUBLIC]: LandseerEnvironment.PROD_PUBLIC,\n    }\n    return map[env]\n}\n\nconst blobToUint8Array = async (blob: Blob): Promise<Uint8Array> => {\n    const arrayBuffer = await blob.arrayBuffer()\n    return new Uint8Array(arrayBuffer)\n}\n\nconst getBaseUrl = (environment: HyperlocalEnvironment): string =>\n    (environment === HyperlocalEnvironment.PROD_PUBLIC || environment === HyperlocalEnvironment.PROD_PREVIEW)\n        ? \"https://landseer.bindimaps.app\"\n        : \"https://landseer.bindi.dev\"\n\nconst isValidGpsPosition = (gpsPosition: unknown): gpsPosition is GeoCoordinate => {\n    if (!gpsPosition || typeof gpsPosition !== \"object\") return false\n    const maybeGps = gpsPosition as { latitude?: unknown, longitude?: unknown }\n\n    return (\n        Number.isFinite(maybeGps.latitude) &&\n        Number.isFinite(maybeGps.longitude) &&\n        Number(maybeGps.latitude) >= -90 && Number(maybeGps.latitude) <= 90 &&\n        Number(maybeGps.longitude) >= -180 && Number(maybeGps.longitude) <= 180\n    )\n}\n\nconst normalizeHeadingDegrees = (headingDegrees: unknown): number =>\n    Number.isFinite(headingDegrees) ? Number(headingDegrees) : 0\n\nconst validateInputs = (\n    frames: CapturedFrame[],\n    locationId: string,\n    gpsPosition: GeoCoordinate,\n): PositionError | null => {\n    if (typeof locationId !== \"string\" || locationId.trim().length === 0) {\n        return {\n            type: \"error\",\n            code: \"invalid_input\",\n            message: \"locationId must be a non-empty string.\",\n        }\n    }\n\n    if (!isValidGpsPosition(gpsPosition)) {\n        return {\n            type: \"error\",\n            code: \"invalid_input\",\n            message: \"gpsPosition coordinates are out of range (lat: -90..90, lng: -180..180).\",\n        }\n    }\n\n    if (!Array.isArray(frames)) {\n        return {\n            type: \"error\",\n            code: \"invalid_input\",\n            message: \"frames must be an array.\",\n        }\n    }\n\n    if (frames.length < MIN_LOCALISATION_IMAGE_COUNT) {\n        return {\n            type: \"error\",\n            code: \"insufficient_frames\",\n            message: `At least ${MIN_LOCALISATION_IMAGE_COUNT} frames are required for localisation.`,\n            details: `Received ${frames.length} frames, required ${MIN_LOCALISATION_IMAGE_COUNT}.`,\n        }\n    }\n\n    return null\n}\n\nconst buildRequest = async (\n    frames: CapturedFrame[],\n    gpsPosition: GeoCoordinate,\n    environment: HyperlocalEnvironment,\n): Promise<LocationEstimateRequest> => {\n    const selectedFrames = USE_DIVERSE_FRAME_SELECTION\n        ? await selectDiverseFrames(frames, MIN_LOCALISATION_IMAGE_COUNT)\n        : frames\n\n    const now = new Date()\n    const ts = BigInt(now.getTime())\n\n    const gps: GpsLogEntry = {\n        gpsLocation: {\n            lat: gpsPosition.latitude,\n            lon: gpsPosition.longitude,\n            horizontalAccuracyMeters: 0,\n            mslAltitudeMeters: 0,\n            verticalAccuracyMeters: 0,\n            $typeName: \"bmproto.landseer.LatLon\",\n        },\n        ts,\n        $typeName: \"bmproto.landseer.GpsLogEntry\",\n    }\n\n    const images: LocationEstimateImage[] = await Promise.all(\n        selectedFrames.map(async (img) => ({\n            ts: BigInt(img.timestamp.getTime()),\n            imageData: await blobToUint8Array(img.imageData),\n            $typeName: \"bmproto.landseer.LocationEstimateImage\",\n        }))\n    )\n\n    return {\n        ts,\n        gps,\n        images,\n        env: toLandseerEnv(environment),\n        $typeName: \"bmproto.landseer.LocationEstimateRequest\",\n    }\n}\n\nconst interpretResponse = (response: LocationEstimateResponse, locationId: string): PositionResult => {\n    if (\n        response.errors.length > 0 ||\n        response.localiseType === LocaliseType.FAILED ||\n        !response.locationEstimate ||\n        !response.locationEstimate.floorId ||\n        !Number.isFinite(response.locationEstimate.latitude) ||\n        !Number.isFinite(response.locationEstimate.longitude)\n    ) {\n        return {\n            type: \"error\",\n            code: \"no_match\",\n            message: response.errors.length > 0 ? response.errors.join(\", \") : \"Localisation failed — no match found.\",\n            details: response.errors.length > 0 ? response.errors.join(\"; \") : `localiseType=${response.localiseType}`,\n        }\n    }\n\n    if (!response.locationEstimate.locationId || response.locationEstimate.locationId !== locationId) {\n        return {\n            type: \"error\",\n            code: \"location_mismatch\",\n            message: \"Matched a different location than requested.\",\n            details: `expected=${locationId}, got=${response.locationEstimate.locationId ?? \"undefined\"}`,\n        }\n    }\n\n    return {\n        type: \"success\",\n        position: {\n            latitude: response.locationEstimate.latitude,\n            longitude: response.locationEstimate.longitude,\n        },\n        floorId: response.locationEstimate.floorId,\n        headingDegrees: normalizeHeadingDegrees(response.locationEstimate.headingDegrees),\n    }\n}\n\n// ============================================================================\n// API\n// ============================================================================\n\n/**\n * Estimate a user's indoor position from captured camera frames and GPS.\n *\n * @param frames - Captured camera frames (minimum 6)\n * @param locationId - The Bindi location ID to localise within\n * @param gpsPosition - Approximate GPS coordinates\n * @param options - Optional configuration (environment, mock mode)\n */\nexport const estimatePosition = async (\n    frames: CapturedFrame[],\n    locationId: string,\n    gpsPosition: GeoCoordinate,\n    options?: EstimatePositionOptions,\n): Promise<PositionResult> => {\n    // Mock mode — early return before any validation/protobuf/gRPC\n    if (options?.mock) {\n        await new Promise(resolve => setTimeout(resolve, 500))\n        const config = options.mock === true ? {} : options.mock\n        return {\n            type: \"success\",\n            position: config.position ?? gpsPosition,\n            floorId: config.floorId ?? \"mock-floor-1\",\n            headingDegrees: config.headingDegrees ?? 45,\n        }\n    }\n\n    const validationError = validateInputs(frames, locationId, gpsPosition)\n    if (validationError) return validationError\n\n    const environment = options?.environment ?? HyperlocalEnvironment.PROD_PUBLIC\n\n    try {\n        const req = await buildRequest(frames, gpsPosition, environment)\n        const transport = createGrpcWebTransport({ baseUrl: getBaseUrl(environment) })\n        const client = createClient(LandseerAPIService, transport)\n        const response = await client.locationEstimate(req, {\n            signal: AbortSignal.timeout(30_000),\n        })\n        return interpretResponse(response, locationId)\n    } catch (err) {\n        return {\n            type: \"error\",\n            code: \"api_error\",\n            message: \"Network or transport error during localisation.\",\n            details: err instanceof Error ? err.message : String(err),\n        }\n    }\n}\n","import type { CapturedFrame } from \"./index\"\n\n/**\n * Downsamples an image to a small grayscale thumbnail for diversity comparison.\n */\nconst getImageThumbnail = async (blob: Blob, size = 16): Promise<Uint8Array> => {\n    const bitmap = await createImageBitmap(blob, { resizeWidth: size, resizeHeight: size, resizeQuality: \"low\" })\n    const canvas = document.createElement(\"canvas\")\n    canvas.width = size\n    canvas.height = size\n    const ctx = canvas.getContext(\"2d\")\n    if (!ctx) throw new Error(\"Could not get canvas context\")\n    ctx.drawImage(bitmap, 0, 0)\n    bitmap.close()\n    const imageData = ctx.getImageData(0, 0, size, size).data\n    const grayscale = new Uint8Array(size * size)\n    for (let i = 0; i < imageData.length; i += 4) {\n        grayscale[i / 4] = (imageData[i] + imageData[i + 1] + imageData[i + 2]) / 3\n    }\n    return grayscale\n}\n\n/**\n * Calculates the Euclidean distance between two thumbnails.\n */\nconst calculateDistance = (a: Uint8Array, b: Uint8Array): number => {\n    let sum = 0\n    for (let i = 0; i < a.length; i++) {\n        const diff = a[i] - b[i]\n        sum += diff * diff\n    }\n    return Math.sqrt(sum)\n}\n\n/**\n * Selects the most diverse frames from a set of candidates.\n * Uses a greedy \"max-min\" distance algorithm.\n * O(n·k) greedy, suitable for <100 candidates. For larger inputs consider a spatial index.\n */\nexport const selectDiverseFrames = async (\n    frames: CapturedFrame[],\n    count: number\n): Promise<CapturedFrame[]> => {\n    if (frames.length <= count) return frames\n\n    const thumbnails = await Promise.all(frames.map(f => getImageThumbnail(f.imageData)))\n    const selectedIndices = new Set<number>([0])\n\n    while (selectedIndices.size < count) {\n        let maxMinDist = -1\n        let bestCandidateIdx = -1\n\n        for (let i = 0; i < frames.length; i++) {\n            if (selectedIndices.has(i)) continue\n\n            let minDist = Infinity\n            for (const selectedIdx of selectedIndices) {\n                const dist = calculateDistance(thumbnails[i], thumbnails[selectedIdx])\n                if (dist < minDist) minDist = dist\n            }\n\n            if (minDist > maxMinDist) {\n                maxMinDist = minDist\n                bestCandidateIdx = i\n            }\n        }\n\n        if (bestCandidateIdx === -1) break\n        selectedIndices.add(bestCandidateIdx)\n    }\n\n    return [...selectedIndices]\n        .sort((a, b) => a - b)\n        .map(idx => 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package/package.json

@@ -0,0 +1,54 @@
+{
+  "//": "@bindimaps/landseer is a devDependency because tsup bundles it into dist — it must NOT be a runtime dependency in the published package",
+  "name": "@bindimaps/hyperlocal-web-sdk",
+  "version": "0.0.1",
+  "type": "module",
+  "description": "BindiMaps Hyperlocal Web SDK for indoor localisation",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "development": "./src/index.ts",
+      "import": "./dist/index.js"
+    }
+  },
+  "files": [
+    "dist",
+    "src",
+    "README.md"
+  ],
+  "scripts": {
+    "start": "tsc -w",
+    "build": "tsup",
+    "type-check": "tsc --noEmit",
+    "test": "vitest run",
+    "prepublishOnly": "yarn build"
+  },
+  "keywords": [
+    "bindimaps",
+    "hyperlocal",
+    "indoor-positioning",
+    "navigation",
+    "sdk"
+  ],
+  "author": "BindiMaps",
+  "license": "MIT",
+  "publishConfig": {
+    "access": "public",
+    "registry": "https://registry.npmjs.org"
+  },
+  "dependencies": {
+    "@bufbuild/protobuf": "^2.9.0",
+    "@connectrpc/connect": "^2.1.0",
+    "@connectrpc/connect-web": "^2.1.0"
+  },
+  "devDependencies": {
+    "@bindimaps/eslint-config": "workspace:*",
+    "@bindimaps/landseer": "^0.0.65",
+    "@bindimaps/tsconfig": "workspace:*",
+    "tsup": "^8.4.0",
+    "typescript": "^5.9.3",
+    "vitest": "^2.1.8"
+  }
+}

package/src/image-selection.ts

@@ -0,0 +1,75 @@
+import type { CapturedFrame } from "./index"
+
+/**
+ * Downsamples an image to a small grayscale thumbnail for diversity comparison.
+ */
+const getImageThumbnail = async (blob: Blob, size = 16): Promise<Uint8Array> => {
+    const bitmap = await createImageBitmap(blob, { resizeWidth: size, resizeHeight: size, resizeQuality: "low" })
+    const canvas = document.createElement("canvas")
+    canvas.width = size
+    canvas.height = size
+    const ctx = canvas.getContext("2d")
+    if (!ctx) throw new Error("Could not get canvas context")
+    ctx.drawImage(bitmap, 0, 0)
+    bitmap.close()
+    const imageData = ctx.getImageData(0, 0, size, size).data
+    const grayscale = new Uint8Array(size * size)
+    for (let i = 0; i < imageData.length; i += 4) {
+        grayscale[i / 4] = (imageData[i] + imageData[i + 1] + imageData[i + 2]) / 3
+    }
+    return grayscale
+}
+
+/**
+ * Calculates the Euclidean distance between two thumbnails.
+ */
+const calculateDistance = (a: Uint8Array, b: Uint8Array): number => {
+    let sum = 0
+    for (let i = 0; i < a.length; i++) {
+        const diff = a[i] - b[i]
+        sum += diff * diff
+    }
+    return Math.sqrt(sum)
+}
+
+/**
+ * Selects the most diverse frames from a set of candidates.
+ * Uses a greedy "max-min" distance algorithm.
+ * O(n·k) greedy, suitable for <100 candidates. For larger inputs consider a spatial index.
+ */
+export const selectDiverseFrames = async (
+    frames: CapturedFrame[],
+    count: number
+): Promise<CapturedFrame[]> => {
+    if (frames.length <= count) return frames
+
+    const thumbnails = await Promise.all(frames.map(f => getImageThumbnail(f.imageData)))
+    const selectedIndices = new Set<number>([0])
+
+    while (selectedIndices.size < count) {
+        let maxMinDist = -1
+        let bestCandidateIdx = -1
+
+        for (let i = 0; i < frames.length; i++) {
+            if (selectedIndices.has(i)) continue
+
+            let minDist = Infinity
+            for (const selectedIdx of selectedIndices) {
+                const dist = calculateDistance(thumbnails[i], thumbnails[selectedIdx])
+                if (dist < minDist) minDist = dist
+            }
+
+            if (minDist > maxMinDist) {
+                maxMinDist = minDist
+                bestCandidateIdx = i
+            }
+        }
+
+        if (bestCandidateIdx === -1) break
+        selectedIndices.add(bestCandidateIdx)
+    }
+
+    return [...selectedIndices]
+        .sort((a, b) => a - b)
+        .map(idx => frames[idx])
+}

package/src/index.ts

@@ -0,0 +1,299 @@
+/**
+ * @bindimaps/hyperlocal-web-sdk
+ *
+ * SDK for image-based indoor localisation using the Landseer API.
+ */
+
+import type {
+    GpsLogEntry,
+    LocationEstimateImage,
+    LocationEstimateRequest,
+    LocationEstimateResponse,
+} from "@bindimaps/landseer/bmproto/landseer/landseer_pb"
+import {
+    LandseerAPIService,
+    Environment as LandseerEnvironment,
+    LocaliseType,
+} from "@bindimaps/landseer/bmproto/landseer/landseer_pb"
+import { createClient } from "@connectrpc/connect"
+import { createGrpcWebTransport } from "@connectrpc/connect-web"
+import { selectDiverseFrames } from "./image-selection"
+
+// ============================================================================
+// Types
+// ============================================================================
+
+export type GeoCoordinate = {
+    latitude: number
+    longitude: number
+}
+
+export type CapturedFrame = {
+    timestamp: Date
+    imageData: Blob
+}
+
+export type PositionEstimate = {
+    type: "success"
+    position: GeoCoordinate
+    floorId: string
+    headingDegrees: number
+}
+
+export type PositionErrorCode =
+    | "invalid_input"
+    | "insufficient_frames"
+    | "no_match"
+    | "location_mismatch"
+    | "api_error"
+
+export type PositionError = {
+    type: "error"
+    code: PositionErrorCode
+    message: string
+    details?: string
+}
+
+export type PositionResult = PositionEstimate | PositionError
+
+export type MockPositionConfig =
+    | true
+    | {
+        position?: GeoCoordinate
+        floorId?: string
+        headingDegrees?: number
+    }
+
+export type EstimatePositionOptions = {
+    environment?: HyperlocalEnvironment
+    mock?: MockPositionConfig
+}
+
+// ============================================================================
+// Constants
+// ============================================================================
+
+export const MIN_LOCALISATION_IMAGE_COUNT = 6
+const USE_DIVERSE_FRAME_SELECTION = false
+
+// Prefixed to avoid clashing with other `Environment` enums of the same name
+export enum HyperlocalEnvironment {
+    UNSPECIFIED = 0,
+    DEV_PREVIEW = 1,
+    DEV_PUBLIC = 2,
+    PROD_PREVIEW = 3,
+    PROD_PUBLIC = 4,
+}
+
+// ============================================================================
+// Internal Helpers
+// ============================================================================
+
+const toLandseerEnv = (env: HyperlocalEnvironment): LandseerEnvironment => {
+    const map: Record<HyperlocalEnvironment, LandseerEnvironment> = {
+        [HyperlocalEnvironment.UNSPECIFIED]: LandseerEnvironment.UNSPECIFIED,
+        [HyperlocalEnvironment.DEV_PREVIEW]: LandseerEnvironment.DEV_PREVIEW,
+        [HyperlocalEnvironment.DEV_PUBLIC]: LandseerEnvironment.DEV_PUBLIC,
+        [HyperlocalEnvironment.PROD_PREVIEW]: LandseerEnvironment.PROD_PREVIEW,
+        [HyperlocalEnvironment.PROD_PUBLIC]: LandseerEnvironment.PROD_PUBLIC,
+    }
+    return map[env]
+}
+
+const blobToUint8Array = async (blob: Blob): Promise<Uint8Array> => {
+    const arrayBuffer = await blob.arrayBuffer()
+    return new Uint8Array(arrayBuffer)
+}
+
+const getBaseUrl = (environment: HyperlocalEnvironment): string =>
+    (environment === HyperlocalEnvironment.PROD_PUBLIC || environment === HyperlocalEnvironment.PROD_PREVIEW)
+        ? "https://landseer.bindimaps.app"
+        : "https://landseer.bindi.dev"
+
+const isValidGpsPosition = (gpsPosition: unknown): gpsPosition is GeoCoordinate => {
+    if (!gpsPosition || typeof gpsPosition !== "object") return false
+    const maybeGps = gpsPosition as { latitude?: unknown, longitude?: unknown }
+
+    return (
+        Number.isFinite(maybeGps.latitude) &&
+        Number.isFinite(maybeGps.longitude) &&
+        Number(maybeGps.latitude) >= -90 && Number(maybeGps.latitude) <= 90 &&
+        Number(maybeGps.longitude) >= -180 && Number(maybeGps.longitude) <= 180
+    )
+}
+
+const normalizeHeadingDegrees = (headingDegrees: unknown): number =>
+    Number.isFinite(headingDegrees) ? Number(headingDegrees) : 0
+
+const validateInputs = (
+    frames: CapturedFrame[],
+    locationId: string,
+    gpsPosition: GeoCoordinate,
+): PositionError | null => {
+    if (typeof locationId !== "string" || locationId.trim().length === 0) {
+        return {
+            type: "error",
+            code: "invalid_input",
+            message: "locationId must be a non-empty string.",
+        }
+    }
+
+    if (!isValidGpsPosition(gpsPosition)) {
+        return {
+            type: "error",
+            code: "invalid_input",
+            message: "gpsPosition coordinates are out of range (lat: -90..90, lng: -180..180).",
+        }
+    }
+
+    if (!Array.isArray(frames)) {
+        return {
+            type: "error",
+            code: "invalid_input",
+            message: "frames must be an array.",
+        }
+    }
+
+    if (frames.length < MIN_LOCALISATION_IMAGE_COUNT) {
+        return {
+            type: "error",
+            code: "insufficient_frames",
+            message: `At least ${MIN_LOCALISATION_IMAGE_COUNT} frames are required for localisation.`,
+            details: `Received ${frames.length} frames, required ${MIN_LOCALISATION_IMAGE_COUNT}.`,
+        }
+    }
+
+    return null
+}
+
+const buildRequest = async (
+    frames: CapturedFrame[],
+    gpsPosition: GeoCoordinate,
+    environment: HyperlocalEnvironment,
+): Promise<LocationEstimateRequest> => {
+    const selectedFrames = USE_DIVERSE_FRAME_SELECTION
+        ? await selectDiverseFrames(frames, MIN_LOCALISATION_IMAGE_COUNT)
+        : frames
+
+    const now = new Date()
+    const ts = BigInt(now.getTime())
+
+    const gps: GpsLogEntry = {
+        gpsLocation: {
+            lat: gpsPosition.latitude,
+            lon: gpsPosition.longitude,
+            horizontalAccuracyMeters: 0,
+            mslAltitudeMeters: 0,
+            verticalAccuracyMeters: 0,
+            $typeName: "bmproto.landseer.LatLon",
+        },
+        ts,
+        $typeName: "bmproto.landseer.GpsLogEntry",
+    }
+
+    const images: LocationEstimateImage[] = await Promise.all(
+        selectedFrames.map(async (img) => ({
+            ts: BigInt(img.timestamp.getTime()),
+            imageData: await blobToUint8Array(img.imageData),
+            $typeName: "bmproto.landseer.LocationEstimateImage",
+        }))
+    )
+
+    return {
+        ts,
+        gps,
+        images,
+        env: toLandseerEnv(environment),
+        $typeName: "bmproto.landseer.LocationEstimateRequest",
+    }
+}
+
+const interpretResponse = (response: LocationEstimateResponse, locationId: string): PositionResult => {
+    if (
+        response.errors.length > 0 ||
+        response.localiseType === LocaliseType.FAILED ||
+        !response.locationEstimate ||
+        !response.locationEstimate.floorId ||
+        !Number.isFinite(response.locationEstimate.latitude) ||
+        !Number.isFinite(response.locationEstimate.longitude)
+    ) {
+        return {
+            type: "error",
+            code: "no_match",
+            message: response.errors.length > 0 ? response.errors.join(", ") : "Localisation failed — no match found.",
+            details: response.errors.length > 0 ? response.errors.join("; ") : `localiseType=${response.localiseType}`,
+        }
+    }
+
+    if (!response.locationEstimate.locationId || response.locationEstimate.locationId !== locationId) {
+        return {
+            type: "error",
+            code: "location_mismatch",
+            message: "Matched a different location than requested.",
+            details: `expected=${locationId}, got=${response.locationEstimate.locationId ?? "undefined"}`,
+        }
+    }
+
+    return {
+        type: "success",
+        position: {
+            latitude: response.locationEstimate.latitude,
+            longitude: response.locationEstimate.longitude,
+        },
+        floorId: response.locationEstimate.floorId,
+        headingDegrees: normalizeHeadingDegrees(response.locationEstimate.headingDegrees),
+    }
+}
+
+// ============================================================================
+// API
+// ============================================================================
+
+/**
+ * Estimate a user's indoor position from captured camera frames and GPS.
+ *
+ * @param frames - Captured camera frames (minimum 6)
+ * @param locationId - The Bindi location ID to localise within
+ * @param gpsPosition - Approximate GPS coordinates
+ * @param options - Optional configuration (environment, mock mode)
+ */
+export const estimatePosition = async (
+    frames: CapturedFrame[],
+    locationId: string,
+    gpsPosition: GeoCoordinate,
+    options?: EstimatePositionOptions,
+): Promise<PositionResult> => {
+    // Mock mode — early return before any validation/protobuf/gRPC
+    if (options?.mock) {
+        await new Promise(resolve => setTimeout(resolve, 500))
+        const config = options.mock === true ? {} : options.mock
+        return {
+            type: "success",
+            position: config.position ?? gpsPosition,
+            floorId: config.floorId ?? "mock-floor-1",
+            headingDegrees: config.headingDegrees ?? 45,
+        }
+    }
+
+    const validationError = validateInputs(frames, locationId, gpsPosition)
+    if (validationError) return validationError
+
+    const environment = options?.environment ?? HyperlocalEnvironment.PROD_PUBLIC
+
+    try {
+        const req = await buildRequest(frames, gpsPosition, environment)
+        const transport = createGrpcWebTransport({ baseUrl: getBaseUrl(environment) })
+        const client = createClient(LandseerAPIService, transport)
+        const response = await client.locationEstimate(req, {
+            signal: AbortSignal.timeout(30_000),
+        })
+        return interpretResponse(response, locationId)
+    } catch (err) {
+        return {
+            type: "error",
+            code: "api_error",
+            message: "Network or transport error during localisation.",
+            details: err instanceof Error ? err.message : String(err),
+        }
+    }
+}