@multisetai/vps 1.0.4

package/dist/core/index.js

@@ -0,0 +1,152 @@
+import axios from 'axios';
+
+// src/lib/core/index.ts
+var DEFAULT_ENDPOINTS = {
+  authUrl: "https://api.multiset.ai/v1/m2m/token",
+  queryUrl: "https://api.multiset.ai/v1/vps/map/query-form",
+  mapDetailsUrl: "https://api.multiset.ai/v1/vps/map/",
+  mapSetDetailsUrl: "https://api.multiset.ai/v1/vps/map-set/",
+  fileDownloadUrl: "https://api.multiset.ai/v1/file"
+};
+var MultisetClient = class {
+  constructor(config) {
+    this.config = config;
+    this.accessToken = null;
+    this.config = config;
+    this.endpoints = {
+      ...DEFAULT_ENDPOINTS,
+      ...config.endpoints
+    };
+  }
+  get token() {
+    return this.accessToken;
+  }
+  async authorize() {
+    var _a, _b, _c, _d, _e;
+    try {
+      const response = await axios.post(
+        this.endpoints.authUrl,
+        {},
+        {
+          auth: {
+            username: this.config.clientId,
+            password: this.config.clientSecret
+          }
+        }
+      );
+      const token = (_c = (_a = response.data) == null ? void 0 : _a.token) != null ? _c : (_b = response.data) == null ? void 0 : _b.access_token;
+      if (!token) {
+        throw new Error("Authorization succeeded but no token was returned.");
+      }
+      this.accessToken = token;
+      (_e = (_d = this.config).onAuthorize) == null ? void 0 : _e.call(_d, token);
+      return token;
+    } catch (error) {
+      this.handleError(error);
+      throw error;
+    }
+  }
+  handleError(error) {
+    var _a, _b, _c, _d;
+    if (axios.isAxiosError(error)) {
+      const axiosError = error;
+      (_b = (_a = this.config).onError) == null ? void 0 : _b.call(_a, axiosError);
+    } else {
+      (_d = (_c = this.config).onError) == null ? void 0 : _d.call(_c, error);
+    }
+  }
+  async localizeWithFrame(frame, intrinsics) {
+    var _a, _b, _c, _d, _e, _f, _g;
+    if (!this.accessToken) {
+      throw new Error("Access token is missing. Call authorize() first.");
+    }
+    (_b = (_a = this.config).onFrameCaptured) == null ? void 0 : _b.call(_a, frame);
+    (_d = (_c = this.config).onCameraIntrinsics) == null ? void 0 : _d.call(_c, intrinsics);
+    const queryResult = await this.queryLocalization(frame, intrinsics);
+    if ((_e = queryResult == null ? void 0 : queryResult.localizeData) == null ? void 0 : _e.poseFound) {
+      (_g = (_f = this.config).onPoseResult) == null ? void 0 : _g.call(_f, queryResult.localizeData);
+    }
+    return queryResult;
+  }
+  async queryLocalization(frame, intrinsics) {
+    var _a;
+    const formData = new FormData();
+    formData.append("isRightHanded", "true");
+    formData.append("width", `${frame.width}`);
+    formData.append("height", `${frame.height}`);
+    formData.append("px", `${intrinsics.px}`);
+    formData.append("py", `${intrinsics.py}`);
+    formData.append("fx", `${intrinsics.fx}`);
+    formData.append("fy", `${intrinsics.fy}`);
+    formData.append("queryImage", frame.blob);
+    if (this.config.mapType === "map") {
+      formData.append("mapCode", this.config.code);
+    } else {
+      formData.append("mapSetCode", this.config.code);
+    }
+    try {
+      const response = await axios.post(
+        this.endpoints.queryUrl,
+        formData,
+        {
+          headers: {
+            Authorization: `Bearer ${this.accessToken}`
+          }
+        }
+      );
+      const data = response.data;
+      if (!data.poseFound) {
+        return null;
+      }
+      const result = {
+        localizeData: data
+      };
+      if ((_a = data.mapIds) == null ? void 0 : _a.length) {
+        const mapDetails = await this.fetchMapDetails(data.mapIds[0]);
+        if (mapDetails) {
+          result.mapDetails = mapDetails;
+        }
+      }
+      return result;
+    } catch (error) {
+      this.handleError(error);
+      return null;
+    }
+  }
+  async fetchMapDetails(mapId) {
+    try {
+      const response = await axios.get(
+        `${this.endpoints.mapDetailsUrl}${mapId}`,
+        {
+          headers: {
+            Authorization: `Bearer ${this.accessToken}`
+          }
+        }
+      );
+      return response.data;
+    } catch (error) {
+      this.handleError(error);
+      return null;
+    }
+  }
+  async fetchMapSetDetails(mapSetId) {
+    try {
+      const response = await axios.get(
+        `${this.endpoints.mapSetDetailsUrl}${mapSetId}`,
+        {
+          headers: {
+            Authorization: `Bearer ${this.accessToken}`
+          }
+        }
+      );
+      return response.data;
+    } catch (error) {
+      this.handleError(error);
+      return null;
+    }
+  }
+};
+
+export { DEFAULT_ENDPOINTS, MultisetClient };
+//# sourceMappingURL=index.js.map
+//# sourceMappingURL=index.js.map

package/dist/core/index.js.map

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axios, { AxiosError } from 'axios';\nimport type {\n  ILocalizeAndMapDetails,\n  ILocalizeResponse,\n  MapType,\n  IGetMapsDetailsResponse,\n  IMapSetMapsResponse,\n} from './types';\n\nexport interface IMultisetSdkConfig {\n  clientId: string;\n  clientSecret: string;\n  code: string;\n  mapType: MapType;\n  endpoints?: Partial<IMultisetSdkEndpoints>;\n  onAuthorize?: (token: string) => void;\n  onFrameCaptured?: (payload: IFrameCaptureEvent) => void;\n  onCameraIntrinsics?: (intrinsics: ICameraIntrinsicsEvent) => void;\n  onPoseResult?: (payload: IPoseResultEvent) => void;\n  onError?: (error: unknown) => void;\n}\n\nexport interface IMultisetSdkEndpoints {\n  authUrl: string;\n  queryUrl: string;\n  mapDetailsUrl: string;\n  fileDownloadUrl: string;\n  mapSetDetailsUrl: string;\n}\n\nexport interface IFrameCaptureEvent {\n  blob: Blob;\n  width: number;\n  height: number;\n}\n\nexport interface ICameraIntrinsicsEvent {\n  fx: number;\n  fy: number;\n  px: number;\n  py: number;\n  width: number;\n  height: number;\n}\n\nexport interface IPoseResultEvent {\n  poseFound: boolean;\n  position: {\n    x: number;\n    y: number;\n    z: number;\n  };\n  rotation: {\n    x: number;\n    y: number;\n    z: number;\n    w: number;\n  };\n  mapIds: string[];\n  confidence?: number;\n}\n\nexport interface ILocalizeResultEvent {\n  frame: IFrameCaptureEvent;\n  intrinsics: ICameraIntrinsicsEvent;\n  response: ILocalizeAndMapDetails | null;\n}\n\nexport const DEFAULT_ENDPOINTS: IMultisetSdkEndpoints = {\n  authUrl: 'https://api.multiset.ai/v1/m2m/token',\n  queryUrl: 'https://api.multiset.ai/v1/vps/map/query-form',\n  mapDetailsUrl: 'https://api.multiset.ai/v1/vps/map/',\n  mapSetDetailsUrl: 'https://api.multiset.ai/v1/vps/map-set/',\n  fileDownloadUrl: 'https://api.multiset.ai/v1/file',\n};\n\n/**\n * Placeholder class to be implemented by porting logic from multiset-webxr-sdk.\n */\nexport class MultisetClient {\n  private readonly endpoints: IMultisetSdkEndpoints;\n  private accessToken: string | null = null;\n\n  constructor(private readonly config: IMultisetSdkConfig) {\n    this.config = config;\n    this.endpoints = {\n      ...DEFAULT_ENDPOINTS,\n      ...config.endpoints,\n    };\n  }\n\n  get token(): string | null {\n    return this.accessToken;\n  }\n\n  async authorize(): Promise<string> {\n    try {\n      const response = await axios.post(\n        this.endpoints.authUrl,\n        {},\n        {\n          auth: {\n            username: this.config.clientId,\n            password: this.config.clientSecret,\n          },\n        }\n      );\n\n      const token: string | undefined =\n        response.data?.token ?? response.data?.access_token;\n\n      if (!token) {\n        throw new Error('Authorization succeeded but no token was returned.');\n      }\n\n      this.accessToken = token;\n      this.config.onAuthorize?.(token);\n      return token;\n    } catch (error) {\n      this.handleError(error);\n      throw error;\n    }\n  }\n\n  private handleError(error: unknown): void {\n    if (axios.isAxiosError(error)) {\n      const axiosError = error as AxiosError;\n      this.config.onError?.(axiosError);\n    } else {\n      this.config.onError?.(error);\n    }\n  }\n\n  async localizeWithFrame(\n    frame: IFrameCaptureEvent,\n    intrinsics: ICameraIntrinsicsEvent\n  ): Promise<ILocalizeAndMapDetails | null> {\n    if (!this.accessToken) {\n      throw new Error('Access token is missing. Call authorize() first.');\n    }\n\n    this.config.onFrameCaptured?.(frame);\n    this.config.onCameraIntrinsics?.(intrinsics);\n\n    const queryResult = await this.queryLocalization(frame, intrinsics);\n\n    if (queryResult?.localizeData?.poseFound) {\n      this.config.onPoseResult?.(queryResult.localizeData);\n    }\n\n    return queryResult;\n  }\n\n  private async queryLocalization(\n    frame: IFrameCaptureEvent,\n    intrinsics: ICameraIntrinsicsEvent\n  ): Promise<ILocalizeAndMapDetails | null> {\n    const formData = new FormData();\n    formData.append('isRightHanded', 'true');\n    formData.append('width', `${frame.width}`);\n    formData.append('height', `${frame.height}`);\n    formData.append('px', `${intrinsics.px}`);\n    formData.append('py', `${intrinsics.py}`);\n    formData.append('fx', `${intrinsics.fx}`);\n    formData.append('fy', `${intrinsics.fy}`);\n    formData.append('queryImage', frame.blob);\n\n    if (this.config.mapType === 'map') {\n      formData.append('mapCode', this.config.code);\n    } else {\n      formData.append('mapSetCode', this.config.code);\n    }\n\n    try {\n      const response = await axios.post<ILocalizeResponse>(\n        this.endpoints.queryUrl,\n        formData,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n\n      const data = response.data;\n      if (!data.poseFound) {\n        return null;\n      }\n\n      const result: ILocalizeAndMapDetails = {\n        localizeData: data,\n      };\n\n      if (data.mapIds?.length) {\n        const mapDetails = await this.fetchMapDetails(data.mapIds[0]);\n        if (mapDetails) {\n          result.mapDetails = mapDetails;\n        }\n      }\n\n      return result;\n    } catch (error) {\n      this.handleError(error);\n      return null;\n    }\n  }\n\n  private async fetchMapDetails(mapId: string): Promise<IGetMapsDetailsResponse | null> {\n    try {\n      const response = await axios.get<IGetMapsDetailsResponse>(\n        `${this.endpoints.mapDetailsUrl}${mapId}`,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n      return response.data;\n    } catch (error) {\n      this.handleError(error);\n      return null;\n    }\n  }\n\n  private async fetchMapSetDetails(mapSetId: string): Promise<IMapSetMapsResponse | null> {\n    try {\n      const response = await axios.get<IMapSetMapsResponse>(\n        `${this.endpoints.mapSetDetailsUrl}${mapSetId}`,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n      return response.data;\n    } catch (error) {\n      this.handleError(error);\n      return null;\n    }\n  }\n}\n\nexport type { IMultisetSdkConfig as IMultisetClientOptions };\nexport type {\n  MapType,\n  ILocalizeResponse,\n  ILocalizeAndMapDetails,\n  IGetMapsDetailsResponse,\n  IMapSetMapsResponse,\n} from './types';\n\n"]}

package/dist/index.d.ts

@@ -0,0 +1,3 @@
+export { DEFAULT_ENDPOINTS, ICameraIntrinsicsEvent, IFrameCaptureEvent, IGetMapsDetailsResponse, ILocalizeAndMapDetails, ILocalizeResponse, ILocalizeResultEvent, IMapSetMapsResponse, IMultisetClientOptions, IMultisetClientOptions as IMultisetSdkConfig, IMultisetSdkEndpoints, IPoseResultEvent, MapType, MultisetClient } from './core/index.js';
+export { IWebxrControllerOptions, WebxrController } from './webxr/index.js';
+import 'three';

package/dist/index.js

@@ -0,0 +1,398 @@
+import axios from 'axios';
+import * as THREE from 'three';
+import { ARButton } from 'three/examples/jsm/webxr/ARButton.js';
+
+// src/lib/core/index.ts
+var DEFAULT_ENDPOINTS = {
+  authUrl: "https://api.multiset.ai/v1/m2m/token",
+  queryUrl: "https://api.multiset.ai/v1/vps/map/query-form",
+  mapDetailsUrl: "https://api.multiset.ai/v1/vps/map/",
+  mapSetDetailsUrl: "https://api.multiset.ai/v1/vps/map-set/",
+  fileDownloadUrl: "https://api.multiset.ai/v1/file"
+};
+var MultisetClient = class {
+  constructor(config) {
+    this.config = config;
+    this.accessToken = null;
+    this.config = config;
+    this.endpoints = {
+      ...DEFAULT_ENDPOINTS,
+      ...config.endpoints
+    };
+  }
+  get token() {
+    return this.accessToken;
+  }
+  async authorize() {
+    var _a, _b, _c, _d, _e;
+    try {
+      const response = await axios.post(
+        this.endpoints.authUrl,
+        {},
+        {
+          auth: {
+            username: this.config.clientId,
+            password: this.config.clientSecret
+          }
+        }
+      );
+      const token = (_c = (_a = response.data) == null ? void 0 : _a.token) != null ? _c : (_b = response.data) == null ? void 0 : _b.access_token;
+      if (!token) {
+        throw new Error("Authorization succeeded but no token was returned.");
+      }
+      this.accessToken = token;
+      (_e = (_d = this.config).onAuthorize) == null ? void 0 : _e.call(_d, token);
+      return token;
+    } catch (error) {
+      this.handleError(error);
+      throw error;
+    }
+  }
+  handleError(error) {
+    var _a, _b, _c, _d;
+    if (axios.isAxiosError(error)) {
+      const axiosError = error;
+      (_b = (_a = this.config).onError) == null ? void 0 : _b.call(_a, axiosError);
+    } else {
+      (_d = (_c = this.config).onError) == null ? void 0 : _d.call(_c, error);
+    }
+  }
+  async localizeWithFrame(frame, intrinsics) {
+    var _a, _b, _c, _d, _e, _f, _g;
+    if (!this.accessToken) {
+      throw new Error("Access token is missing. Call authorize() first.");
+    }
+    (_b = (_a = this.config).onFrameCaptured) == null ? void 0 : _b.call(_a, frame);
+    (_d = (_c = this.config).onCameraIntrinsics) == null ? void 0 : _d.call(_c, intrinsics);
+    const queryResult = await this.queryLocalization(frame, intrinsics);
+    if ((_e = queryResult == null ? void 0 : queryResult.localizeData) == null ? void 0 : _e.poseFound) {
+      (_g = (_f = this.config).onPoseResult) == null ? void 0 : _g.call(_f, queryResult.localizeData);
+    }
+    return queryResult;
+  }
+  async queryLocalization(frame, intrinsics) {
+    var _a;
+    const formData = new FormData();
+    formData.append("isRightHanded", "true");
+    formData.append("width", `${frame.width}`);
+    formData.append("height", `${frame.height}`);
+    formData.append("px", `${intrinsics.px}`);
+    formData.append("py", `${intrinsics.py}`);
+    formData.append("fx", `${intrinsics.fx}`);
+    formData.append("fy", `${intrinsics.fy}`);
+    formData.append("queryImage", frame.blob);
+    if (this.config.mapType === "map") {
+      formData.append("mapCode", this.config.code);
+    } else {
+      formData.append("mapSetCode", this.config.code);
+    }
+    try {
+      const response = await axios.post(
+        this.endpoints.queryUrl,
+        formData,
+        {
+          headers: {
+            Authorization: `Bearer ${this.accessToken}`
+          }
+        }
+      );
+      const data = response.data;
+      if (!data.poseFound) {
+        return null;
+      }
+      const result = {
+        localizeData: data
+      };
+      if ((_a = data.mapIds) == null ? void 0 : _a.length) {
+        const mapDetails = await this.fetchMapDetails(data.mapIds[0]);
+        if (mapDetails) {
+          result.mapDetails = mapDetails;
+        }
+      }
+      return result;
+    } catch (error) {
+      this.handleError(error);
+      return null;
+    }
+  }
+  async fetchMapDetails(mapId) {
+    try {
+      const response = await axios.get(
+        `${this.endpoints.mapDetailsUrl}${mapId}`,
+        {
+          headers: {
+            Authorization: `Bearer ${this.accessToken}`
+          }
+        }
+      );
+      return response.data;
+    } catch (error) {
+      this.handleError(error);
+      return null;
+    }
+  }
+  async fetchMapSetDetails(mapSetId) {
+    try {
+      const response = await axios.get(
+        `${this.endpoints.mapSetDetailsUrl}${mapSetId}`,
+        {
+          headers: {
+            Authorization: `Bearer ${this.accessToken}`
+          }
+        }
+      );
+      return response.data;
+    } catch (error) {
+      this.handleError(error);
+      return null;
+    }
+  }
+};
+var WebxrController = class {
+  constructor(options) {
+    this.options = options;
+    this.renderer = null;
+    this.camera = null;
+    this.scene = null;
+    this.animationLoop = null;
+    this.arButton = null;
+    this.resizeHandler = null;
+    this.isSessionActive = false;
+  }
+  async initialize(buttonContainer) {
+    var _a, _b, _c, _d;
+    if (this.renderer) {
+      return this.arButton;
+    }
+    if (!window.isSecureContext) {
+      throw new Error("WebXR requires a secure context (HTTPS).");
+    }
+    const canvas = (_a = this.options.canvas) != null ? _a : document.createElement("canvas");
+    const renderer = new THREE.WebGLRenderer({
+      canvas,
+      antialias: true,
+      alpha: true
+    });
+    renderer.setSize(window.innerWidth, window.innerHeight);
+    renderer.setPixelRatio(window.devicePixelRatio);
+    renderer.xr.enabled = true;
+    renderer.xr.addEventListener("sessionstart", () => {
+      var _a2, _b2;
+      this.isSessionActive = true;
+      (_b2 = (_a2 = this.options).onSessionStart) == null ? void 0 : _b2.call(_a2);
+    });
+    renderer.xr.addEventListener("sessionend", () => {
+      var _a2, _b2;
+      this.isSessionActive = false;
+      (_b2 = (_a2 = this.options).onSessionEnd) == null ? void 0 : _b2.call(_a2);
+    });
+    const camera = new THREE.PerspectiveCamera(
+      45,
+      window.innerWidth / window.innerHeight,
+      0.2,
+      1e4
+    );
+    const scene = new THREE.Scene();
+    const animationLoop = () => {
+      renderer.render(scene, camera);
+    };
+    renderer.setAnimationLoop(animationLoop);
+    const resizeHandler = () => {
+      camera.aspect = window.innerWidth / window.innerHeight;
+      camera.updateProjectionMatrix();
+      renderer.setSize(window.innerWidth, window.innerHeight);
+    };
+    window.addEventListener("resize", resizeHandler);
+    const overlayRoot = (_b = this.options.overlayRoot) != null ? _b : document.body;
+    const arButton = ARButton.createButton(renderer, {
+      requiredFeatures: ["camera-access", "dom-overlay"],
+      domOverlay: { root: overlayRoot }
+    });
+    const buttonParent = buttonContainer && buttonContainer instanceof HTMLElement ? buttonContainer : this.options.buttonContainer && this.options.buttonContainer instanceof HTMLElement ? this.options.buttonContainer : overlayRoot;
+    if (!buttonParent.contains(arButton)) {
+      buttonParent.appendChild(arButton);
+    }
+    this.renderer = renderer;
+    this.camera = camera;
+    this.scene = scene;
+    this.animationLoop = animationLoop;
+    this.arButton = arButton;
+    this.resizeHandler = resizeHandler;
+    (_d = (_c = this.options).onARButtonCreated) == null ? void 0 : _d.call(_c, arButton);
+    return arButton;
+  }
+  getScene() {
+    if (!this.scene) {
+      throw new Error("Scene: WebXR controller has not been initialized.");
+    }
+    return this.scene;
+  }
+  getCamera() {
+    if (!this.camera) {
+      throw new Error("Camera: WebXR controller has not been initialized.");
+    }
+    return this.camera;
+  }
+  getRenderer() {
+    if (!this.renderer) {
+      throw new Error("Renderer: WebXR controller has not been initialized.");
+    }
+    return this.renderer;
+  }
+  hasActiveSession() {
+    var _a;
+    return this.isSessionActive && ((_a = this.renderer) == null ? void 0 : _a.xr.isPresenting) === true;
+  }
+  async captureFrame() {
+    var _a, _b;
+    const renderer = this.renderer;
+    const camera = this.camera;
+    if (!renderer || !camera) {
+      throw new Error("WebXR: WebXR controller has not been initialized.");
+    }
+    const session = (_b = (_a = renderer.xr).getSession) == null ? void 0 : _b.call(_a);
+    if (!session) {
+      throw new Error("WebXR Session: No active WebXR session. Start AR before capturing.");
+    }
+    const referenceSpace = renderer.xr.getReferenceSpace();
+    if (!referenceSpace) {
+      throw new Error("WebXR Reference Space: Unable to acquire XR reference space.");
+    }
+    const gl = renderer.getContext();
+    return new Promise((resolve, reject) => {
+      session.requestAnimationFrame(async (_time, xrFrame) => {
+        var _a2, _b2, _c, _d;
+        try {
+          const viewerPose = xrFrame.getViewerPose(referenceSpace);
+          if (!viewerPose) {
+            resolve(null);
+            return;
+          }
+          for (const view of viewerPose.views) {
+            const xrCamera = view.camera;
+            if (!xrCamera) continue;
+            const gl2 = gl;
+            const bindingCtor = XRWebGLBinding;
+            const binding = new bindingCtor(session, gl2);
+            const cameraTexture = (_b2 = (_a2 = binding.getCameraImage) == null ? void 0 : _a2.call(binding, xrCamera)) != null ? _b2 : null;
+            if (!cameraTexture) continue;
+            const width = xrCamera.width;
+            const height = xrCamera.height;
+            if (!width || !height) continue;
+            const frameData = await getCameraTextureAsImage(
+              renderer,
+              cameraTexture,
+              width,
+              height
+            );
+            const intrinsics = getCameraIntrinsics(view.projectionMatrix, {
+              width,
+              height,
+              x: 0,
+              y: 0
+            });
+            if (frameData && intrinsics) {
+              const result = await this.options.client.localizeWithFrame(
+                frameData,
+                intrinsics
+              );
+              resolve(result);
+              return;
+            }
+          }
+          resolve(null);
+        } catch (error) {
+          reject(error);
+        } finally {
+          gl.bindFramebuffer(
+            gl.FRAMEBUFFER,
+            (_d = (_c = session.renderState.baseLayer) == null ? void 0 : _c.framebuffer) != null ? _d : null
+          );
+        }
+      });
+    });
+  }
+  dispose() {
+    var _a;
+    if (this.resizeHandler) {
+      window.removeEventListener("resize", this.resizeHandler);
+    }
+    if (this.renderer) {
+      this.renderer.dispose();
+      this.renderer = null;
+    }
+    this.animationLoop = null;
+    this.camera = null;
+    this.scene = null;
+    if ((_a = this.arButton) == null ? void 0 : _a.parentElement) {
+      this.arButton.parentElement.removeChild(this.arButton);
+    }
+    this.arButton = null;
+  }
+};
+function getCameraIntrinsics(projectionMatrix, viewport) {
+  const p = projectionMatrix;
+  const u0 = (1 - p[8]) * viewport.width / 2 + viewport.x;
+  const v0 = (1 - p[9]) * viewport.height / 2 + viewport.y;
+  const ax = viewport.width / 2 * p[0];
+  const ay = viewport.height / 2 * p[5];
+  return {
+    fx: ax,
+    fy: ay,
+    px: u0,
+    py: v0,
+    width: viewport.width,
+    height: viewport.height
+  };
+}
+async function compressToJpeg(buffer, width, height, quality = 0.8) {
+  const canvas = document.createElement("canvas");
+  const ctx = canvas.getContext("2d");
+  canvas.width = width;
+  canvas.height = height;
+  const imageData = new ImageData(new Uint8ClampedArray(buffer), width, height);
+  ctx == null ? void 0 : ctx.putImageData(imageData, 0, 0);
+  return new Promise((resolve) => {
+    canvas.toBlob((blob) => resolve(blob != null ? blob : new Blob()), "image/jpeg", quality);
+  });
+}
+async function getCameraTextureAsImage(renderer, webGLTexture, width, height) {
+  const gl = renderer.getContext();
+  if (!gl) return null;
+  const framebuffer = gl.createFramebuffer();
+  if (!framebuffer) return null;
+  gl.bindFramebuffer(gl.FRAMEBUFFER, framebuffer);
+  gl.framebufferTexture2D(
+    gl.FRAMEBUFFER,
+    gl.COLOR_ATTACHMENT0,
+    gl.TEXTURE_2D,
+    webGLTexture,
+    0
+  );
+  const pixelBuffer = new Uint8Array(width * height * 4);
+  gl.readPixels(0, 0, width, height, gl.RGBA, gl.UNSIGNED_BYTE, pixelBuffer);
+  gl.bindFramebuffer(gl.FRAMEBUFFER, null);
+  gl.deleteFramebuffer(framebuffer);
+  const flippedData = new Uint8ClampedArray(pixelBuffer.length);
+  for (let row = 0; row < height; row += 1) {
+    const sourceStart = row * width * 4;
+    const destStart = (height - row - 1) * width * 4;
+    flippedData.set(
+      pixelBuffer.subarray(sourceStart, sourceStart + width * 4),
+      destStart
+    );
+  }
+  const blob = await compressToJpeg(flippedData.buffer, width, height, 0.7);
+  if (!blob.size) {
+    return null;
+  }
+  return {
+    blob,
+    width,
+    height
+  };
+}
+
+export { DEFAULT_ENDPOINTS, MultisetClient, WebxrController };
+//# sourceMappingURL=index.js.map
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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axios, { AxiosError } from 'axios';\nimport type {\n  ILocalizeAndMapDetails,\n  ILocalizeResponse,\n  MapType,\n  IGetMapsDetailsResponse,\n  IMapSetMapsResponse,\n} from './types';\n\nexport interface IMultisetSdkConfig {\n  clientId: string;\n  clientSecret: string;\n  code: string;\n  mapType: MapType;\n  endpoints?: Partial<IMultisetSdkEndpoints>;\n  onAuthorize?: (token: string) => void;\n  onFrameCaptured?: (payload: IFrameCaptureEvent) => void;\n  onCameraIntrinsics?: (intrinsics: ICameraIntrinsicsEvent) => void;\n  onPoseResult?: (payload: IPoseResultEvent) => void;\n  onError?: (error: unknown) => void;\n}\n\nexport interface IMultisetSdkEndpoints {\n  authUrl: string;\n  queryUrl: string;\n  mapDetailsUrl: string;\n  fileDownloadUrl: string;\n  mapSetDetailsUrl: string;\n}\n\nexport interface IFrameCaptureEvent {\n  blob: Blob;\n  width: number;\n  height: number;\n}\n\nexport interface ICameraIntrinsicsEvent {\n  fx: number;\n  fy: number;\n  px: number;\n  py: number;\n  width: number;\n  height: number;\n}\n\nexport interface IPoseResultEvent {\n  poseFound: boolean;\n  position: {\n    x: number;\n    y: number;\n    z: number;\n  };\n  rotation: {\n    x: number;\n    y: number;\n    z: number;\n    w: number;\n  };\n  mapIds: string[];\n  confidence?: number;\n}\n\nexport interface ILocalizeResultEvent {\n  frame: IFrameCaptureEvent;\n  intrinsics: ICameraIntrinsicsEvent;\n  response: ILocalizeAndMapDetails | null;\n}\n\nexport const DEFAULT_ENDPOINTS: IMultisetSdkEndpoints = {\n  authUrl: 'https://api.multiset.ai/v1/m2m/token',\n  queryUrl: 'https://api.multiset.ai/v1/vps/map/query-form',\n  mapDetailsUrl: 'https://api.multiset.ai/v1/vps/map/',\n  mapSetDetailsUrl: 'https://api.multiset.ai/v1/vps/map-set/',\n  fileDownloadUrl: 'https://api.multiset.ai/v1/file',\n};\n\n/**\n * Placeholder class to be implemented by porting logic from multiset-webxr-sdk.\n */\nexport class MultisetClient {\n  private readonly endpoints: IMultisetSdkEndpoints;\n  private accessToken: string | null = null;\n\n  constructor(private readonly config: IMultisetSdkConfig) {\n    this.config = config;\n    this.endpoints = {\n      ...DEFAULT_ENDPOINTS,\n      ...config.endpoints,\n    };\n  }\n\n  get token(): string | null {\n    return this.accessToken;\n  }\n\n  async authorize(): Promise<string> {\n    try {\n      const response = await axios.post(\n        this.endpoints.authUrl,\n        {},\n        {\n          auth: {\n            username: this.config.clientId,\n            password: this.config.clientSecret,\n          },\n        }\n      );\n\n      const token: string | undefined =\n        response.data?.token ?? response.data?.access_token;\n\n      if (!token) {\n        throw new Error('Authorization succeeded but no token was returned.');\n      }\n\n      this.accessToken = token;\n      this.config.onAuthorize?.(token);\n      return token;\n    } catch (error) {\n      this.handleError(error);\n      throw error;\n    }\n  }\n\n  private handleError(error: unknown): void {\n    if (axios.isAxiosError(error)) {\n      const axiosError = error as AxiosError;\n      this.config.onError?.(axiosError);\n    } else {\n      this.config.onError?.(error);\n    }\n  }\n\n  async localizeWithFrame(\n    frame: IFrameCaptureEvent,\n    intrinsics: ICameraIntrinsicsEvent\n  ): Promise<ILocalizeAndMapDetails | null> {\n    if (!this.accessToken) {\n      throw new Error('Access token is missing. Call authorize() first.');\n    }\n\n    this.config.onFrameCaptured?.(frame);\n    this.config.onCameraIntrinsics?.(intrinsics);\n\n    const queryResult = await this.queryLocalization(frame, intrinsics);\n\n    if (queryResult?.localizeData?.poseFound) {\n      this.config.onPoseResult?.(queryResult.localizeData);\n    }\n\n    return queryResult;\n  }\n\n  private async queryLocalization(\n    frame: IFrameCaptureEvent,\n    intrinsics: ICameraIntrinsicsEvent\n  ): Promise<ILocalizeAndMapDetails | null> {\n    const formData = new FormData();\n    formData.append('isRightHanded', 'true');\n    formData.append('width', `${frame.width}`);\n    formData.append('height', `${frame.height}`);\n    formData.append('px', `${intrinsics.px}`);\n    formData.append('py', `${intrinsics.py}`);\n    formData.append('fx', `${intrinsics.fx}`);\n    formData.append('fy', `${intrinsics.fy}`);\n    formData.append('queryImage', frame.blob);\n\n    if (this.config.mapType === 'map') {\n      formData.append('mapCode', this.config.code);\n    } else {\n      formData.append('mapSetCode', this.config.code);\n    }\n\n    try {\n      const response = await axios.post<ILocalizeResponse>(\n        this.endpoints.queryUrl,\n        formData,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n\n      const data = response.data;\n      if (!data.poseFound) {\n        return null;\n      }\n\n      const result: ILocalizeAndMapDetails = {\n        localizeData: data,\n      };\n\n      if (data.mapIds?.length) {\n        const mapDetails = await this.fetchMapDetails(data.mapIds[0]);\n        if (mapDetails) {\n          result.mapDetails = mapDetails;\n        }\n      }\n\n      return result;\n    } catch (error) {\n      this.handleError(error);\n      return null;\n    }\n  }\n\n  private async fetchMapDetails(mapId: string): Promise<IGetMapsDetailsResponse | null> {\n    try {\n      const response = await axios.get<IGetMapsDetailsResponse>(\n        `${this.endpoints.mapDetailsUrl}${mapId}`,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n      return response.data;\n    } catch (error) {\n      this.handleError(error);\n      return null;\n    }\n  }\n\n  private async fetchMapSetDetails(mapSetId: string): Promise<IMapSetMapsResponse | null> {\n    try {\n      const response = await axios.get<IMapSetMapsResponse>(\n        `${this.endpoints.mapSetDetailsUrl}${mapSetId}`,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n      return response.data;\n    } catch (error) {\n      this.handleError(error);\n      return null;\n    }\n  }\n}\n\nexport type { IMultisetSdkConfig as IMultisetClientOptions };\nexport type {\n  MapType,\n  ILocalizeResponse,\n  ILocalizeAndMapDetails,\n  IGetMapsDetailsResponse,\n  IMapSetMapsResponse,\n} from './types';\n\n","import * as THREE from 'three';\nimport { ARButton } from 'three/examples/jsm/webxr/ARButton.js';\n\nimport type {\n  MultisetClient,\n  ICameraIntrinsicsEvent,\n  IFrameCaptureEvent,\n  ILocalizeAndMapDetails,\n} from '../core';\n\nexport interface IWebxrControllerOptions {\n  client: MultisetClient;\n  canvas?: HTMLCanvasElement;\n  overlayRoot?: HTMLElement;\n  buttonContainer?: HTMLElement;\n  onARButtonCreated?: (button: HTMLButtonElement) => void;\n  onSessionStart?: () => void;\n  onSessionEnd?: () => void;\n}\n\ntype XRViewWithCamera = XRView & {\n  camera?: {\n    width: number;\n    height: number;\n    [key: string]: unknown;\n  };\n};\n\ntype XRWebGLBindingLike = {\n  getCameraImage: (camera: XRViewWithCamera['camera']) => WebGLTexture | null;\n};\n\nexport class WebxrController {\n  private renderer: THREE.WebGLRenderer | null = null;\n  private camera: THREE.PerspectiveCamera | null = null;\n  private scene: THREE.Scene | null = null;\n  private animationLoop: (() => void) | null = null;\n  private arButton: HTMLButtonElement | null = null;\n  private resizeHandler: (() => void) | null = null;\n  private isSessionActive: boolean = false;\n\n  constructor(private readonly options: IWebxrControllerOptions) { }\n\n  async initialize(buttonContainer?: HTMLElement): Promise<HTMLButtonElement> {\n    if (this.renderer) {\n      return this.arButton!;\n    }\n\n    if (!window.isSecureContext) {\n      throw new Error('WebXR requires a secure context (HTTPS).');\n    }\n\n    const canvas = this.options.canvas ?? document.createElement('canvas');\n\n    const renderer = new THREE.WebGLRenderer({\n      canvas,\n      antialias: true,\n      alpha: true,\n    });\n    renderer.setSize(window.innerWidth, window.innerHeight);\n    renderer.setPixelRatio(window.devicePixelRatio);\n    renderer.xr.enabled = true;\n\n    // Listen for session start/end events\n    renderer.xr.addEventListener('sessionstart', () => {\n      this.isSessionActive = true;\n      this.options.onSessionStart?.();\n    });\n\n    renderer.xr.addEventListener('sessionend', () => {\n      this.isSessionActive = false;\n      this.options.onSessionEnd?.();\n    });\n\n    const camera = new THREE.PerspectiveCamera(\n      45,\n      window.innerWidth / window.innerHeight,\n      0.2,\n      10000\n    );\n\n    const scene = new THREE.Scene();\n\n    const animationLoop = () => {\n      renderer.render(scene, camera);\n    };\n    renderer.setAnimationLoop(animationLoop);\n\n    const resizeHandler = () => {\n      camera.aspect = window.innerWidth / window.innerHeight;\n      camera.updateProjectionMatrix();\n      renderer.setSize(window.innerWidth, window.innerHeight);\n    };\n    window.addEventListener('resize', resizeHandler);\n\n    const overlayRoot = this.options.overlayRoot ?? document.body;\n    const arButton = ARButton.createButton(renderer, {\n      requiredFeatures: ['camera-access', 'dom-overlay'],\n      domOverlay: { root: overlayRoot },\n    }) as HTMLButtonElement;\n\n    // Get container at initialization time (like App.tsx does with getElementById)\n    // This ensures the container exists in the DOM when we try to append\n    // Priority: passed parameter > options.buttonContainer > overlayRoot\n    const buttonParent = (buttonContainer && buttonContainer instanceof HTMLElement)\n      ? buttonContainer\n      : (this.options.buttonContainer && this.options.buttonContainer instanceof HTMLElement)\n        ? this.options.buttonContainer\n        : overlayRoot;\n\n    if (!buttonParent.contains(arButton)) {\n      buttonParent.appendChild(arButton);\n    }\n\n    this.renderer = renderer;\n    this.camera = camera;\n    this.scene = scene;\n    this.animationLoop = animationLoop;\n    this.arButton = arButton;\n    this.resizeHandler = resizeHandler;\n\n    this.options.onARButtonCreated?.(arButton);\n    return arButton;\n  }\n\n  getScene(): THREE.Scene {\n    if (!this.scene) {\n      throw new Error('Scene: WebXR controller has not been initialized.');\n    }\n    return this.scene;\n  }\n\n  getCamera(): THREE.PerspectiveCamera {\n    if (!this.camera) {\n      throw new Error('Camera: WebXR controller has not been initialized.');\n    }\n    return this.camera;\n  }\n\n  getRenderer(): THREE.WebGLRenderer {\n    if (!this.renderer) {\n      throw new Error('Renderer: WebXR controller has not been initialized.');\n    }\n    return this.renderer;\n  }\n\n  hasActiveSession(): boolean {\n    return this.isSessionActive && this.renderer?.xr.isPresenting === true;\n  }\n\n  async captureFrame(): Promise<ILocalizeAndMapDetails | null> {\n    const renderer = this.renderer;\n    const camera = this.camera;\n    if (!renderer || !camera) {\n      throw new Error('WebXR: WebXR controller has not been initialized.');\n    }\n\n    const session = renderer.xr.getSession?.();\n    if (!session) {\n      throw new Error('WebXR Session: No active WebXR session. Start AR before capturing.');\n    }\n\n    const referenceSpace = renderer.xr.getReferenceSpace();\n    if (!referenceSpace) {\n      throw new Error('WebXR Reference Space: Unable to acquire XR reference space.');\n    }\n\n    const gl = renderer.getContext();\n\n    return new Promise((resolve, reject) => {\n      session.requestAnimationFrame(async (_time: number, xrFrame: XRFrame) => {\n        try {\n          const viewerPose = xrFrame.getViewerPose(referenceSpace);\n          if (!viewerPose) {\n            resolve(null);\n            return;\n          }\n\n          for (const view of viewerPose.views as XRViewWithCamera[]) {\n            const xrCamera = view.camera;\n            if (!xrCamera) continue;\n\n            const gl2 = gl as unknown as WebGL2RenderingContext;\n            const bindingCtor = XRWebGLBinding as unknown as {\n              new(session: XRSession, context: WebGL2RenderingContext): XRWebGLBindingLike;\n            };\n            const binding = new bindingCtor(session, gl2);\n            const cameraTexture = binding.getCameraImage?.(xrCamera) ?? null;\n            if (!cameraTexture) continue;\n\n            const width = xrCamera.width;\n            const height = xrCamera.height;\n            if (!width || !height) continue;\n\n            const frameData = await getCameraTextureAsImage(\n              renderer,\n              cameraTexture,\n              width,\n              height\n            );\n\n            const intrinsics = getCameraIntrinsics(view.projectionMatrix, {\n              width,\n              height,\n              x: 0,\n              y: 0,\n            });\n\n            if (frameData && intrinsics) {\n              const result = await this.options.client.localizeWithFrame(\n                frameData,\n                intrinsics\n              );\n\n              resolve(result);\n              return;\n            }\n          }\n\n          resolve(null);\n        } catch (error) {\n          reject(error);\n        } finally {\n          gl.bindFramebuffer(\n            gl.FRAMEBUFFER,\n            session.renderState.baseLayer?.framebuffer ?? null\n          );\n        }\n      });\n    });\n  }\n\n  dispose(): void {\n    if (this.resizeHandler) {\n      window.removeEventListener('resize', this.resizeHandler);\n    }\n\n    if (this.renderer) {\n      this.renderer.dispose();\n      this.renderer = null;\n    }\n\n    this.animationLoop = null;\n    this.camera = null;\n    this.scene = null;\n\n    if (this.arButton?.parentElement) {\n      this.arButton.parentElement.removeChild(this.arButton);\n    }\n    this.arButton = null;\n  }\n}\n\nfunction getCameraIntrinsics(\n  projectionMatrix: Float32Array,\n  viewport: XRViewport\n): ICameraIntrinsicsEvent {\n  const p = projectionMatrix;\n  const u0 = ((1 - p[8]) * viewport.width) / 2 + viewport.x;\n  const v0 = ((1 - p[9]) * viewport.height) / 2 + viewport.y;\n  const ax = (viewport.width / 2) * p[0];\n  const ay = (viewport.height / 2) * p[5];\n\n  return {\n    fx: ax,\n    fy: ay,\n    px: u0,\n    py: v0,\n    width: viewport.width,\n    height: viewport.height,\n  };\n}\n\nasync function compressToJpeg(\n  buffer: ArrayBuffer,\n  width: number,\n  height: number,\n  quality = 0.8\n): Promise<Blob> {\n  const canvas = document.createElement('canvas');\n  const ctx = canvas.getContext('2d');\n  canvas.width = width;\n  canvas.height = height;\n\n  const imageData = new ImageData(new Uint8ClampedArray(buffer), width, height);\n  ctx?.putImageData(imageData, 0, 0);\n\n  return new Promise((resolve) => {\n    canvas.toBlob((blob) => resolve(blob ?? new Blob()), 'image/jpeg', quality);\n  });\n}\n\nasync function getCameraTextureAsImage(\n  renderer: THREE.WebGLRenderer,\n  webGLTexture: WebGLTexture,\n  width: number,\n  height: number\n): Promise<IFrameCaptureEvent | null> {\n  const gl = renderer.getContext();\n  if (!gl) return null;\n\n  const framebuffer = gl.createFramebuffer();\n  if (!framebuffer) return null;\n\n  gl.bindFramebuffer(gl.FRAMEBUFFER, framebuffer);\n  gl.framebufferTexture2D(\n    gl.FRAMEBUFFER,\n    gl.COLOR_ATTACHMENT0,\n    gl.TEXTURE_2D,\n    webGLTexture,\n    0\n  );\n\n  const pixelBuffer = new Uint8Array(width * height * 4);\n  gl.readPixels(0, 0, width, height, gl.RGBA, gl.UNSIGNED_BYTE, pixelBuffer);\n\n  gl.bindFramebuffer(gl.FRAMEBUFFER, null);\n  gl.deleteFramebuffer(framebuffer);\n\n  const flippedData = new Uint8ClampedArray(pixelBuffer.length);\n  for (let row = 0; row < height; row += 1) {\n    const sourceStart = row * width * 4;\n    const destStart = (height - row - 1) * width * 4;\n    flippedData.set(\n      pixelBuffer.subarray(sourceStart, sourceStart + width * 4),\n      destStart\n    );\n  }\n\n  const blob = await compressToJpeg(flippedData.buffer, width, height, 0.7);\n\n  if (!blob.size) {\n    return null;\n  }\n\n  return {\n    blob,\n    width,\n    height,\n  };\n}\n\n"]}