@multisetai/vps 1.0.6 → 1.0.7-beta.1

package/README.md

@@ -24,11 +24,13 @@ npm install @multisetai/vps three
 
 ### Runtime Requirements
 
-- **HTTPS**: WebXR requires a secure context. Use HTTPS in production or `https://localhost` for local development.
-- **WebXR-capable device**: Android device with ARCore or iOS device with ARKit (via WebXR Viewer or Safari)
-- **Modern browser**: Chrome/Edge (Android) or Safari (iOS 15+)
+- **HTTPS**: WebXR requires a secure context. Use HTTPS in production or `http://localhost` for local development.
+- **WebXR-capable device**: Android device with ARCore
+- **Modern browser**: Chrome or Edge on Android
 - **Three.js**: Version 0.176.0 or higher (peer dependency)
 
+> **iOS is not supported.** This SDK requires the `camera-access` WebXR feature to capture frames for localization. Safari on iOS does not implement `camera-access`, so the AR session will fail to start on any iOS browser.
+
 ### Development Requirements
 
 - Node.js 16+ and npm
@@ -55,7 +57,7 @@ Since this SDK makes direct API calls to MultiSet servers from browser-based app
 Add entries for both your local development and production environments:
 
 **Local Development:**
-- **Format:** `http://localhost:PORT` (e.g., `http://localhost:3000`, `http://localhost:5173`)
+- **Format:** `https://localhost:PORT` (e.g., `https://localhost:3000`, `https://localhost:5173`)
 - **Note:** Use the exact port your development server runs on
 
 **Production:**
@@ -81,7 +83,7 @@ import { WebxrController } from '@multisetai/vps/webxr';
 const client = new MultisetClient({
   clientId: 'CLIENT_ID',
   clientSecret: 'CLIENT_SECRET',
-  code: 'MAP_OUR_MAPSET_CODE',
+  code: 'MAP_OR_MAPSET_CODE',
   mapType: 'map', // or 'map-set'
   endpoints: DEFAULT_ENDPOINTS,
   onAuthorize: (token) => console.log('Authorized:', token),
@@ -108,7 +110,7 @@ await controller.initialize();
 ### 4. Capture and localize
 
 ```typescript
-const result = await controller.captureFrame();
+const result = await controller.localizeFrame();
 if (result?.localizeData?.poseFound) {
   console.log('Position:', result.localizeData.position);
   console.log('Rotation:', result.localizeData.rotation);
@@ -131,11 +133,42 @@ new MultisetClient(config: IMultisetSdkConfig)
 
 ```typescript
 interface IMultisetSdkConfig {
+  // Core
   clientId: string;                    // Your MultiSet client ID
   clientSecret: string;                // Your MultiSet client secret
-  code: string;                        // Map code (e.g., 'MAP_XXXXX')
-  mapType: 'map' | 'map-set';         // Type of map to use
-  endpoints?: Partial<IMultisetSdkEndpoints>; // Optional custom endpoints
+  /** Map or map-set code used for localization. */
+  code: string;                        // e.g., 'MAP_XXXXX'
+  /** Map or map-set type ('map' or 'map-set'). */
+  mapType: 'map' | 'map-set';
+  /** Override default API endpoints if needed. */
+  endpoints?: Partial<IMultisetSdkEndpoints>;
+  /** If true, show the VPS map mesh in the AR session (map-only). */
+  showMesh?: boolean;
+
+  // Localization behavior
+  /** If true, automatically start a localization run when the AR session starts. */
+  autoLocalize?: boolean;
+  /** If true, automatically re-localize when tracking is lost and then recovered. */
+  relocalization?: boolean;
+  /** When enabled, only accept a localization result if confidence >= confidenceThreshold. */
+  confidenceCheck?: boolean;
+  /** Minimum confidence (0.2–0.8) required when confidenceCheck is enabled. */
+  confidenceThreshold?: number;
+  /** Total single-frame attempts per localization run (1–5). */
+  requestAttempts?: number;
+  /** Time in seconds between attempts in a localization run (1–5). */
+  localizationInterval?: number;
+  /** Include device geo pose as a hint in localization requests. */
+  passGeoPose?: boolean;
+  /** Request geo coordinates in the localization response (if supported by backend). */
+  geoCoordinatesInResponse?: boolean;
+
+  // Localization lifecycle callbacks
+  onLocalizationInit?: () => void;
+  onLocalizationSuccess?: (result: ILocalizeAndMapDetails) => void;
+  onLocalizationFailure?: (reason?: string) => void;
+
+  // Core callbacks
   onAuthorize?: (token: string) => void;
   onFrameCaptured?: (payload: IFrameCaptureEvent) => void;
   onCameraIntrinsics?: (intrinsics: ICameraIntrinsicsEvent) => void;
@@ -156,15 +189,28 @@ const token = await client.authorize();
 
 **Returns**: The access token as a string.
 
-#### Events
+#### Events and callbacks
 
-The client emits events through callback functions:
+The client and controller emit events through callback functions:
 
 - **`onAuthorize`**: Called when authorization succeeds with the access token
 - **`onFrameCaptured`**: Called when a camera frame is captured for localization
 - **`onCameraIntrinsics`**: Called with camera intrinsic parameters
 - **`onPoseResult`**: Called with localization results (pose found/not found)
-- **`onError`**: Called when any error occurs
+- **`onLocalizationInit`**: Called at the start of a localization run
+- **`onLocalizationSuccess`**: Called when a localization run succeeds (optionally after confidence checks)
+- **`onLocalizationFailure`**: Called when a localization run fails or the best result is below the confidence threshold
+- **`onError`**: Called when any error occurs during authorization or localization
+
+### Advanced localization behavior
+
+`MultisetClient` together with `WebxrController` supports a higher-level localization flow similar to the Unity SingleFrameLocalizationManager:
+
+- **Multiple attempts per run**: `requestAttempts` and `localizationInterval` control how many single-frame attempts are made and how long to wait between them.
+- **Confidence-based acceptance**: When `confidenceCheck` is `true`, only results with `confidence >= confidenceThreshold` (0.2–0.8) are treated as successful.
+- **Auto-localize**: When `autoLocalize` is `true`, a localization run is started automatically when the AR session starts.
+- **Re-localize on tracking loss**: When `relocalization` is `true`, the controller automatically tries to re-localize after tracking has been lost for a short period.
+- **Geo hint**: When `passGeoPose` is `true`, the SDK uses the browser Geolocation API to compute a `geoHint` string `"lat,lon,alt"` and sends it with the localization request. When `geoCoordinatesInResponse` is `true`, the backend may include geo coordinates in the response (if supported).
 
 ## WebXR Controller API
 
@@ -216,7 +262,26 @@ if (result?.localizeData?.poseFound) {
 }
 ```
 
-**Returns**: Object with `localizeData` and optional `mapDetails`, or `null` if capture fails.
+**Returns**: Object with `localizeData` and optional `mapDetails`, or `null` if no pose is found or capture fails.
+
+##### `localizeFrame(): Promise<ILocalizeAndMapDetails | null>`
+
+Runs a full localization cycle using the configured `requestAttempts`, `localizationInterval`,
+`confidenceCheck`, and `confidenceThreshold`:
+
+```typescript
+const result = await controller.localizeFrame();
+if (result?.localizeData?.poseFound) {
+  console.log('Localized at:', result.localizeData.position);
+}
+```
+
+This method:
+
+- Fires `onLocalizationInit` at the start of the run
+- Performs multiple attempts and picks the best result by confidence
+- Applies the confidence threshold when `confidenceCheck` is enabled
+- Calls `onLocalizationSuccess` or `onLocalizationFailure` accordingly
 
 ##### `getScene(): THREE.Scene`
 
@@ -308,6 +373,15 @@ const client = new MultisetClient({
   code: 'MAP_OR_MAPSET_CODE',
   mapType: 'map',
   endpoints: DEFAULT_ENDPOINTS,
+  // Optional advanced behavior
+  autoLocalize: true,
+  relocalization: true,
+  confidenceCheck: true,
+  confidenceThreshold: 0.5,
+  requestAttempts: 3,
+  localizationInterval: 2,
+  passGeoPose: true,
+  geoCoordinatesInResponse: true,
   onAuthorize: (token) => console.log('Authorized:', token),
   onError: (error) => console.error('Error:', error),
 });
@@ -334,7 +408,7 @@ cube.position.set(0, 0, -0.4);
 scene.add(cube);
 
 // Capture and localize
-const result = await controller.captureFrame();
+const result = await controller.localizeFrame();
 if (result?.localizeData?.poseFound) {
   console.log('Position:', result.localizeData.position);
 }
@@ -389,7 +463,7 @@ export default function App() {
   };
 
   const handleCapture = async () => {
-    const result = await controllerRef.current!.captureFrame();
+    const result = await controllerRef.current!.localizeFrame();
     if (result?.localizeData?.poseFound) {
       console.log('Localized!', result.localizeData.position);
     }

package/dist/core/index.d.ts

@@ -17,8 +17,11 @@ interface ILocalizeResponse {
     retrieval_scores: number[];
     num_matches: number[];
     confidence: number;
-    retrieved_imgs: string[];
+    retreived_imgs: string[];
+    retrieved_imgs?: string[];
     mapIds: string[];
+    mapCodes: string[];
+    responseTime: number;
 }
 interface IMapLocation {
     type: string;
@@ -130,13 +133,44 @@ interface ILocalizeAndMapDetails {
 interface IMultisetSdkConfig {
     clientId: string;
     clientSecret: string;
+    /** Map or map-set code used for localization. */
     code: string;
+    /** Map or map-set type ('map' or 'map-set'). */
     mapType: MapType;
     endpoints?: Partial<IMultisetSdkEndpoints>;
+    /** If true, show the mesh in the AR session. Default is false. */
+    showMesh?: boolean;
+    /** If true, automatically start a localization run when the AR session starts. */
+    autoLocalize?: boolean;
+    /** If true, automatically re-localize when tracking is lost and then recovered. */
+    relocalization?: boolean;
+    /** When enabled, only accept a localization result if confidence >= confidenceThreshold. */
+    confidenceCheck?: boolean;
+    /** Minimum confidence (0.2–0.8) required when confidenceCheck is enabled. */
+    confidenceThreshold?: number;
+    /** Total single-frame attempts per localization run (1–5). */
+    requestAttempts?: number;
+    /** Time in seconds between attempts in a localization run (1–5). */
+    localizationInterval?: number;
+    /** Include device geo pose as a hint in localization requests. */
+    passGeoPose?: boolean;
+    /** Request geo coordinates in the localization response (if supported by backend). */
+    geoCoordinatesInResponse?: boolean;
+    /** Invoked at the start of a localization run. */
+    onLocalizationInit?: () => void;
+    /** Invoked after a successful localization that meets confidence criteria (if enabled). */
+    onLocalizationSuccess?: (result: ILocalizeAndMapDetails) => void;
+    /** Invoked when all attempts fail or the best result is below the confidence threshold. */
+    onLocalizationFailure?: (reason?: string) => void;
+    /** Called after a successful authorization with the access token. */
     onAuthorize?: (token: string) => void;
+    /** Called whenever a camera frame is captured and sent for localization. */
     onFrameCaptured?: (payload: IFrameCaptureEvent) => void;
+    /** Called with the camera intrinsics used for a localization request. */
     onCameraIntrinsics?: (intrinsics: ICameraIntrinsicsEvent) => void;
+    /** Called with the raw pose/localization result returned by the backend. */
     onPoseResult?: (payload: IPoseResultEvent) => void;
+    /** Called when any error occurs during authorization or localization. */
     onError?: (error: unknown) => void;
 }
 interface IMultisetSdkEndpoints {
@@ -181,18 +215,20 @@ interface ILocalizeResultEvent {
     response: ILocalizeAndMapDetails | null;
 }
 declare const DEFAULT_ENDPOINTS: IMultisetSdkEndpoints;
-/**
- * Placeholder class to be implemented by porting logic from multiset-webxr-sdk.
- */
+
 declare class MultisetClient {
     private readonly config;
     private readonly endpoints;
     private accessToken;
+    private mapDetailsCache;
     constructor(config: IMultisetSdkConfig);
     get token(): string | null;
+    getConfig(): IMultisetSdkConfig;
+    downloadFile(key: string): Promise<string>;
     authorize(): Promise<string>;
     private handleError;
     localizeWithFrame(frame: IFrameCaptureEvent, intrinsics: ICameraIntrinsicsEvent): Promise<ILocalizeAndMapDetails | null>;
+    private getGeoPoseComponents;
     private queryLocalization;
     private fetchMapDetails;
     private fetchMapSetDetails;

package/dist/core/index.js

@@ -1,6 +1,6 @@
 import axios from 'axios';
 
-// src/lib/core/index.ts
+// src/lib/core/config.ts
 var DEFAULT_ENDPOINTS = {
   authUrl: "https://api.multiset.ai/v1/m2m/token",
   queryUrl: "https://api.multiset.ai/v1/vps/map/query-form",
@@ -12,6 +12,7 @@ var MultisetClient = class {
   constructor(config) {
     this.config = config;
     this.accessToken = null;
+    this.mapDetailsCache = {};
     this.config = config;
     this.endpoints = {
       ...DEFAULT_ENDPOINTS,
@@ -21,6 +22,28 @@ var MultisetClient = class {
   get token() {
     return this.accessToken;
   }
+  getConfig() {
+    return this.config;
+  }
+  async downloadFile(key) {
+    if (!this.accessToken || !key) {
+      return "";
+    }
+    try {
+      const response = await axios.get(
+        `${this.endpoints.fileDownloadUrl}?key=${encodeURIComponent(key)}`,
+        {
+          headers: {
+            Authorization: `Bearer ${this.accessToken}`
+          }
+        }
+      );
+      return response.status === 200 ? response.data.url : "";
+    } catch (error) {
+      this.handleError(error);
+      return "";
+    }
+  }
   async authorize() {
     var _a, _b, _c, _d, _e;
     try {
@@ -68,22 +91,52 @@ var MultisetClient = class {
     }
     return queryResult;
   }
+  async getGeoPoseComponents() {
+    if (typeof navigator === "undefined" || !("geolocation" in navigator) || !navigator.geolocation) {
+      return null;
+    }
+    try {
+      const position = await new Promise((resolve, reject) => {
+        navigator.geolocation.getCurrentPosition(resolve, reject, {
+          enableHighAccuracy: true,
+          timeout: 1e4,
+          maximumAge: 0
+        });
+      });
+      const { latitude, longitude, altitude } = position.coords;
+      const safeAltitude = typeof altitude === "number" && !Number.isNaN(altitude) ? altitude : 0;
+      return { latitude, longitude, altitude: safeAltitude };
+    } catch {
+      return null;
+    }
+  }
   async queryLocalization(frame, intrinsics) {
     var _a;
     const formData = new FormData();
-    formData.append("isRightHanded", "true");
-    formData.append("width", `${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", `${intrinsics.fy}`);
-    formData.append("queryImage", frame.blob);
     if (this.config.mapType === "map") {
       formData.append("mapCode", this.config.code);
     } else {
       formData.append("mapSetCode", this.config.code);
     }
+    formData.append("isRightHanded", "true");
+    formData.append("fx", `${intrinsics.fx}`);
+    formData.append("fy", `${intrinsics.fy}`);
+    formData.append("px", `${intrinsics.px}`);
+    formData.append("py", `${intrinsics.py}`);
+    formData.append("width", `${frame.width}`);
+    formData.append("height", `${frame.height}`);
+    formData.append("queryImage", frame.blob);
+    if (this.config.geoCoordinatesInResponse) {
+      formData.append("geoCoordinatesInResponse", "true");
+    }
+    if (this.config.passGeoPose) {
+      const components = await this.getGeoPoseComponents();
+      if (components) {
+        const { latitude, longitude, altitude } = components;
+        const geoHint = `${latitude},${longitude},${altitude}`;
+        formData.append("geoHint", geoHint);
+      }
+    }
     try {
       const response = await axios.post(
         this.endpoints.queryUrl,
@@ -101,10 +154,17 @@ var MultisetClient = class {
       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;
+      if (this.config.showMesh && this.config.mapType === "map" && ((_a = data.mapCodes) == null ? void 0 : _a.length)) {
+        const mapCode = data.mapCodes[0];
+        const cached = this.mapDetailsCache[mapCode];
+        if (cached) {
+          result.mapDetails = cached;
+        } else {
+          const mapDetails = await this.fetchMapDetails(mapCode);
+          if (mapDetails) {
+            this.mapDetailsCache[mapCode] = mapDetails;
+            result.mapDetails = mapDetails;
+          }
         }
       }
       return result;
@@ -113,10 +173,10 @@ var MultisetClient = class {
       return null;
     }
   }
-  async fetchMapDetails(mapId) {
+  async fetchMapDetails(mapCode) {
     try {
       const response = await axios.get(
-        `${this.endpoints.mapDetailsUrl}${mapId}`,
+        `${this.endpoints.mapDetailsUrl}${mapCode}`,
         {
           headers: {
             Authorization: `Bearer ${this.accessToken}`

package/dist/core/index.js.map

@@ -1 +1 @@
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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"]}
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Default is false. */\n  showMesh?: boolean;\n  /** If true, automatically start a localization run when the AR session starts. */\n  autoLocalize?: boolean;\n  /** If true, automatically re-localize when tracking is lost and then recovered. */\n  relocalization?: boolean;\n  /** When enabled, only accept a localization result if confidence >= confidenceThreshold. */\n  confidenceCheck?: boolean;\n  /** Minimum confidence (0.2–0.8) required when confidenceCheck is enabled. */\n  confidenceThreshold?: number;\n  /** Total single-frame attempts per localization run (1–5). */\n  requestAttempts?: number;\n  /** Time in seconds between attempts in a localization run (1–5). */\n  localizationInterval?: number;\n  /** Include device geo pose as a hint in localization requests. */\n  passGeoPose?: boolean;\n  /** Request geo coordinates in the localization response (if supported by backend). */\n  geoCoordinatesInResponse?: boolean;\n\n  /** Invoked at the start of a localization run. */\n  onLocalizationInit?: () => void;\n  /** Invoked after a successful localization that meets confidence criteria (if enabled). */\n  onLocalizationSuccess?: (result: ILocalizeAndMapDetails) => void;\n  /** Invoked when all attempts fail or the best result is below the confidence threshold. */\n  onLocalizationFailure?: (reason?: string) => void;\n\n  /** Called after a successful authorization with the access token. */\n  onAuthorize?: (token: string) => void;\n  /** Called whenever a camera frame is captured and sent for localization. */\n  onFrameCaptured?: (payload: IFrameCaptureEvent) => void;\n  /** Called with the camera intrinsics used for a localization request. */\n  onCameraIntrinsics?: (intrinsics: ICameraIntrinsicsEvent) => void;\n  /** Called with the raw pose/localization result returned by the backend. */\n  onPoseResult?: (payload: IPoseResultEvent) => void;\n  /** Called when any error occurs during authorization or localization. */\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","import axios, { AxiosError } from 'axios';\nimport type {\n  IMultisetSdkConfig,\n  IMultisetSdkEndpoints,\n  IFrameCaptureEvent,\n  ICameraIntrinsicsEvent,\n} from './config';\nimport { DEFAULT_ENDPOINTS } from './config';\nimport type {\n  ILocalizeAndMapDetails,\n  ILocalizeResponse,\n  IGetMapsDetailsResponse,\n  IMapSetMapsResponse,\n} from './types';\n\nexport class MultisetClient {\n  private readonly endpoints: IMultisetSdkEndpoints;\n  private accessToken: string | null = null;\n  private mapDetailsCache: Record<string, IGetMapsDetailsResponse> = {};\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  getConfig(): IMultisetSdkConfig {\n    return this.config;\n  }\n\n  async downloadFile(key: string): Promise<string> {\n    if (!this.accessToken || !key) {\n      return '';\n    }\n\n    try {\n      const response = await axios.get<{ url: string }>(\n        `${this.endpoints.fileDownloadUrl}?key=${encodeURIComponent(key)}`,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n\n      return response.status === 200 ? response.data.url : '';\n    } catch (error) {\n      this.handleError(error);\n      return '';\n    }\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 getGeoPoseComponents(): Promise<\n    { latitude: number, longitude: number, altitude: number } | null\n  > {\n    if (\n      typeof navigator === 'undefined' ||\n      !('geolocation' in navigator) ||\n      !navigator.geolocation\n    ) {\n      return null;\n    }\n\n    try {\n      const position = await new Promise<GeolocationPosition>((resolve, reject) => {\n        navigator.geolocation.getCurrentPosition(resolve, reject, {\n          enableHighAccuracy: true,\n          timeout: 10000,\n          maximumAge: 0,\n        });\n      });\n\n      const { latitude, longitude, altitude } = position.coords;\n      const safeAltitude =\n        typeof altitude === 'number' && !Number.isNaN(altitude) ? altitude : 0.0;\n\n      return { latitude, longitude, altitude: safeAltitude };\n    } catch {\n      return null;\n    }\n  }\n\n  private async queryLocalization(\n    frame: IFrameCaptureEvent,\n    intrinsics: ICameraIntrinsicsEvent\n  ): Promise<ILocalizeAndMapDetails | null> {\n    const formData = new FormData();\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    formData.append('isRightHanded', 'true');\n    formData.append('fx', `${intrinsics.fx}`);\n    formData.append('fy', `${intrinsics.fy}`);\n    formData.append('px', `${intrinsics.px}`);\n    formData.append('py', `${intrinsics.py}`);\n    formData.append('width', `${frame.width}`);\n    formData.append('height', `${frame.height}`);\n    formData.append('queryImage', frame.blob);\n    if (this.config.geoCoordinatesInResponse) {\n      formData.append('geoCoordinatesInResponse', 'true');\n    }\n    if (this.config.passGeoPose) {\n      const components = await this.getGeoPoseComponents();\n      if (components) {\n        const { latitude, longitude, altitude } = components;\n        const geoHint = `${latitude},${longitude},${altitude}`;\n        formData.append('geoHint', geoHint);\n      }\n    }\n\n    try {\n      const response = await axios.post<ILocalizeResponse>(\n        this.endpoints.queryUrl,\n        formData,\n        {\n          headers: {\n            Authorization: `Bearer ${this.accessToken}`,\n          },\n        }\n      );\n\n      const data = response.data;\n      if (!data.poseFound) {\n        return null;\n      }\n\n      const result: ILocalizeAndMapDetails = {\n        localizeData: data,\n      };\n\n      if (\n        this.config.showMesh &&\n        this.config.mapType === 'map' &&\n        data.mapCodes?.length\n      ) {\n        const mapCode = data.mapCodes[0];\n        const cached = this.mapDetailsCache[mapCode];\n        if (cached) {\n          result.mapDetails = cached;\n        } else {\n          const mapDetails = await this.fetchMapDetails(mapCode);\n          if (mapDetails) {\n            this.mapDetailsCache[mapCode] = mapDetails;\n            result.mapDetails = mapDetails;\n          }\n        }\n      }\n\n      return result;\n    } catch (error) {\n      this.handleError(error);\n      return null;\n    }\n  }\n\n  private async fetchMapDetails(mapCode: string): Promise<IGetMapsDetailsResponse | null> {\n    try {\n      const response = await axios.get<IGetMapsDetailsResponse>(\n        `${this.endpoints.mapDetailsUrl}${mapCode}`,\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"]}