@multisetai/vps 1.0.7-beta.1 → 1.0.7-beta.2

package/README.md

@@ -154,14 +154,12 @@ interface IMultisetSdkConfig {
   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;
+  /** Max time in ms to wait for a valid viewer pose before failing. Default: 10000. */
+  localizationTrackingTimeoutMs?: number;
 
   // Localization lifecycle callbacks
   onLocalizationInit?: () => void;
@@ -206,7 +204,7 @@ The client and controller emit events through callback functions:
 
 `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.
+- **Multiple attempts per run**: `localizeFrame` performs several internal single-frame attempts and picks the best result.
 - **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.
@@ -250,24 +248,9 @@ const arButton = await controller.initialize(buttonContainer);
 
 **Returns**: The created AR button element.
 
-##### `captureFrame(): Promise<ILocalizeAndMapDetails | null>`
-
-Captures the current camera frame and performs localization.
-
-```typescript
-const result = await controller.captureFrame();
-if (result?.localizeData?.poseFound) {
-  const { position, rotation, confidence } = result.localizeData;
-  console.log('Localized at:', position);
-}
-```
-
-**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`:
+Captures one frame from the active AR session and localizes against the configured map. Waits for a valid viewer pose up to `localizationTrackingTimeoutMs` before failing.
 
 ```typescript
 const result = await controller.localizeFrame();
@@ -279,7 +262,8 @@ if (result?.localizeData?.poseFound) {
 This method:
 
 - Fires `onLocalizationInit` at the start of the run
-- Performs multiple attempts and picks the best result by confidence
+- Waits for a valid viewer pose (up to `localizationTrackingTimeoutMs`, default 10 s)
+- Captures the camera frame and calls the localization API
 - Applies the confidence threshold when `confidenceCheck` is enabled
 - Calls `onLocalizationSuccess` or `onLocalizationFailure` accordingly
 
@@ -338,6 +322,7 @@ All TypeScript types are exported from the main entry points:
 // Core types
 import type {
   IMultisetSdkConfig,
+  IMultisetPublicConfig,
   IMultisetSdkEndpoints,
   IFrameCaptureEvent,
   ICameraIntrinsicsEvent,
@@ -378,8 +363,6 @@ const client = new MultisetClient({
   relocalization: true,
   confidenceCheck: true,
   confidenceThreshold: 0.5,
-  requestAttempts: 3,
-  localizationInterval: 2,
   passGeoPose: true,
   geoCoordinatesInResponse: true,
   onAuthorize: (token) => console.log('Authorized:', token),

package/dist/core/index.d.ts

@@ -130,6 +130,8 @@ interface ILocalizeAndMapDetails {
     mapDetails?: IGetMapsDetailsResponse;
 }
 
+/** The subset of config that is safe to expose publicly (no credentials). */
+type IMultisetPublicConfig = Omit<IMultisetSdkConfig, 'clientId' | 'clientSecret'>;
 interface IMultisetSdkConfig {
     clientId: string;
     clientSecret: string;
@@ -156,6 +158,8 @@ interface IMultisetSdkConfig {
     passGeoPose?: boolean;
     /** Request geo coordinates in the localization response (if supported by backend). */
     geoCoordinatesInResponse?: boolean;
+    /** Max time in ms to wait for a valid viewer pose before failing. Default 10000. */
+    localizationTrackingTimeoutMs?: number;
     /** Invoked at the start of a localization run. */
     onLocalizationInit?: () => void;
     /** Invoked after a successful localization that meets confidence criteria (if enabled). */
@@ -217,13 +221,14 @@ interface ILocalizeResultEvent {
 declare const DEFAULT_ENDPOINTS: IMultisetSdkEndpoints;
 
 declare class MultisetClient {
+    private readonly credentials;
     private readonly config;
     private readonly endpoints;
     private accessToken;
     private mapDetailsCache;
-    constructor(config: IMultisetSdkConfig);
+    constructor(input: IMultisetSdkConfig);
     get token(): string | null;
-    getConfig(): IMultisetSdkConfig;
+    getConfig(): IMultisetPublicConfig;
     downloadFile(key: string): Promise<string>;
     authorize(): Promise<string>;
     private handleError;
@@ -234,4 +239,4 @@ declare class MultisetClient {
     private fetchMapSetDetails;
 }
 
-export { DEFAULT_ENDPOINTS, type ICameraIntrinsicsEvent, type IFrameCaptureEvent, type IGetMapsDetailsResponse, type ILocalizeAndMapDetails, type ILocalizeResponse, type ILocalizeResultEvent, type IMapSetMapsResponse, type IMultisetSdkConfig as IMultisetClientOptions, type IMultisetSdkConfig, type IMultisetSdkEndpoints, type IPoseResultEvent, type MapType, MultisetClient };
+export { DEFAULT_ENDPOINTS, type ICameraIntrinsicsEvent, type IFrameCaptureEvent, type IGetMapsDetailsResponse, type ILocalizeAndMapDetails, type ILocalizeResponse, type ILocalizeResultEvent, type IMapSetMapsResponse, type IMultisetSdkConfig as IMultisetClientOptions, type IMultisetPublicConfig, type IMultisetSdkConfig, type IMultisetSdkEndpoints, type IPoseResultEvent, type MapType, MultisetClient };

package/dist/core/index.js

@@ -9,14 +9,15 @@ var DEFAULT_ENDPOINTS = {
   fileDownloadUrl: "https://api.multiset.ai/v1/file"
 };
 var MultisetClient = class {
-  constructor(config) {
-    this.config = config;
+  constructor(input) {
     this.accessToken = null;
     this.mapDetailsCache = {};
-    this.config = config;
+    const { clientId, clientSecret, ...rest } = input;
+    this.credentials = { clientId, clientSecret };
+    this.config = rest;
     this.endpoints = {
       ...DEFAULT_ENDPOINTS,
-      ...config.endpoints
+      ...rest.endpoints
     };
   }
   get token() {
@@ -52,8 +53,8 @@ var MultisetClient = class {
         {},
         {
           auth: {
-            username: this.config.clientId,
-            password: this.config.clientSecret
+            username: this.credentials.clientId,
+            password: this.credentials.clientSecret
           }
         }
       );

package/dist/core/index.js.map

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type { ILocalizeAndMapDetails, MapType } from './types';\n\nexport interface IMultisetSdkConfig {\n  clientId: string;\n  clientSecret: string;\n  /** Map or map-set code used for localization. */\n  code: string;\n  /** Map or map-set type ('map' or 'map-set'). */\n  mapType: MapType;\n  endpoints?: Partial<IMultisetSdkEndpoints>;\n  /** If true, show the mesh in the AR session. 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"]}
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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  /** Max time in ms to wait for a valid viewer pose before failing. Default 10000. */\n  localizationTrackingTimeoutMs?: number;\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  IMultisetPublicConfig,\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 credentials: { clientId: string; clientSecret: string };\n  private readonly config: IMultisetPublicConfig;\n  private readonly endpoints: IMultisetSdkEndpoints;\n  private accessToken: string | null = null;\n  private mapDetailsCache: Record<string, IGetMapsDetailsResponse> = {};\n\n  constructor(input: IMultisetSdkConfig) {\n    const { clientId, clientSecret, ...rest } = input;\n    this.credentials = { clientId, clientSecret };\n    this.config = rest;\n    this.endpoints = {\n      ...DEFAULT_ENDPOINTS,\n      ...rest.endpoints,\n    };\n  }\n\n  get token(): string | null {\n    return this.accessToken;\n  }\n\n  getConfig(): IMultisetPublicConfig {\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.credentials.clientId,\n            password: this.credentials.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"]}

package/dist/index.d.ts

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