gps-plus-slam-app-framework 1.0.7 → 1.2.0

package/dist/index.js

@@ -1,19 +1,28 @@
 import { LogLevel, clearLogBuffer, createLogger, getGlobalLogLevel, getLogBuffer, setGlobalLogLevel, subscribeToLogs } from "./utils/logger.js";
 import { disposeMeshArray, disposeObject3D } from "./visualization/three-dispose.js";
 import { CameraBlitCapture, DEFAULT_BLIT_CONFIG, computeCaptureSize } from "./ar/camera-blit-capture.js";
-import { applyChromiumProjectionLayerWorkaround } from "./ar/chromium-camera-access-workaround.js";
+import { capabilityMessage, isFullySupported } from "./ar/capability-checker.js";
+import { BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, applyChromiumProjectionLayerWorkaround, needsBaseLayerPersistence, parseChromeVersion } from "./ar/chromium-camera-access-workaround.js";
 import { createFailureTracker } from "./utils/failure-tracker.js";
 import { CAPTURE_FAILURE_WARNING, DEFAULT_CAPTURE_TRACKER_CONFIG, createCaptureFailureTracker } from "./ar/capture-failure-tracker.js";
 import { buildRawGpsPoint, buildRecordGpsEventPayload, createGpsPositionHandler, eulerToQuaternion, extractOdomPosition, extractOdomRotation, getLastDeviceOrientation, resetCoordinatorState, updateDeviceOrientation } from "./state/gps-event-coordinator.js";
-import { DepthSampler } from "./ar/depth-sampler.js";
+import { DepthSampler, wrapXRDepthInfo } from "./ar/depth-sampler.js";
+import { createDepthUnprojector, unprojectDepthPoint } from "./ar/depth-unprojection.js";
+import { bresenham3d } from "./ar/bresenham3d.js";
+import { OccupancyGrid } from "./ar/occupancy-grid.js";
 import { registerFrameUpdate } from "./ar/frame-loop.js";
+import { registerXrFrameUpdate } from "./ar/xr-frame-loop.js";
+import { checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, requestAllPermissions, requestCameraPermission, requestGeolocationPermission, requestOrientationPermission as requestOrientationPermission$1, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState } from "./sensors/permission-checker.js";
+import { requestOrientationPermission, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch } from "./sensors/gps.js";
+import { WEBXR_TO_NUE } from "./ar/webxr-nue-basis.js";
 import { DEFAULT_CAPTURE_CONFIG, ImageCaptureManager, MIN_VALID_IMAGE_BYTES } from "./ar/image-capture.js";
 import { clearLastRestartedPayload, originReset, poseLost, poseReceived, resetTracking, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectTrackingPhase, trackingReducer } from "./state/tracking-slice.js";
+import { A as setTrackingLostCallback, D as setImageCaptureCallback, E as setFrameCallback, F as startImageCapture, I as stopDepthCapture, L as stopImageCapture, M as setTrackingStore, P as startDepthCapture, T as setDepthCaptureCallback, c as getArWorldGroup, d as getDepthSampleCount, f as getImageCaptureFrameCount, g as initAR, i as endARSession, k as setTrackingCallbacks, l as getCamera, m as getScene, p as getLiveCss3dManager, u as getCurrentArPose } from "./webxr-session-QhcSSub5.js";
 import { acquireCameraTexture } from "./ar/xr-camera-texture.js";
 import { DEFAULT_RECORDING_OPTIONS, DEPTH_CONSTRAINTS, IMAGE_CONSTRAINTS, STORAGE_KEY, cloneRecordingOptions, loadRecordingOptions, resetRecordingOptions, saveRecordingOptions, validateDepthOptions, validateImageOptions, validateRecordingOptions } from "./state/recording-options.js";
 import { SCENE_NODE } from "./ar/scene-node-names.js";
 import { createCss3dRendererManager } from "./visualization/css3d-renderer-manager.js";
-import { endARSession, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, initAR, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture } from "./ar/webxr-session.js";
+import { createEnableGpsArController } from "./ar/enable-gps-ar.js";
 import { DEFAULT_LERP_RATE, clampedAlpha } from "./visualization/lerp-utils.js";
 import { createCameraFollower } from "./visualization/camera-follower.js";
 import { createAlignmentLerper } from "./visualization/alignment-lerper.js";
@@ -22,9 +31,7 @@ import { COMPASS_CUBE_DISTANCE, COMPASS_CUBE_SIZE, createGpsCompassCubes } from
 import { disposeReplayScene, getAlignmentLerper, getCameraFollower, getCameraMode, getReplayState, initReplayScene, toggleCameraMode, updateOrbitTarget } from "./ar/replay-scene.js";
 import { XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, getXrErrorMessage } from "./ar/xr-error-handler.js";
 import "./ar/index.js";
-import { requestOrientationPermission, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch } from "./sensors/gps.js";
 import { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, createGpsErrorHandler, getGpsErrorMessage } from "./sensors/gps-error-handler.js";
-import { checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, requestAllPermissions, requestCameraPermission, requestGeolocationPermission, requestOrientationPermission as requestOrientationPermission$1, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState } from "./sensors/permission-checker.js";
 import "./sensors/index.js";
 import { H3_RESOLUTION, approxDistanceMetres, findNearbyGeoAnchor, gpsToH3, h3CellsMatch, isH3Index } from "./geo/h3-proximity.js";
 import "./geo/index.js";
@@ -44,14 +51,17 @@ import { replayRecording } from "./state/recording-replayer.js";
 import { DEFAULT_MAX_DELAY_MS, ReplayEngine, computeInterActionDelay, extractActionTimestamp } from "./state/replay-engine.js";
 import { buildMapData } from "./visualization/map-data.js";
 import { wireStoreSubscribers } from "./state/store-subscribers.js";
-import { add2dImage, calcRelativeCoordsInMeters, recordGpsEvent, setZeroPos } from "./state/index.js";
+import { a as computeOnboardingGuidance, i as setZeroPos, n as calcRelativeCoordsInMeters, o as selectOnboardingGuidance, r as recordGpsEvent, t as add2dImage } from "./state-BkIfpiyA.js";
 import { checkStorageQuota, createSession, getAppRootHandle, getSessionHandle, getSessionsRootHandle, initOpfsStorage, listSessions, resetOpfsStorage, resetSessionHandles } from "./storage/opfs-storage.js";
 import { initStorage, resetForNewSession, resetStorageState, startSession as startSession$1, verifyWriteAccess, writeAction, writeFrame } from "./storage/file-system.js";
 import { OpfsStorageBackend } from "./storage/opfs-storage-backend.js";
 import { downloadZip, exportAndDownloadSession, exportSessionAsZip, syncToExternalZip } from "./storage/zip-export.js";
 import "./storage/index.js";
+import { enableArWorldGroupAlignment } from "./visualization/ar-world-group-alignment.js";
 import { buildCameraFrustum, isObjectInCameraFrustum, isPointInCameraFrustum, isSphereInCameraFrustum } from "./visualization/frustum-visibility.js";
-import { n as nueToArLocal, t as createGpsAnchor } from "./gps-anchor-DjC_3MoT.js";
+import { nueToArLocal, worldNueToGps } from "./visualization/frame-conversions.js";
+import { createReticleMesh, updateReticle } from "./visualization/hit-test-reticle.js";
+import { createGpsAnchor } from "./visualization/gps-anchor.js";
 import { GpsEventVisualizer, gpsEventVisualizer } from "./visualization/gps-event-markers.js";
 import { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, addAccuracyCircles } from "./visualization/accuracy-circles.js";
 import { ALIGNMENT_SNAPSHOT_COLOR, FUSED_PATH_COLOR, MAP_PATH_POLYLINE_OPACITY, MAP_PATH_POLYLINE_WEIGHT, RAW_GPS_COLOR, USER_POSITION_COLOR, drawMapData } from "./visualization/map-overlay-draw.js";
@@ -59,4 +69,4 @@ import { DEFAULT_LEAFLET_MAP_SIZE_PX, DEFAULT_WORLD_SIZE, DEFAULT_Z_OFFSET, Leaf
 import { DEFAULT_HEIGHT_OFFSET, DEFAULT_MAP_SIZE, DEFAULT_ZOOM, MapOverlay, latLonToTileXY, tileXYToLatLon } from "./visualization/map-overlay.js";
 import "./visualization/index.js";
 import { COMMUNITY_LICENSE_KEY } from "./licensing/index.js";
-export { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, ALIGNMENT_SNAPSHOT_COLOR, CAPTURE_FAILURE_WARNING, COMMUNITY_LICENSE_KEY, COMPASS_CUBE_DISTANCE, COMPASS_CUBE_SIZE, CameraBlitCapture, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DEFAULT_HEIGHT_OFFSET, DEFAULT_LEAFLET_MAP_SIZE_PX, DEFAULT_LERP_RATE, DEFAULT_MAP_SIZE, DEFAULT_MAX_DELAY_MS, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEFAULT_WORLD_SIZE, DEFAULT_ZOOM, DEFAULT_Z_OFFSET, DEPTH_CONSTRAINTS, DepthSampler, FUSED_PATH_COLOR, GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, GpsEventVisualizer, H3_RESOLUTION, IMAGE_CONSTRAINTS, ImageCaptureManager, LeafletMapOverlay, LogLevel, MAP_PATH_POLYLINE_OPACITY, MAP_PATH_POLYLINE_WEIGHT, MAX_ACTION_FILE_SIZE, MIN_VALID_IMAGE_BYTES, MapOverlay, NullStorageBackend, OpfsStorageBackend, RAW_GPS_COLOR, ReplayEngine, SCENE_NODE, STORAGE_KEY, USER_POSITION_COLOR, VIS_COLORS, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, add2dImage, addAccuracyCircles, applyChromiumProjectionLayerWorkaround, approxDistanceMetres, buildCameraFrustum, buildMapData, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkStorageQuota, checkWebXRSupport, clampedAlpha, clearLastRestartedPayload, clearLogBuffer, cloneRecordingOptions, computeCaptureSize, computeCompassAgreement, computeConvergence, computeCoverage, computeFusedPath, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeResidualConsensus, computeTrackingQualityReport, createAlignmentLerper, createCameraFollower, createCaptureFailureTracker, createCss3dRendererManager, createFailureTracker, createGpsAnchor, createGpsCompassCubes, createGpsErrorHandler, createGpsPositionHandler, createLogger, createSession, createSlamAppStore, createTrackingQualityListenerMiddleware, disposeMeshArray, disposeObject3D, disposeReplayScene, downloadZip, drawMapData, endARSession, endSession, eulerToQuaternion, exportAndDownloadSession, exportSessionAsZip, extractActionTimestamp, extractOdomPosition, extractOdomRotation, findNearbyGeoAnchor, firstAgreementReached, formatActionFilename, formatFileSize, formatFrameFilename, formatTimestamp, fusedGpsFromOdom, getAlignmentLerper, getAppRootHandle, getCameraFollower, getCameraMode, getDepthSampleCount, getGlobalLogLevel, getGpsErrorMessage, getImageCaptureFrameCount, getLastDeviceOrientation, getLiveCss3dManager, getLogBuffer, getReplayState, getSessionHandle, getSessionsRootHandle, getXrErrorMessage, gpsEventVisualizer, gpsToH3, h3CellsMatch, initAR, initOpfsStorage, initReplayScene, initStorage, isH3Index, isObjectInCameraFrustum, isPointInCameraFrustum, isSphereInCameraFrustum, latLonToTileXY, listFormatter, listSessions, loadActionsFromZip, loadGpsPathFromBlob, loadRecordingOptions, loadSessionMetadataFromBlob, mapWithConcurrencyLimit, matrixDelta, nueToArLocal, originReset, poseLost, poseReceived, readZipEntries, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, registerFrameUpdate, replayRecording, reportUpdated, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetCoordinatorState, resetFileSystemState, resetForNewSession, resetOpfsStorage, resetRecordingOptions, resetSessionHandles, resetStorageState, resetTracking, resetTrackingQuality, saveRecordingOptions, selectFirstAgreementObservationIndex, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, setDepthCaptureCallback, setFileSystemState, setFrameCallback, setGlobalLogLevel, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, setZeroPos, snapshotPushed, snapshotsTrimmed, startDepthCapture, startGpsWatch, startImageCapture, startOrientationWatch, startSession, startSession$1 as startStorageSession, stopDepthCapture, stopGpsWatch, stopImageCapture, stopOrientationWatch, subscribeToLogs, syncToExternalZip, tileXYToLatLon, toggleCameraMode, trackingQualityReducer, trackingReducer, updateDeviceOrientation, updateOrbitTarget, validateDepthOptions, validateImageOptions, validateRecordingOptions, verifyWriteAccess, wireStoreSubscribers, writeAction, writeFrame };
+export { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, ALIGNMENT_SNAPSHOT_COLOR, BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, CAPTURE_FAILURE_WARNING, COMMUNITY_LICENSE_KEY, COMPASS_CUBE_DISTANCE, COMPASS_CUBE_SIZE, CameraBlitCapture, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DEFAULT_HEIGHT_OFFSET, DEFAULT_LEAFLET_MAP_SIZE_PX, DEFAULT_LERP_RATE, DEFAULT_MAP_SIZE, DEFAULT_MAX_DELAY_MS, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEFAULT_WORLD_SIZE, DEFAULT_ZOOM, DEFAULT_Z_OFFSET, DEPTH_CONSTRAINTS, DepthSampler, FUSED_PATH_COLOR, GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, GpsEventVisualizer, H3_RESOLUTION, IMAGE_CONSTRAINTS, ImageCaptureManager, LeafletMapOverlay, LogLevel, MAP_PATH_POLYLINE_OPACITY, MAP_PATH_POLYLINE_WEIGHT, MAX_ACTION_FILE_SIZE, MIN_VALID_IMAGE_BYTES, MapOverlay, NullStorageBackend, OccupancyGrid, OpfsStorageBackend, RAW_GPS_COLOR, ReplayEngine, SCENE_NODE, STORAGE_KEY, USER_POSITION_COLOR, VIS_COLORS, WEBXR_TO_NUE, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, add2dImage, addAccuracyCircles, applyChromiumProjectionLayerWorkaround, approxDistanceMetres, bresenham3d, buildCameraFrustum, buildMapData, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, capabilityMessage, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkStorageQuota, checkWebXRSupport, clampedAlpha, clearLastRestartedPayload, clearLogBuffer, cloneRecordingOptions, computeCaptureSize, computeCompassAgreement, computeConvergence, computeCoverage, computeFusedPath, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeOnboardingGuidance, computeResidualConsensus, computeTrackingQualityReport, createAlignmentLerper, createCameraFollower, createCaptureFailureTracker, createCss3dRendererManager, createDepthUnprojector, createEnableGpsArController, createFailureTracker, createGpsAnchor, createGpsCompassCubes, createGpsErrorHandler, createGpsPositionHandler, createLogger, createReticleMesh, createSession, createSlamAppStore, createTrackingQualityListenerMiddleware, disposeMeshArray, disposeObject3D, disposeReplayScene, downloadZip, drawMapData, enableArWorldGroupAlignment, endARSession, endSession, eulerToQuaternion, exportAndDownloadSession, exportSessionAsZip, extractActionTimestamp, extractOdomPosition, extractOdomRotation, findNearbyGeoAnchor, firstAgreementReached, formatActionFilename, formatFileSize, formatFrameFilename, formatTimestamp, fusedGpsFromOdom, getAlignmentLerper, getAppRootHandle, getArWorldGroup, getCamera, getCameraFollower, getCameraMode, getCurrentArPose, getDepthSampleCount, getGlobalLogLevel, getGpsErrorMessage, getImageCaptureFrameCount, getLastDeviceOrientation, getLiveCss3dManager, getLogBuffer, getReplayState, getScene, getSessionHandle, getSessionsRootHandle, getXrErrorMessage, gpsEventVisualizer, gpsToH3, h3CellsMatch, initAR, initOpfsStorage, initReplayScene, initStorage, isFullySupported, isH3Index, isObjectInCameraFrustum, isPointInCameraFrustum, isSphereInCameraFrustum, latLonToTileXY, listFormatter, listSessions, loadActionsFromZip, loadGpsPathFromBlob, loadRecordingOptions, loadSessionMetadataFromBlob, mapWithConcurrencyLimit, matrixDelta, needsBaseLayerPersistence, nueToArLocal, originReset, parseChromeVersion, poseLost, poseReceived, readZipEntries, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, registerFrameUpdate, registerXrFrameUpdate, replayRecording, reportUpdated, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetCoordinatorState, resetFileSystemState, resetForNewSession, resetOpfsStorage, resetRecordingOptions, resetSessionHandles, resetStorageState, resetTracking, resetTrackingQuality, saveRecordingOptions, selectFirstAgreementObservationIndex, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectOnboardingGuidance, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, setDepthCaptureCallback, setFileSystemState, setFrameCallback, setGlobalLogLevel, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, setZeroPos, snapshotPushed, snapshotsTrimmed, startDepthCapture, startGpsWatch, startImageCapture, startOrientationWatch, startSession, startSession$1 as startStorageSession, stopDepthCapture, stopGpsWatch, stopImageCapture, stopOrientationWatch, subscribeToLogs, syncToExternalZip, tileXYToLatLon, toggleCameraMode, trackingQualityReducer, trackingReducer, unprojectDepthPoint, updateDeviceOrientation, updateOrbitTarget, updateReticle, validateDepthOptions, validateImageOptions, validateRecordingOptions, verifyWriteAccess, wireStoreSubscribers, worldNueToGps, wrapXRDepthInfo, writeAction, writeFrame };

package/dist/{leaflet-map-overlay-Cew7XAoO.d.ts → leaflet-map-overlay-6CJC-E1l.d.ts}

@@ -1,4 +1,4 @@
-import { t as MapData } from "./map-data-sih4g64v.js";
+import { t as MapData } from "./map-data-CkloBxIl.js";
 import * as THREE from "three";
 import { LatLong } from "gps-plus-slam-js";
 import L from "leaflet";

package/dist/{map-data-sih4g64v.d.ts → map-data-CkloBxIl.d.ts}

@@ -1,4 +1,4 @@
-import { n as RawGpsSample, t as GpsCoord } from "./geo-types-CTuF23gG.js";
+import { n as RawGpsSample, t as GpsCoord } from "./geo-types-SaPnIEUM.js";
 import { LatLong, Matrix4, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/visualization/map-data.d.ts

package/dist/{map-overlay-draw-B3R1c9Xp.d.ts → map-overlay-draw-krOKwDAq.d.ts}

@@ -1,4 +1,4 @@
-import { t as MapData } from "./map-data-sih4g64v.js";
+import { t as MapData } from "./map-data-CkloBxIl.js";
 import L from "leaflet";
 
 //#region ../src/visualization/map-overlay-draw.d.ts

package/dist/{null-storage-backend-BKOS7JpL.d.ts → null-storage-backend-CxEjZHRW.d.ts}

@@ -1,5 +1,5 @@
-import { n as SessionMetadata } from "./opfs-storage-DOPkzgeT.js";
-import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-CT0Il_AB.js";
+import { n as SessionMetadata } from "./opfs-storage-DYm8WHq7.js";
+import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-C9HLFtgz.js";
 
 //#region ../src/storage/null-storage-backend.d.ts
 declare class NullStorageBackend implements StorageBackend {

package/dist/occupancy-grid-BRNRaPyT.d.ts

@@ -0,0 +1,72 @@
+import { t as GridCell } from "./bresenham3d-CFfd7n6B.js";
+import { a as RgbTuple, i as DepthSample } from "./ar-types-Dan1MVTi.js";
+import { Vector3 } from "gps-plus-slam-js";
+
+//#region ../src/ar/occupancy-grid.d.ts
+interface OccupancyGridOptions {
+  /** Edge length of a cubic grid cell in meters. Default 0.15 (Unity parity). */
+  readonly cellSizeM?: number;
+  /**
+   * Dominant-axis steps before a ray's endpoint at which free-space
+   * carving stops, to respect depth noise. Default 2 (Unity parity).
+   */
+  readonly carveStopCells?: number;
+}
+declare class OccupancyGrid {
+  readonly cellSizeM: number;
+  readonly carveStopCells: number;
+  private readonly cells;
+  constructor(options?: OccupancyGridOptions);
+  /** Number of occupied cells. */
+  get size(): number;
+  /**
+   * Fold one depth sample into the grid: unproject each point, carve free
+   * space from the camera cell to the point cell, then count the point's
+   * cell as occupied. Points that cannot be unprojected (no
+   * projectionMatrix on old recordings, invalid depth/coords) are skipped.
+   *
+   * Carving and incrementing run as two separate passes over the sample's
+   * points: all rays are carved first, then every endpoint is incremented.
+   * A single interleaved pass would be order-dependent — a deeper point's
+   * carve could erase the endpoint a nearer point added earlier in the same
+   * sample. Splitting the passes makes the result deterministic and lets an
+   * endpoint observed within a sample survive other rays in that same
+   * sample. (Deeper-carves-nearer still applies ACROSS samples: a later
+   * sample's ray carves an earlier sample's endpoint as before.)
+   *
+   * @returns the number of points actually added.
+   */
+  addSample(sample: DepthSample): number;
+  /** Occupied cells observed at least `minObservations` times (default 1). */
+  getOccupiedCells(minObservations?: number): GridCell[];
+  /** Quantize a raw-WebXR position to its grid cell (round per axis). */
+  cellForPosition(pos: Vector3): GridCell;
+  /** Center of a cell in raw WebXR space (round-consistent: cell · cellSizeM). */
+  getCellCenter(cell: GridCell): Vector3;
+  /**
+   * Running-average color of the cell's colored observations (Iter 8), or
+   * null when the cell is unknown or was only ever observed without color
+   * (rgb option off / pre-Iter-8 recordings) — consumers fall back to
+   * height-based coloring. Channels are rounded and clamped to 0–255.
+   */
+  getCellColor(cell: GridCell): RgbTuple | null;
+  /**
+   * Walk the grid from `startPos` to `endPos` and return the center of the
+   * first cell occupied at least `minObservations` times, or null.
+   * Port of Unity's `TryRaycast` (hook for cursor/floor-detection parity).
+   */
+  raycast(startPos: Vector3, endPos: Vector3, minObservations?: number): Vector3 | null;
+  /** Remove all occupied cells (e.g. on store swap / new session). */
+  clear(): void;
+  /**
+   * Delete occupied cells along the camera→point ray (the space was seen
+   * through, so it must be free), stopping `carveStopCells` dominant-axis
+   * steps before the endpoint. The endpoint cell itself is additionally
+   * protected so a current observation is never erased (relevant for
+   * carveStopCells = 0 and for the unconditional start-cell visit).
+   */
+  private carve;
+  private increment;
+}
+//#endregion
+export { OccupancyGridOptions as n, OccupancyGrid as t };

package/dist/{opfs-storage-backend-Cj_7PWoq.d.ts → opfs-storage-backend-CjSAuqg_.d.ts}

@@ -1,5 +1,5 @@
-import { n as SessionMetadata } from "./opfs-storage-DOPkzgeT.js";
-import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-CT0Il_AB.js";
+import { n as SessionMetadata } from "./opfs-storage-DYm8WHq7.js";
+import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-C9HLFtgz.js";
 
 //#region ../src/storage/opfs-storage-backend.d.ts
 declare class OpfsStorageBackend implements StorageBackend {

package/dist/{persistence-middleware-BkHIqvaA.d.ts → persistence-middleware-DwyzgfWr.d.ts}

@@ -1,4 +1,4 @@
-import { n as StorageBackend } from "./storage-backend-CT0Il_AB.js";
+import { n as StorageBackend } from "./storage-backend-C9HLFtgz.js";
 import { Middleware } from "@reduxjs/toolkit";
 
 //#region ../src/state/persistence-middleware.d.ts

package/dist/{recording-options-Dq6IsKAv.d.ts → recording-options-DJBXuMxV.d.ts}

@@ -29,10 +29,16 @@ interface ArCrashIsolationOptions {
   enableCameraTextureAcquisition: boolean;
   /**
    * Apply the Chromium WebXR camera-access tab-crash workaround at app
-   * bootstrap (deletes `XRWebGLBinding.prototype.createProjectionLayer` and
-   * `XRRenderState.prototype.layers` so three.js falls back to
-   * `XRWebGLLayer`). Opt-in because the upstream issue thread warns it may
-   * break WebXR on unaffected devices.
+   * bootstrap. The workaround always deletes
+   * `XRWebGLBinding.prototype.createProjectionLayer` /
+   * `XRRenderState.prototype.layers` (forcing `XRWebGLLayer`) — required on
+   * every affected Chrome build observed on-device, including Chrome 150 — and
+   * additionally persists the `baseLayer` across
+   * `XRSession.prototype.updateRenderState` only for Chrome builds inside the
+   * affected window (148.0.7778.12 up to 149.0.7821).
+   *
+   * Default `true`. Opt-out is offered because forcing `XRWebGLLayer` may break
+   * WebXR on unaffected (e.g. Quest) devices.
    *
    * @see GpsPlusSlamJs_AppFramework/src/ar/chromium-camera-access-workaround.ts
    * @see https://github.com/mrdoob/three.js/issues/33404
@@ -47,8 +53,18 @@ interface DepthCaptureOptions {
   enabled: boolean;
   /** Interval between samples in milliseconds. Default: 1000 */
   intervalMs: number;
-  /** Grid size (N×N points per sample). Default: 3 */
+  /**
+   * Grid size (N×N points per sample). Default: 16 — dense enough to
+   * populate the AR-space occupancy grid (2026-06-11 port plan §1).
+   */
   gridSize: number;
+  /**
+   * Whether to enrich each depth point with the camera color at its view
+   * coordinates (RGB voxel coloring, occupancy-grid port plan Iter 8).
+   * Costs one small GPU blit+readback per sample (~1 Hz); when off, the
+   * occupancy cubes keep the height-based coloring. Default: true.
+   */
+  rgb: boolean;
 }
 /**
  * Configuration for image capture during recording.
@@ -96,7 +112,7 @@ declare const DEPTH_CONSTRAINTS: {
   };
   readonly gridSize: {
     readonly min: 2;
-    readonly max: 10;
+    readonly max: 32;
     readonly step: 1;
   };
 };

package/dist/{recording-replayer-CmCIIZ02.d.ts → recording-replayer-BL-x-7k0.d.ts}

@@ -1,5 +1,5 @@
-import { L as CombinedRootState } from "./create-slam-app-store-CNsZ3rcX.js";
-import { i as RecordedAction } from "./zip-reader-D1105idz.js";
+import { L as CombinedRootState } from "./create-slam-app-store-qNXQ-tq5.js";
+import { i as RecordedAction } from "./zip-reader-DSEXt7K6.js";
 
 //#region ../src/state/recording-replayer.d.ts
 /**

package/dist/{recording-slice-d6OtCrza.d.ts → recording-slice-89O07ebs.d.ts}

@@ -1,5 +1,5 @@
-import { i as DepthSample } from "./ar-types-Ck8LEq8k.js";
-import { s as RecordingOptions } from "./recording-options-Dq6IsKAv.js";
+import { i as DepthSample } from "./ar-types-Dan1MVTi.js";
+import { s as RecordingOptions } from "./recording-options-DJBXuMxV.js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
 
 //#region ../src/state/recording-slice.d.ts
@@ -21,6 +21,14 @@ interface RecordingState {
    * User Feedback Issue #1 Part B: Track write failures for visibility.
    */
   failedWriteCount: number;
+  /**
+   * The most recent depth sample, kept ONLY so subscribers can observe new
+   * samples via reference comparison (the AR-space occupancy grid is fed
+   * this way — see the 2026-06-11 occupancy-grid port plan). The persisted
+   * action stream remains the source of truth; no history is kept here.
+   * The payload stays in raw WebXR coordinates — conversion-free.
+   */
+  latestDepthSample: DepthSample | null;
 }
 declare const startSession: _$_reduxjs_toolkit0.ActionCreatorWithPayload<SessionMetadata, "recording/startSession">, endSession: _$_reduxjs_toolkit0.ActionCreatorWithoutPayload<"recording/endSession">, recordDepthSample: _$_reduxjs_toolkit0.ActionCreatorWithPayload<DepthSample, "recording/recordDepthSample">, recordWriteFailure: _$_reduxjs_toolkit0.ActionCreatorWithPayload<string, "recording/recordWriteFailure">;
 declare const recordingReducer: _$_reduxjs_toolkit0.Reducer<RecordingState>;

package/dist/{replay-engine-BGBRQyXs.d.ts → replay-engine-BRqszuQ9.d.ts}

@@ -1,4 +1,4 @@
-import { i as SlamAppStore } from "./create-slam-app-store-CNsZ3rcX.js";
+import { i as SlamAppStore } from "./create-slam-app-store-qNXQ-tq5.js";
 import { ReducersMapObject } from "@reduxjs/toolkit";
 
 //#region ../src/state/replay-engine.d.ts

package/dist/{replay-scene-DpAGcAKY.d.ts → replay-scene-Bw58VL6p.d.ts}

@@ -1,6 +1,6 @@
-import { t as CameraFollower } from "./camera-follower-1k8mnw5J.js";
-import { t as AlignmentLerper } from "./alignment-lerper-L1RbWHQ4.js";
-import { t as Css3dRendererManager } from "./css3d-renderer-manager-CkjCb2HW.js";
+import { t as Css3dRendererManager } from "./css3d-renderer-manager-ptu_t3B3.js";
+import { t as CameraFollower } from "./camera-follower-C2mwEn7c.js";
+import { t as AlignmentLerper } from "./alignment-lerper-Dm9G7JJO.js";
 import * as THREE from "three";
 import { OrbitControls } from "three/addons/controls/OrbitControls.js";
 

package/dist/sensors/gps-error-handler.d.ts

@@ -1,2 +1,2 @@
-import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-Dg3ziRVY.js";
+import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-CJl_2MVm.js";
 export { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, createGpsErrorHandler, getGpsErrorMessage };

package/dist/sensors/gps.d.ts

@@ -1,2 +1,2 @@
-import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-DXoQb9Kf.js";
+import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-VuezJWK3.js";
 export { GpsPosition, RawDeviceOrientation, requestOrientationPermission, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch };

package/dist/sensors/index.d.ts

@@ -1,4 +1,4 @@
-import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-DXoQb9Kf.js";
-import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-Dg3ziRVY.js";
-import { a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission$1, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-DPJl_RU6.js";
+import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-VuezJWK3.js";
+import { a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission$1, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-GpAiSCwd.js";
+import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-CJl_2MVm.js";
 export { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, type GpsPosition, type PermissionCheckResult, type PermissionStatus, type RawDeviceOrientation, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, createGpsErrorHandler, getGpsErrorMessage, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch };

package/dist/sensors/index.js

@@ -1,4 +1,4 @@
+import { checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, requestAllPermissions, requestCameraPermission, requestGeolocationPermission, requestOrientationPermission as requestOrientationPermission$1, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState } from "./permission-checker.js";
 import { requestOrientationPermission, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch } from "./gps.js";
 import { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, createGpsErrorHandler, getGpsErrorMessage } from "./gps-error-handler.js";
-import { checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, requestAllPermissions, requestCameraPermission, requestGeolocationPermission, requestOrientationPermission as requestOrientationPermission$1, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState } from "./permission-checker.js";
 export { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, createGpsErrorHandler, getGpsErrorMessage, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch };

package/dist/sensors/permission-checker.d.ts

@@ -1,2 +1,2 @@
-import { _ as subscribePermissionChanges, a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission, r as PermissionSubscription, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-DPJl_RU6.js";
+import { _ as subscribePermissionChanges, a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission, r as PermissionSubscription, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-GpAiSCwd.js";
 export { PermissionCheckResult, PermissionStatus, PermissionSubscription, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, requestAllPermissions, requestCameraPermission, requestGeolocationPermission, requestOrientationPermission, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState, subscribePermissionChanges };

package/dist/session-disposers-M-oashRH.js

@@ -0,0 +1,57 @@
+import { createLogger } from "./utils/logger.js";
+//#region ../src/ar/session-disposers.ts
+/**
+* Session-scoped disposer registry. Components that allocate a resource tied to
+* a single AR session — a store subscription, an event listener, a lerper —
+* register a teardown function here; the WebXR session's `resetWebXRState()`
+* flushes them on teardown so the resource never outlives the session it
+* belonged to.
+*
+* This is a sibling of `frame-loop.ts` (also a `Set`-based registry) but serves
+* a different need: `frame-loop` holds *per-frame ticks* invoked every frame and
+* wiped by `clearFrameUpdates()`; this registry holds *one-shot teardown* run
+* exactly once on session end. The split keeps each registry's contract crisp.
+*
+* Why it exists: `resetWebXRState()` already clears the frame-update registry,
+* but resources like the store subscription opened by
+* `enableArWorldGroupAlignment` are not per-frame ticks and had no teardown hook
+* — so they leaked across sessions (a dangling subscriber pinning the old
+* `arWorldGroup`). Because `initAR()` throws if a prior session is still live,
+* every restart must pass through `resetWebXRState()`, making it the single
+* chokepoint where flushing these disposers is guaranteed. See
+* gps-plus-slam/GpsPlusSlamJs_Docs/docs/2026-06-08-arworldgroup-alignment-session-scoped-disposal.md.
+*/
+const log = createLogger("SessionDisposers");
+const disposers = /* @__PURE__ */ new Set();
+/**
+* Register a session-scoped teardown function. Returns a deregister function
+* (call it when the resource is disposed early, so a later flush won't re-run
+* the teardown).
+*/
+function registerSessionDisposer(dispose) {
+	disposers.add(dispose);
+	return () => {
+		disposers.delete(dispose);
+	};
+}
+/**
+* Run and drop every registered disposer. Called from `resetWebXRState()` on
+* session teardown.
+*
+* The set is snapshotted and **cleared before** running, so (a) a second flush
+* is a no-op rather than re-tearing-down an already-released resource, and (b) a
+* disposer that re-registers during teardown cannot loop. Each disposer runs in
+* its own `try/catch` so one throwing teardown cannot abort the rest — mirroring
+* `runFrameUpdates`.
+*/
+function runSessionDisposers() {
+	const snapshot = Array.from(disposers);
+	disposers.clear();
+	for (const dispose of snapshot) try {
+		dispose();
+	} catch (error) {
+		log.error("A session disposer threw; continuing teardown", error);
+	}
+}
+//#endregion
+export { runSessionDisposers as n, registerSessionDisposer as t };

package/dist/state/app-selectors.d.ts

@@ -1,2 +1,2 @@
-import { a as selectOdometryRotations, i as selectOdometryPositions, n as selectFrameTilesInWebXR, o as selectZeroReference, r as selectGpsPositions, t as selectAlignmentMatrix } from "../app-selectors-BeU0_ab8.js";
+import { a as selectOdometryRotations, i as selectOdometryPositions, n as selectFrameTilesInWebXR, o as selectZeroReference, r as selectGpsPositions, t as selectAlignmentMatrix } from "../app-selectors-CcZ5UV-8.js";
 export { selectAlignmentMatrix, selectFrameTilesInWebXR, selectGpsPositions, selectOdometryPositions, selectOdometryRotations, selectZeroReference };

package/dist/state/combined-root-state.d.ts

@@ -1,2 +1,2 @@
-import { L as CombinedRootState } from "../create-slam-app-store-CNsZ3rcX.js";
+import { L as CombinedRootState } from "../create-slam-app-store-qNXQ-tq5.js";
 export { CombinedRootState };

package/dist/state/create-slam-app-store.d.ts

@@ -1,2 +1,2 @@
-import { a as SlamAppStoreOptions, i as SlamAppStore, n as SlamAppMiddleware, o as createSlamAppStore, r as SlamAppRootState, t as SlamAppCombinedState } from "../create-slam-app-store-CNsZ3rcX.js";
+import { a as SlamAppStoreOptions, i as SlamAppStore, n as SlamAppMiddleware, o as createSlamAppStore, r as SlamAppRootState, t as SlamAppCombinedState } from "../create-slam-app-store-qNXQ-tq5.js";
 export { SlamAppCombinedState, SlamAppMiddleware, SlamAppRootState, SlamAppStore, SlamAppStoreOptions, createSlamAppStore };

package/dist/state/gps-ar-pose-sampler.d.ts

@@ -1,4 +1,4 @@
-import { t as ARPose } from "../ar-types-Ck8LEq8k.js";
-import { o as extractOdomPosition, s as extractOdomRotation } from "../gps-event-coordinator-DBx9I1YX.js";
-import { i as captureGpsAnchorSample, n as GpsAnchorSample, r as GpsAnchorSampleGpsPoint, t as CaptureGpsAnchorSampleOptions } from "../gps-ar-pose-sampler-DsM1Kb2N.js";
+import { t as ARPose } from "../ar-types-Dan1MVTi.js";
+import { o as extractOdomPosition, s as extractOdomRotation } from "../gps-event-coordinator-BDIQde2x.js";
+import { i as captureGpsAnchorSample, n as GpsAnchorSample, r as GpsAnchorSampleGpsPoint, t as CaptureGpsAnchorSampleOptions } from "../gps-ar-pose-sampler-DVb96iOy.js";
 export { ARPose, CaptureGpsAnchorSampleOptions, GpsAnchorSample, GpsAnchorSampleGpsPoint, captureGpsAnchorSample, extractOdomPosition, extractOdomRotation };

package/dist/state/gps-event-coordinator.d.ts

@@ -1,2 +1,2 @@
-import { a as eulerToQuaternion, c as getLastDeviceOrientation, i as createGpsPositionHandler, l as resetCoordinatorState, n as buildRawGpsPoint, o as extractOdomPosition, r as buildRecordGpsEventPayload, s as extractOdomRotation, t as RecordingCoordinatorConfig, u as updateDeviceOrientation } from "../gps-event-coordinator-DBx9I1YX.js";
+import { a as eulerToQuaternion, c as getLastDeviceOrientation, i as createGpsPositionHandler, l as resetCoordinatorState, n as buildRawGpsPoint, o as extractOdomPosition, r as buildRecordGpsEventPayload, s as extractOdomRotation, t as RecordingCoordinatorConfig, u as updateDeviceOrientation } from "../gps-event-coordinator-BDIQde2x.js";
 export { RecordingCoordinatorConfig, buildRawGpsPoint, buildRecordGpsEventPayload, createGpsPositionHandler, eulerToQuaternion, extractOdomPosition, extractOdomRotation, getLastDeviceOrientation, resetCoordinatorState, updateDeviceOrientation };

package/dist/state/index.d.ts

@@ -1,17 +1,17 @@
-import { i as DepthSample, r as DepthPoint } from "../ar-types-Ck8LEq8k.js";
-import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-utCNND8t.js";
-import { _ as validateRecordingOptions, a as IMAGE_CONSTRAINTS, c as RecordingOptionsInput, d as loadRecordingOptions, f as resetRecordingOptions, g as validateImageOptions, h as validateDepthOptions, i as DepthCaptureOptions, l as STORAGE_KEY, n as DEFAULT_RECORDING_OPTIONS, o as ImageCaptureOptions, p as saveRecordingOptions, r as DEPTH_CONSTRAINTS, u as cloneRecordingOptions } from "../recording-options-Dq6IsKAv.js";
-import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata$1, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-d6OtCrza.js";
-import { n as SessionMetadata } from "../opfs-storage-DOPkzgeT.js";
-import { n as StorageBackend } from "../storage-backend-CT0Il_AB.js";
-import { A as resetTrackingQuality, C as computeResidualConsensus, D as firstAgreementReached, E as degradedCountUpdated, F as snapshotsTrimmed, I as trackingQualityReducer, M as selectRecentAlignments, N as selectTrackingQuality, O as matrixDelta, P as snapshotPushed, S as computeGpsVsFusedDivergence, T as createTrackingQualityListenerMiddleware, _ as TrackingQualityState, a as SlamAppStoreOptions, b as computeCoverage, d as DEFAULT_TRACKING_QUALITY_OPTIONS, g as TrackingQualitySliceState, h as TrackingQualityReport, i as SlamAppStore, j as selectFirstAgreementObservationIndex, k as reportUpdated, m as TrackingQualityOptions, n as SlamAppMiddleware, o as createSlamAppStore, r as SlamAppRootState, s as AlignmentSnapshot, t as SlamAppCombinedState, v as computeCompassAgreement, w as computeTrackingQualityReport, x as computeGpsAccuracy, y as computeConvergence } from "../create-slam-app-store-CNsZ3rcX.js";
-import { a as eulerToQuaternion, c as getLastDeviceOrientation, i as createGpsPositionHandler, l as resetCoordinatorState, n as buildRawGpsPoint, o as extractOdomPosition, r as buildRecordGpsEventPayload, s as extractOdomRotation, t as RecordingCoordinatorConfig, u as updateDeviceOrientation } from "../gps-event-coordinator-DBx9I1YX.js";
-import { i as captureGpsAnchorSample, n as GpsAnchorSample, r as GpsAnchorSampleGpsPoint, t as CaptureGpsAnchorSampleOptions } from "../gps-ar-pose-sampler-DsM1Kb2N.js";
-import { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-CmCIIZ02.js";
-import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-BkHIqvaA.js";
-import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-BGBRQyXs.js";
-import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-DIHm3BRZ.js";
-import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-Dce_CoJF.js";
-import { a as selectOdometryRotations, i as selectOdometryPositions, n as selectFrameTilesInWebXR, o as selectZeroReference, r as selectGpsPositions, t as selectAlignmentMatrix } from "../app-selectors-BeU0_ab8.js";
-import { Add2dImagePayload, GpsPoint, LatLong, RawDeviceOrientation, RawGpsPoint, RecordGpsEventPayload, add2dImage, calcRelativeCoordsInMeters, recordGpsEvent, setZeroPos } from "gps-plus-slam-js";
-export { type Add2dImagePayload, type AlignmentSnapshot, type CaptureGpsAnchorSampleOptions, type CompleteCallback, DEFAULT_MAX_DELAY_MS, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEPTH_CONSTRAINTS, type DepthCaptureOptions, type DepthPoint, type DepthSample, type DeviceOrientation, type ErrorCallback, type GpsAnchorSample, type GpsAnchorSampleGpsPoint, type GpsPoint, IMAGE_CONSTRAINTS, type ImageCaptureOptions, type LatLong, type SessionMetadata as OpfsSessionMetadata, type PersistenceMiddlewareOptions, type PoseReceivedPayload, type ProgressCallback, type RawDeviceOrientation, type RawGpsPoint, type RecordGpsEventPayload, type RecordingCoordinatorConfig, type RecordingOptionsInput, type RecordingState, type ReplayAction, ReplayEngine, type ReplayRecordingOptions, type ReplayState, type ResetTransformData, STORAGE_KEY, type SessionMetadata$1 as SessionMetadata, type SlamAppCombinedState, type SlamAppMiddleware, type SlamAppRootState, type SlamAppStore, type SlamAppStoreOptions, type StorageBackend, type StoreSubscriberDeps, type SubscribableStore, type TrackingPhase, type TrackingQualityOptions, type TrackingQualityReport, type TrackingQualitySliceState, type TrackingQualityState, type TrackingSliceState, add2dImage, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, captureGpsAnchorSample, clearLastRestartedPayload, cloneRecordingOptions, computeCompassAgreement, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeResidualConsensus, computeTrackingQualityReport, createGpsPositionHandler, createPersistenceMiddleware, createSlamAppStore, createTrackingQualityListenerMiddleware, degradedCountUpdated, endSession, eulerToQuaternion, extractActionTimestamp, extractOdomPosition, extractOdomRotation, firstAgreementReached, getLastDeviceOrientation, loadRecordingOptions, matrixDelta, originReset, poseLost, poseReceived, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, replayRecording, reportUpdated, resetCoordinatorState, resetRecordingOptions, resetTracking, resetTrackingQuality, saveRecordingOptions, selectAlignmentMatrix, selectFirstAgreementObservationIndex, selectFrameTilesInWebXR, selectGpsPositions, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectOdometryPositions, selectOdometryRotations, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, selectZeroReference, setZeroPos, slicePrefixOf, snapshotPushed, snapshotsTrimmed, startSession, subscribeToSelector, trackingQualityReducer, trackingReducer, updateDeviceOrientation, validateDepthOptions, validateImageOptions, validateRecordingOptions, wireStoreSubscribers };
+import { i as DepthSample, r as DepthPoint } from "../ar-types-Dan1MVTi.js";
+import { _ as validateRecordingOptions, a as IMAGE_CONSTRAINTS, c as RecordingOptionsInput, d as loadRecordingOptions, f as resetRecordingOptions, g as validateImageOptions, h as validateDepthOptions, i as DepthCaptureOptions, l as STORAGE_KEY, n as DEFAULT_RECORDING_OPTIONS, o as ImageCaptureOptions, p as saveRecordingOptions, r as DEPTH_CONSTRAINTS, u as cloneRecordingOptions } from "../recording-options-DJBXuMxV.js";
+import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-CdK8c-8P.js";
+import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata$1, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-89O07ebs.js";
+import { n as SessionMetadata } from "../opfs-storage-DYm8WHq7.js";
+import { n as StorageBackend } from "../storage-backend-C9HLFtgz.js";
+import { A as resetTrackingQuality, C as computeResidualConsensus, D as firstAgreementReached, E as degradedCountUpdated, F as snapshotsTrimmed, I as trackingQualityReducer, M as selectRecentAlignments, N as selectTrackingQuality, O as matrixDelta, P as snapshotPushed, S as computeGpsVsFusedDivergence, T as createTrackingQualityListenerMiddleware, _ as TrackingQualityState, a as SlamAppStoreOptions, b as computeCoverage, d as DEFAULT_TRACKING_QUALITY_OPTIONS, g as TrackingQualitySliceState, h as TrackingQualityReport, i as SlamAppStore, j as selectFirstAgreementObservationIndex, k as reportUpdated, m as TrackingQualityOptions, n as SlamAppMiddleware, o as createSlamAppStore, r as SlamAppRootState, s as AlignmentSnapshot, t as SlamAppCombinedState, v as computeCompassAgreement, w as computeTrackingQualityReport, x as computeGpsAccuracy, y as computeConvergence } from "../create-slam-app-store-qNXQ-tq5.js";
+import { a as eulerToQuaternion, c as getLastDeviceOrientation, i as createGpsPositionHandler, l as resetCoordinatorState, n as buildRawGpsPoint, o as extractOdomPosition, r as buildRecordGpsEventPayload, s as extractOdomRotation, t as RecordingCoordinatorConfig, u as updateDeviceOrientation } from "../gps-event-coordinator-BDIQde2x.js";
+import { i as captureGpsAnchorSample, n as GpsAnchorSample, r as GpsAnchorSampleGpsPoint, t as CaptureGpsAnchorSampleOptions } from "../gps-ar-pose-sampler-DVb96iOy.js";
+import { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-BL-x-7k0.js";
+import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-DwyzgfWr.js";
+import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-BRqszuQ9.js";
+import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-CP3BKSbF.js";
+import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-rrkLkFTt.js";
+import { a as selectOdometryRotations, i as selectOdometryPositions, n as selectFrameTilesInWebXR, o as selectZeroReference, r as selectGpsPositions, t as selectAlignmentMatrix } from "../app-selectors-CcZ5UV-8.js";
+import { a as RawGpsPoint, c as calcRelativeCoordsInMeters, d as OnboardingGuidance, f as OnboardingPhase, i as RawDeviceOrientation, l as recordGpsEvent, m as selectOnboardingGuidance, n as GpsPoint, o as RecordGpsEventPayload, p as computeOnboardingGuidance, r as LatLong, s as add2dImage, t as Add2dImagePayload, u as setZeroPos } from "../index-KJq2amHF.js";
+export { Add2dImagePayload, AlignmentSnapshot, CaptureGpsAnchorSampleOptions, CompleteCallback, DEFAULT_MAX_DELAY_MS, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEPTH_CONSTRAINTS, DepthCaptureOptions, DepthPoint, DepthSample, DeviceOrientation, ErrorCallback, GpsAnchorSample, GpsAnchorSampleGpsPoint, GpsPoint, IMAGE_CONSTRAINTS, ImageCaptureOptions, LatLong, OnboardingGuidance, OnboardingPhase, SessionMetadata as OpfsSessionMetadata, PersistenceMiddlewareOptions, PoseReceivedPayload, ProgressCallback, RawDeviceOrientation, RawGpsPoint, RecordGpsEventPayload, RecordingCoordinatorConfig, RecordingOptionsInput, RecordingState, ReplayAction, ReplayEngine, ReplayRecordingOptions, ReplayState, ResetTransformData, STORAGE_KEY, SessionMetadata$1 as SessionMetadata, SlamAppCombinedState, SlamAppMiddleware, SlamAppRootState, SlamAppStore, SlamAppStoreOptions, StorageBackend, StoreSubscriberDeps, SubscribableStore, TrackingPhase, TrackingQualityOptions, TrackingQualityReport, TrackingQualitySliceState, TrackingQualityState, TrackingSliceState, add2dImage, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, captureGpsAnchorSample, clearLastRestartedPayload, cloneRecordingOptions, computeCompassAgreement, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeOnboardingGuidance, computeResidualConsensus, computeTrackingQualityReport, createGpsPositionHandler, createPersistenceMiddleware, createSlamAppStore, createTrackingQualityListenerMiddleware, degradedCountUpdated, endSession, eulerToQuaternion, extractActionTimestamp, extractOdomPosition, extractOdomRotation, firstAgreementReached, getLastDeviceOrientation, loadRecordingOptions, matrixDelta, originReset, poseLost, poseReceived, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, replayRecording, reportUpdated, resetCoordinatorState, resetRecordingOptions, resetTracking, resetTrackingQuality, saveRecordingOptions, selectAlignmentMatrix, selectFirstAgreementObservationIndex, selectFrameTilesInWebXR, selectGpsPositions, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectOdometryPositions, selectOdometryRotations, selectOnboardingGuidance, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, selectZeroReference, setZeroPos, slicePrefixOf, snapshotPushed, snapshotsTrimmed, startSession, subscribeToSelector, trackingQualityReducer, trackingReducer, updateDeviceOrientation, validateDepthOptions, validateImageOptions, validateRecordingOptions, wireStoreSubscribers };

package/dist/state/index.js

@@ -11,5 +11,5 @@ import { replayRecording } from "./recording-replayer.js";
 import { DEFAULT_MAX_DELAY_MS, ReplayEngine, computeInterActionDelay, extractActionTimestamp } from "./replay-engine.js";
 import { subscribeToSelector } from "./subscribe-to-selector.js";
 import { wireStoreSubscribers } from "./store-subscribers.js";
-import { add2dImage, calcRelativeCoordsInMeters, recordGpsEvent, setZeroPos } from "gps-plus-slam-js";
-export { DEFAULT_MAX_DELAY_MS, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEPTH_CONSTRAINTS, IMAGE_CONSTRAINTS, ReplayEngine, STORAGE_KEY, add2dImage, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, captureGpsAnchorSample, clearLastRestartedPayload, cloneRecordingOptions, computeCompassAgreement, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeResidualConsensus, computeTrackingQualityReport, createGpsPositionHandler, createPersistenceMiddleware, createSlamAppStore, createTrackingQualityListenerMiddleware, degradedCountUpdated, endSession, eulerToQuaternion, extractActionTimestamp, extractOdomPosition, extractOdomRotation, firstAgreementReached, getLastDeviceOrientation, loadRecordingOptions, matrixDelta, originReset, poseLost, poseReceived, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, replayRecording, reportUpdated, resetCoordinatorState, resetRecordingOptions, resetTracking, resetTrackingQuality, saveRecordingOptions, selectAlignmentMatrix, selectFirstAgreementObservationIndex, selectFrameTilesInWebXR, selectGpsPositions, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectOdometryPositions, selectOdometryRotations, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, selectZeroReference, setZeroPos, slicePrefixOf, snapshotPushed, snapshotsTrimmed, startSession, subscribeToSelector, trackingQualityReducer, trackingReducer, updateDeviceOrientation, validateDepthOptions, validateImageOptions, validateRecordingOptions, wireStoreSubscribers };
+import { a as computeOnboardingGuidance, i as setZeroPos, n as calcRelativeCoordsInMeters, o as selectOnboardingGuidance, r as recordGpsEvent, t as add2dImage } from "../state-BkIfpiyA.js";
+export { DEFAULT_MAX_DELAY_MS, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEPTH_CONSTRAINTS, IMAGE_CONSTRAINTS, ReplayEngine, STORAGE_KEY, add2dImage, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, captureGpsAnchorSample, clearLastRestartedPayload, cloneRecordingOptions, computeCompassAgreement, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeOnboardingGuidance, computeResidualConsensus, computeTrackingQualityReport, createGpsPositionHandler, createPersistenceMiddleware, createSlamAppStore, createTrackingQualityListenerMiddleware, degradedCountUpdated, endSession, eulerToQuaternion, extractActionTimestamp, extractOdomPosition, extractOdomRotation, firstAgreementReached, getLastDeviceOrientation, loadRecordingOptions, matrixDelta, originReset, poseLost, poseReceived, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, replayRecording, reportUpdated, resetCoordinatorState, resetRecordingOptions, resetTracking, resetTrackingQuality, saveRecordingOptions, selectAlignmentMatrix, selectFirstAgreementObservationIndex, selectFrameTilesInWebXR, selectGpsPositions, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectOdometryPositions, selectOdometryRotations, selectOnboardingGuidance, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, selectZeroReference, setZeroPos, slicePrefixOf, snapshotPushed, snapshotsTrimmed, startSession, subscribeToSelector, trackingQualityReducer, trackingReducer, updateDeviceOrientation, validateDepthOptions, validateImageOptions, validateRecordingOptions, wireStoreSubscribers };

package/dist/state/persistence-middleware.d.ts

@@ -1,2 +1,2 @@
-import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-BkHIqvaA.js";
+import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-DwyzgfWr.js";
 export { PersistenceMiddlewareOptions, createPersistenceMiddleware, slicePrefixOf };

package/dist/state/persistence-middleware.js

@@ -1,5 +1,5 @@
 import { createLogger } from "../utils/logger.js";
-import { recordWriteFailure } from "./recording-slice.js";
+import { endSession, recordWriteFailure, startSession } from "./recording-slice.js";
 //#region ../src/state/persistence-middleware.ts
 const log = createLogger("PersistenceMiddleware");
 /** Maximum number of concurrent OPFS write operations. */
@@ -48,9 +48,15 @@ function readIsRecording(state) {
 * must be persisted. True while recording, and also for the `endSession`
 * action that just flipped `isRecording` to false (Issue 5) so the session's
 * final action is still captured.
+*
+* The endSession type is derived from the imported action creator
+* (`endSession.type`) rather than a hand-typed literal, so a rename of the
+* recording slice or its actions propagates here automatically instead of
+* silently breaking final-action persistence.
 */
 function isInPersistableSession(wasRecording, isRecording, actionType) {
-	return isRecording || wasRecording && actionType === "recording/endSession";
+	const isEndSession = actionType === endSession.type;
+	return isRecording || wasRecording && isEndSession;
 }
 /**
 * Create a Redux middleware that persists qualifying actions to storage
@@ -77,7 +83,7 @@ function createPersistenceMiddleware(options) {
 		const wasRecording = readIsRecording(store.getState());
 		const result = next(action);
 		if (!actionType) return result;
-		if (actionType === "recording/startSession") actionIndex = 0;
+		if (actionType === startSession.type) actionIndex = 0;
 		if (!isInPersistableSession(wasRecording, readIsRecording(store.getState()), actionType)) return result;
 		if (!(actionType !== excludedActionType && normalizedPrefixes.some((prefix) => actionType.startsWith(prefix)))) return result;
 		const index = ++actionIndex;

package/dist/state/recording-options.d.ts

@@ -1,2 +1,2 @@
-import { _ as validateRecordingOptions, a as IMAGE_CONSTRAINTS, c as RecordingOptionsInput, d as loadRecordingOptions, f as resetRecordingOptions, g as validateImageOptions, h as validateDepthOptions, i as DepthCaptureOptions, l as STORAGE_KEY, m as validateArCrashIsolationOptions, n as DEFAULT_RECORDING_OPTIONS, o as ImageCaptureOptions, p as saveRecordingOptions, r as DEPTH_CONSTRAINTS, s as RecordingOptions, t as ArCrashIsolationOptions, u as cloneRecordingOptions } from "../recording-options-Dq6IsKAv.js";
+import { _ as validateRecordingOptions, a as IMAGE_CONSTRAINTS, c as RecordingOptionsInput, d as loadRecordingOptions, f as resetRecordingOptions, g as validateImageOptions, h as validateDepthOptions, i as DepthCaptureOptions, l as STORAGE_KEY, m as validateArCrashIsolationOptions, n as DEFAULT_RECORDING_OPTIONS, o as ImageCaptureOptions, p as saveRecordingOptions, r as DEPTH_CONSTRAINTS, s as RecordingOptions, t as ArCrashIsolationOptions, u as cloneRecordingOptions } from "../recording-options-DJBXuMxV.js";
 export { ArCrashIsolationOptions, DEFAULT_RECORDING_OPTIONS, DEPTH_CONSTRAINTS, DepthCaptureOptions, IMAGE_CONSTRAINTS, ImageCaptureOptions, RecordingOptions, RecordingOptionsInput, STORAGE_KEY, cloneRecordingOptions, loadRecordingOptions, resetRecordingOptions, saveRecordingOptions, validateArCrashIsolationOptions, validateDepthOptions, validateImageOptions, validateRecordingOptions };

package/dist/state/recording-options.js

@@ -24,7 +24,8 @@ const DEFAULT_RECORDING_OPTIONS = {
 	depth: {
 		enabled: true,
 		intervalMs: 1e3,
-		gridSize: 3
+		gridSize: 16,
+		rgb: true
 	},
 	images: {
 		enabled: true,
@@ -50,7 +51,7 @@ const DEPTH_CONSTRAINTS = {
 	},
 	gridSize: {
 		min: 2,
-		max: 10,
+		max: 32,
 		step: 1
 	}
 };
@@ -102,7 +103,8 @@ function validateDepthOptions(options) {
 	return {
 		enabled: typeof options.enabled === "boolean" ? options.enabled : defaults.enabled,
 		intervalMs: clamp(typeof options.intervalMs === "number" ? options.intervalMs : defaults.intervalMs, DEPTH_CONSTRAINTS.intervalMs.min, DEPTH_CONSTRAINTS.intervalMs.max),
-		gridSize: clamp(typeof options.gridSize === "number" ? options.gridSize : defaults.gridSize, DEPTH_CONSTRAINTS.gridSize.min, DEPTH_CONSTRAINTS.gridSize.max)
+		gridSize: clamp(typeof options.gridSize === "number" ? options.gridSize : defaults.gridSize, DEPTH_CONSTRAINTS.gridSize.min, DEPTH_CONSTRAINTS.gridSize.max),
+		rgb: typeof options.rgb === "boolean" ? options.rgb : defaults.rgb
 	};
 }
 /**