gps-plus-slam-app-framework 1.11.0 → 1.14.0

package/dist/ar/qr/qr-pose.d.ts

@@ -1,2 +1,2 @@
-import { _ as solveQrPose, a as QrPoseSolution, c as SolveQrPoseInput, d as intrinsicsFromProjection, f as invertPose, g as signedQuadArea, h as reprojectionErrorPx, i as Pose, l as buildObjectPoints, m as qrInCameraFromOpenCv, n as OpenCvPnpResult, o as QuadValidation, p as projectViewPoint, r as Point2, s as SolvePnpSquare, t as CameraIntrinsics, u as composePose, v as transformPoint, y as validateQuad } from "../../qr-pose-21fRDcFO.js";
+import { _ as solveQrPose, a as QrPoseSolution, c as SolveQrPoseInput, d as intrinsicsFromProjection, f as invertPose, g as signedQuadArea, h as reprojectionErrorPx, i as Pose, l as buildObjectPoints, m as qrInCameraFromOpenCv, n as OpenCvPnpResult, o as QuadValidation, p as projectViewPoint, r as Point2, s as SolvePnpSquare, t as CameraIntrinsics, u as composePose, v as transformPoint, y as validateQuad } from "../../qr-pose-_dInl6di.js";
 export { CameraIntrinsics, OpenCvPnpResult, Point2, Pose, QrPoseSolution, QuadValidation, SolvePnpSquare, SolveQrPoseInput, buildObjectPoints, composePose, intrinsicsFromProjection, invertPose, projectViewPoint, qrInCameraFromOpenCv, reprojectionErrorPx, signedQuadArea, solveQrPose, transformPoint, validateQuad };

package/dist/ar/qr/qr-size-depth-context.d.ts

@@ -1,3 +1,3 @@
-import { n as QrSizeDepthContext } from "../../qr-size-measurer-rVFf4AdM.js";
-import { t as createQrSizeDepthContext } from "../../qr-size-depth-context-CMDv6T29.js";
+import { n as QrSizeDepthContext } from "../../qr-size-measurer-18_W3INY.js";
+import { t as createQrSizeDepthContext } from "../../qr-size-depth-context-Bzbx98nS.js";
 export { QrSizeDepthContext, createQrSizeDepthContext };

package/dist/ar/qr/qr-size-measurer.d.ts

@@ -1,2 +1,2 @@
-import { a as QrSizeMeasurerOptions, i as QrSizeMeasurer, n as QrSizeDepthContext, o as createQrSizeMeasurer, r as QrSizeMeasurement, t as ImageSize } from "../../qr-size-measurer-rVFf4AdM.js";
+import { a as QrSizeMeasurerOptions, i as QrSizeMeasurer, n as QrSizeDepthContext, o as createQrSizeMeasurer, r as QrSizeMeasurement, t as ImageSize } from "../../qr-size-measurer-18_W3INY.js";
 export { ImageSize, QrSizeDepthContext, QrSizeMeasurement, QrSizeMeasurer, QrSizeMeasurerOptions, createQrSizeMeasurer };

package/dist/ar/replay-scene.d.ts

@@ -1,2 +1,2 @@
-import { a as getCameraFollower, c as getReplayState, d as updateOrbitTarget, i as getAlignmentLerper, l as initReplayScene, n as ReplaySceneState, o as getCameraMode, r as disposeReplayScene, s as getCss3dManager, t as CameraMode, u as toggleCameraMode } from "../replay-scene-BJeO36YT.js";
+import { a as getCameraFollower, c as getReplayState, d as updateOrbitTarget, i as getAlignmentLerper, l as initReplayScene, n as ReplaySceneState, o as getCameraMode, r as disposeReplayScene, s as getCss3dManager, t as CameraMode, u as toggleCameraMode } from "../replay-scene-D5qzY0_x.js";
 export { CameraMode, ReplaySceneState, disposeReplayScene, getAlignmentLerper, getCameraFollower, getCameraMode, getCss3dManager, getReplayState, initReplayScene, toggleCameraMode, updateOrbitTarget };

package/dist/ar/replay-scene.js

@@ -1,5 +1,5 @@
 import { createLogger } from "../utils/logger.js";
-import { i as createSceneHierarchy } from "../webxr-session-OyR3YbTq.js";
+import { i as createSceneHierarchy } from "../webxr-session-BBlgzrqY.js";
 import { createCss3dRendererManager } from "../visualization/css3d-renderer-manager.js";
 import { createCameraFollower } from "../visualization/camera-follower.js";
 import { createAlignmentLerper } from "../visualization/alignment-lerper.js";

package/dist/ar/scene-node-names.d.ts

@@ -1,2 +1,2 @@
-import { t as SCENE_NODE } from "../scene-node-names-DWzhE7Ro.js";
+import { t as SCENE_NODE } from "../scene-node-names-Ct6ATrfM.js";
 export { SCENE_NODE };

package/dist/ar/webxr-nue-basis.d.ts

@@ -1,2 +1,2 @@
-import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-C3vTqkE2.js";
+import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-B8ZEetVb.js";
 export { WEBXR_TO_NUE };

package/dist/ar/webxr-session.d.ts

@@ -1,4 +1,4 @@
-import { i as DepthSample, t as ARPose } from "../ar-types-D6PYS4bc.js";
-import { n as CapturedImage } from "../image-capture-BevgKpoO.js";
-import { A as startCameraFrameCapture, C as isWebXRSupported, D as rebindTrackingStore, E as nueQuaternionToWebXR, F as stopImageCapture, M as startImageCapture, N as stopCameraFrameCapture, O as resetWebXRState, P as stopDepthCapture, S as initAR, T as nuePositionToWebXR, _ as getDepthInfoFromFrame, a as SessionFeatureOptions, b as getScene, c as buildSessionOptions, d as extractPoseFromViewer, f as extractResetTransformData, g as getCurrentArPose, h as getCameraFrameCount, i as SessionEndInfo, j as startDepthCapture, k as shouldLogCameraAccessDiagnostic, l as createSceneHierarchy, m as getCamera, n as CameraFrameCaptureConfig, o as TrackingSubscribableStore, p as getArWorldGroup, r as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, s as applyAlignmentMatrix, t as ArSessionCallbacks, u as endARSession, v as getDepthSampleCount, w as isXRCameraLike, x as getXrCameraFromPose, y as getImageCaptureFrameCount } from "../webxr-session-DefwObIu.js";
+import { i as DepthSample, t as ARPose } from "../ar-types-BprL3nKv.js";
+import { n as CapturedImage } from "../image-capture-BXmx1YvD.js";
+import { A as startCameraFrameCapture, C as isWebXRSupported, D as rebindTrackingStore, E as nueQuaternionToWebXR, F as stopImageCapture, M as startImageCapture, N as stopCameraFrameCapture, O as resetWebXRState, P as stopDepthCapture, S as initAR, T as nuePositionToWebXR, _ as getDepthInfoFromFrame, a as SessionFeatureOptions, b as getScene, c as buildSessionOptions, d as extractPoseFromViewer, f as extractResetTransformData, g as getCurrentArPose, h as getCameraFrameCount, i as SessionEndInfo, j as startDepthCapture, k as shouldLogCameraAccessDiagnostic, l as createSceneHierarchy, m as getCamera, n as CameraFrameCaptureConfig, o as TrackingSubscribableStore, p as getArWorldGroup, r as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, s as applyAlignmentMatrix, t as ArSessionCallbacks, u as endARSession, v as getDepthSampleCount, w as isXRCameraLike, x as getXrCameraFromPose, y as getImageCaptureFrameCount } from "../webxr-session-DurXRnl_.js";
 export { ARPose, ArSessionCallbacks, CameraFrameCaptureConfig, CapturedImage, DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, DepthSample, SessionEndInfo, SessionFeatureOptions, TrackingSubscribableStore, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArWorldGroup, getCamera, getCameraFrameCount, getCurrentArPose, getDepthInfoFromFrame, getDepthSampleCount, getImageCaptureFrameCount, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, rebindTrackingStore, resetWebXRState, shouldLogCameraAccessDiagnostic, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture };

package/dist/ar/webxr-session.js

@@ -1,2 +1,2 @@
-import { A as stopImageCapture, C as resetWebXRState, D as startImageCapture, E as startDepthCapture, O as stopCameraFrameCapture, S as rebindTrackingStore, T as startCameraFrameCapture, _ as initAR, a as endARSession, b as nuePositionToWebXR, c as getArWorldGroup, d as getCurrentArPose, f as getDepthInfoFromFrame, g as getXrCameraFromPose, h as getScene, i as createSceneHierarchy, k as stopDepthCapture, l as getCamera, m as getImageCaptureFrameCount, n as applyAlignmentMatrix, o as extractPoseFromViewer, p as getDepthSampleCount, r as buildSessionOptions, s as extractResetTransformData, t as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, u as getCameraFrameCount, v as isWebXRSupported, w as shouldLogCameraAccessDiagnostic, x as nueQuaternionToWebXR, y as isXRCameraLike } from "../webxr-session-OyR3YbTq.js";
+import { A as stopImageCapture, C as resetWebXRState, D as startImageCapture, E as startDepthCapture, O as stopCameraFrameCapture, S as rebindTrackingStore, T as startCameraFrameCapture, _ as initAR, a as endARSession, b as nuePositionToWebXR, c as getArWorldGroup, d as getCurrentArPose, f as getDepthInfoFromFrame, g as getXrCameraFromPose, h as getScene, i as createSceneHierarchy, k as stopDepthCapture, l as getCamera, m as getImageCaptureFrameCount, n as applyAlignmentMatrix, o as extractPoseFromViewer, p as getDepthSampleCount, r as buildSessionOptions, s as extractResetTransformData, t as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, u as getCameraFrameCount, v as isWebXRSupported, w as shouldLogCameraAccessDiagnostic, x as nueQuaternionToWebXR, y as isXRCameraLike } from "../webxr-session-BBlgzrqY.js";
 export { DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArWorldGroup, getCamera, getCameraFrameCount, getCurrentArPose, getDepthInfoFromFrame, getDepthSampleCount, getImageCaptureFrameCount, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, rebindTrackingStore, resetWebXRState, shouldLogCameraAccessDiagnostic, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture };

package/dist/ar/xr-camera-texture.d.ts

@@ -1,2 +1,2 @@
-import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-q0eIDSRg.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-BA4xiaQ4.js";
 export { CameraTextureResult, RendererLike, XRCameraLike, acquireCameraTexture };

package/dist/ar/xr-error-handler.d.ts

@@ -1,2 +1,2 @@
-import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-D9y5r8ok.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-BeyxXCE_.js";
 export { XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, getXrErrorMessage };

package/dist/ar/xr-frame-loop.d.ts

@@ -1,2 +1,2 @@
-import { a as runXrFrameUpdates, i as registerXrFrameUpdate, n as XrFrameUpdate, r as clearXrFrameUpdates, t as XrFrameContext } from "../xr-frame-loop-BiZvgqP7.js";
+import { a as runXrFrameUpdates, i as registerXrFrameUpdate, n as XrFrameUpdate, r as clearXrFrameUpdates, t as XrFrameContext } from "../xr-frame-loop-A1mGDFHI.js";
 export { XrFrameContext, XrFrameUpdate, clearXrFrameUpdates, registerXrFrameUpdate, runXrFrameUpdates };

package/dist/{ar-world-group-alignment-BdS_h8Nf.d.ts → ar-world-group-alignment-Dn_UiRy1.d.ts}

@@ -1,4 +1,4 @@
-import { t as SubscribableStore } from "./subscribe-to-selector-j-eOYybQ.js";
+import { t as SubscribableStore } from "./subscribe-to-selector-hitZwSj8.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/ar-world-group-alignment.d.ts

package/dist/{cell-key-Bj-eYTLA.js → cell-key-D1b_Ix-p.js}

@@ -40,6 +40,17 @@ function unpackCellKey(key) {
 	];
 }
 /**
+* Per-axis key strides: stepping one cell along an axis moves the packed key
+* by a constant (positional base-2^17 packing) — `packCellKey(x+1, y, z) ===
+* packCellKey(x, y, z) + CELL_KEY_STRIDE_X`, and the z stride is 1. Hot walks
+* (the occupancy grid's fused carve, the smooth mesher's dual-cell corners)
+* maintain keys incrementally with these instead of repacking per cell.
+* DERIVED from the packer itself so they can never drift from the encoding.
+*/
+const CELL_KEY_STRIDE_X = packCellKey(1, 0, 0) - packCellKey(0, 0, 0);
+/** See {@link CELL_KEY_STRIDE_X}. */
+const CELL_KEY_STRIDE_Y = packCellKey(0, 1, 0) - packCellKey(0, 0, 0);
+/**
 * True iff every coordinate is within ±`limit` — the aliasing guard callers
 * must apply before keying untrusted coordinates. Defaults to the full-field
 * {@link CELL_KEY_LIMIT}; the meshers pass {@link HALF_LATTICE_CELL_KEY_LIMIT}.
@@ -48,4 +59,4 @@ function cellCoordsInKeyRange(cell, limit = CELL_KEY_LIMIT) {
 	return Math.abs(cell[0]) <= limit && Math.abs(cell[1]) <= limit && Math.abs(cell[2]) <= limit;
 }
 //#endregion
-export { packCellKey as a, cellKey as i, HALF_LATTICE_CELL_KEY_LIMIT as n, unpackCellCoord as o, cellCoordsInKeyRange as r, unpackCellKey as s, CELL_KEY_LIMIT as t };
+export { cellCoordsInKeyRange as a, unpackCellCoord as c, HALF_LATTICE_CELL_KEY_LIMIT as i, unpackCellKey as l, CELL_KEY_STRIDE_X as n, cellKey as o, CELL_KEY_STRIDE_Y as r, packCellKey as s, CELL_KEY_LIMIT as t };

package/dist/core/index.d.ts

@@ -1,2 +1,2 @@
-import { S as webxrToNUE, _ as createLoopClosureHandler, a as LibraryRootState, b as odometryTrackingRestarted, c as Matrix4, d as Vector3, f as arNorthBearingDeg, g as createGpsSlamStore, h as calcRelativeCoordsInMeters, i as LatLongAlt, l as Quaternion, m as calcGpsCoords, n as GpsPoint, o as LoopClosureHandler, p as bearingDeltaDeg, r as LatLong, s as LoopClosureHandlerConfig, t as ArImageCapture, u as RootState, v as isIdentityMatrix4, x as validateLicenseKey, y as magneticHeadingFromEnuQuat } from "../index-CjxbDm8W.js";
+import { S as webxrToNUE, _ as createLoopClosureHandler, a as LibraryRootState, b as odometryTrackingRestarted, c as Matrix4, d as Vector3, f as arNorthBearingDeg, g as createGpsSlamStore, h as calcRelativeCoordsInMeters, i as LatLongAlt, l as Quaternion, m as calcGpsCoords, n as GpsPoint, o as LoopClosureHandler, p as bearingDeltaDeg, r as LatLong, s as LoopClosureHandlerConfig, t as ArImageCapture, u as RootState, v as isIdentityMatrix4, x as validateLicenseKey, y as magneticHeadingFromEnuQuat } from "../index-T8Fxvzka.js";
 export { ArImageCapture, GpsPoint, LatLong, LatLongAlt, LibraryRootState, LoopClosureHandler, LoopClosureHandlerConfig, Matrix4, Quaternion, RootState, Vector3, arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, createLoopClosureHandler, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };

package/dist/{create-slam-app-store-oK9bnqyI.js → create-slam-app-store-B62K8_Qr.js}

@@ -2,7 +2,7 @@ import { trackingReducer } from "./state/tracking-slice.js";
 import { recordWriteFailure, recordingReducer } from "./state/recording-slice.js";
 import { createTrackingQualityListenerMiddleware, trackingQualityReducer } from "./state/tracking-quality.js";
 import { createPersistenceMiddleware, slicePrefixOf } from "./state/persistence-middleware.js";
-import { arElementsReducer, gpsDataReducer, gpsElementsReducer, sanitizeForDevTools, setColdStartOverrideEnabled, setCompassRotationPriorEnabled, setCompassWebXRConsistencyEnabled, setZeroPos, validateLicenseKey } from "gps-plus-slam-js";
+import { arElementsReducer, gpsDataReducer, gpsElementsReducer, sanitizeForDevTools, setColdStartOverrideEnabled, setCompassExperimentEnabled, setCompassRotationPriorEnabled, setCompassVoteWeight, setCompassWebXRConsistencyEnabled, setRobustSolverComparisonEnabled, setZeroPos, validateLicenseKey } from "gps-plus-slam-js";
 import { configureStore, createListenerMiddleware } from "@reduxjs/toolkit";
 import { COMMUNITY_LICENSE_KEY } from "gps-plus-slam-js/community-license-key";
 //#region ../src/state/slam-app-store-listener.ts
@@ -77,8 +77,9 @@ function createSlamAppStoreListenerMiddleware(optIns) {
 * never references those concepts so apps that don't need them (POI viewers,
 * navigation arrows, …) compose freely.
 *
-* The legacy `createRecorderStore` from `store.ts` is built on top of this
-* factory and will move out of the framework in Iter 1D.
+* This is the framework's ONLY store factory (the legacy
+* `createRecorderStore`/`store.ts` it replaced moved out in Iter 1D); the
+* core library's license error messages point here as the remediation.
 *
 * @see docs/2026-05-03-appframework-vs-recorderapp-boundary-analysis.md — Iter 1
 */
@@ -95,7 +96,7 @@ const BUILTIN_PERSISTED_PREFIXES = [slicePrefixOf(setZeroPos.type), slicePrefixO
 * design rationale.
 */
 function createSlamAppStore(options) {
-	const { storageBackend, extraReducers, extraMiddleware, persistedExtraPrefixes, onWriteFailure, enableDevChecks = true, licenseKey = COMMUNITY_LICENSE_KEY, trackingQualityOptions, enableCompassColdStartOverride = true, enableCompassRotationPrior = false, enableCompassWebXRConsistency = false } = options;
+	const { storageBackend, extraReducers, extraMiddleware, persistedExtraPrefixes, onWriteFailure, enableDevChecks = true, licenseKey = COMMUNITY_LICENSE_KEY, trackingQualityOptions, enableCompassColdStartOverride = true, enableCompassRotationPrior = false, enableCompassWebXRConsistency = false, enableCompassExperiment = false, enableRobustSolverComparison = false, compassVoteWeight } = options;
 	validateLicenseKey(licenseKey);
 	const builtins = {
 		gpsData: gpsDataReducer,
@@ -127,6 +128,18 @@ function createSlamAppStore(options) {
 		isSet: (s) => s.gpsData?.compassWebXRConsistencyEnabled === true,
 		apply: (dispatch) => dispatch(setCompassWebXRConsistencyEnabled(true))
 	});
+	if (enableCompassExperiment) compassOptIns.push({
+		isSet: (s) => s.gpsData?.compassExperimentEnabled === true,
+		apply: (dispatch) => dispatch(setCompassExperimentEnabled(true))
+	});
+	if (enableRobustSolverComparison) compassOptIns.push({
+		isSet: (s) => s.gpsData?.robustSolverComparisonEnabled === true,
+		apply: (dispatch) => dispatch(setRobustSolverComparisonEnabled(true))
+	});
+	if (compassVoteWeight !== void 0) compassOptIns.push({
+		isSet: (s) => s.gpsData?.compassVoteWeight === compassVoteWeight,
+		apply: (dispatch) => dispatch(setCompassVoteWeight(compassVoteWeight))
+	});
 	const prependedListeners = [trackingQualityMiddleware];
 	if (compassOptIns.length > 0) prependedListeners.push(createSlamAppStoreListenerMiddleware(compassOptIns));
 	const persistenceMiddleware = createPersistenceMiddleware({

package/dist/{create-slam-app-store-DFm5K9Ob.d.ts → create-slam-app-store-sxb1-esK.d.ts}

@@ -1,7 +1,7 @@
-import { a as TrackingSliceState } from "./tracking-slice-BAbcZK-Y.js";
-import { t as RecordingState } from "./recording-slice-DXw5-UvO.js";
-import { n as SessionMetadata } from "./opfs-storage-S_odkCk1.js";
-import { n as StorageBackend } from "./storage-backend-BX7egQKi.js";
+import { a as TrackingSliceState } from "./tracking-slice-D5LDL_y4.js";
+import { t as RecordingState } from "./recording-slice-zMedT0ot.js";
+import { n as SessionMetadata } from "./opfs-storage-CrhVauNL.js";
+import { n as StorageBackend } from "./storage-backend-DCYbOvTw.js";
 import { GpsPoint, LatLong, Matrix4, RootState, Vector3 } from "gps-plus-slam-js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
 import { Middleware, Reducer, ReducersMapObject, configureStore } from "@reduxjs/toolkit";
@@ -349,6 +349,36 @@ interface SlamAppStoreOptions<ExtraReducers extends ReducersMapObject = Record<s
    * `false` ⇒ byte-identical. The action persists into recordings.
    */
   enableCompassWebXRConsistency?: boolean;
+  /**
+   * **Field-test flag (2026-07-19 enablement plan)** — enable the library's
+   * compass EXPERIMENT combo: Stage-C rotation prior + trust tolerance 15°
+   * (the census-backed activating value) + C′ compass-guided pair selection.
+   * Dispatches `setCompassExperimentEnabled(true)` once `gpsData` exists; the
+   * combo itself lives in the library (single boolean crosses the boundary).
+   * Default `false` ⇒ byte-identical. The action persists into recordings, so
+   * replays/censuses can attribute. Keep OFF for §6a calibration recordings.
+   *
+   * @see GpsPlusSlamJs_Docs/docs/2026-07-19-0813-compass-experiment-recorder-enablement-plan.md
+   */
+  enableCompassExperiment?: boolean;
+  /**
+   * **Field-test flag** — enable the library's alternative robust-solver
+   * comparison arm (NOT a compass mechanism — a generic outlier-tolerant
+   * position fit, rejected as a default on the evaluation corpus but exposed
+   * for on-device A/B against the compass experiment; adds run-to-run
+   * variance by nature). Dispatches `setRobustSolverComparisonEnabled(true)`
+   * once `gpsData` exists. Default `false` ⇒ byte-identical. The action
+   * persists into recordings.
+   */
+  enableRobustSolverComparison?: boolean;
+  /**
+   * **Field-test knob** — steady-state compass vote weight ∈ [0,1] for the
+   * rotation prior / compass experiment (the recorder's vote-weight slider,
+   * 2026-07-19 weight-curve follow-up). Dispatches `setCompassVoteWeight(w)`
+   * once `gpsData` exists. Absent ⇒ the library default; only consulted while
+   * a rotation prior is active. The action persists into recordings.
+   */
+  compassVoteWeight?: number;
 }
 /**
  * Combined root state: the framework's base state plus any caller-supplied

package/dist/{depth-grid-lookup-CCuzlqUo.d.ts → depth-grid-lookup-PcJTdRLL.d.ts}

@@ -1,4 +1,4 @@
-import { r as DepthPoint } from "./ar-types-D6PYS4bc.js";
+import { r as DepthPoint } from "./ar-types-BprL3nKv.js";
 
 //#region ../src/ar/depth-grid-lookup.d.ts
 interface DepthGridLookup {

package/dist/{depth-sampler-CS2jAFw4.d.ts → depth-sampler-BcvuxgCS.d.ts}

@@ -1,4 +1,4 @@
-import { a as RgbTuple, i as DepthSample, t as ARPose } from "./ar-types-D6PYS4bc.js";
+import { a as RgbTuple, i as DepthSample, t as ARPose } from "./ar-types-BprL3nKv.js";
 import { Matrix4 } from "gps-plus-slam-js";
 
 //#region ../src/ar/depth-rgb-lookup.d.ts
@@ -114,6 +114,33 @@ declare function wrapXRDepthInfo(raw: {
     matrix?: ArrayLike<number>;
   } | null;
 }, projectionMatrix: ArrayLike<number> | undefined): DepthInfo;
+/**
+ * Recommended depth-sampling cadence for apps that RECONSTRUCT-and-render an
+ * occupancy mesh (the Recorder, the PhysicsDemo) — the depth-side counterpart
+ * of `DEFAULT_OCCUPANCY_CELL_SIZE_M`/`DEFAULT_OCCUPANCY_MIN_OBSERVATIONS`
+ * (occupancy-grid.ts): one framework-level source of truth so both apps build
+ * the mesh at the same speed (2026-07-16 field feedback: the demo relied on
+ * the conservative fallback below — 16×16 @ 1 Hz, 8× fewer points/s than the
+ * recorder — and reconstructed visibly slower).
+ *
+ * Tuning (2026-07-16 EVENING, maintainer's on-device framerate/mesh trade-off
+ * passes — supersedes the same-day sweep-derived 500 ms × 64): 200 ms × 24×24.
+ * The ground-truth density/cadence sweep
+ * (GpsPlusSlamJs_Investigation test-results/synthetic-density-cadence-sweep.txt)
+ * showed density is the more point-efficient mesh-speed lever, but its
+ * flagged open question — on-device frame-time cost — resolved against LARGE
+ * per-sample batches: 64² @ 2 Hz (8192 points/s) visibly hurt the framerate,
+ * while many SMALL samples (24² @ 5 Hz, ~2880 points/s) keep the per-frame
+ * work chunk tiny and rendering smooth at good mesh build-up. If devices get
+ * faster, the sweep says gridSize (not the interval) is the knob to raise
+ * first.
+ *
+ * Deliberately OPT-IN named constants, NOT a change to the fallback below:
+ * bumping the fallback would silently re-tune consumers that are not
+ * reconstruction apps (MinimalExample / AnchorStarter).
+ */
+declare const DEFAULT_RECONSTRUCTION_DEPTH_INTERVAL_MS = 200;
+declare const DEFAULT_RECONSTRUCTION_DEPTH_GRID_SIZE = 24;
 /**
  * Samples sparse depth points from WebXR depth sensing.
  *
@@ -208,4 +235,4 @@ declare class DepthSampler {
   hasReceivedDepth(): boolean;
 }
 //#endregion
-export { wrapXRDepthInfo as a, DepthSamplerConfig as i, DepthSampler as n, DepthSamplerCallbacks as r, DepthInfo as t };
+export { DepthSamplerCallbacks as a, DepthSampler as i, DEFAULT_RECONSTRUCTION_DEPTH_INTERVAL_MS as n, DepthSamplerConfig as o, DepthInfo as r, wrapXRDepthInfo as s, DEFAULT_RECONSTRUCTION_DEPTH_GRID_SIZE as t };

package/dist/{depth-unprojection-ET3Gwedf.d.ts → depth-unprojection-DbGipFkA.d.ts}

@@ -1,4 +1,4 @@
-import { r as DepthPoint } from "./ar-types-D6PYS4bc.js";
+import { r as DepthPoint } from "./ar-types-BprL3nKv.js";
 import { Matrix4, Quaternion, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/depth-unprojection.d.ts

package/dist/{enable-gps-ar-D_xEHzh5.d.ts → enable-gps-ar-xjz3jNqm.d.ts}

@@ -1,7 +1,7 @@
-import { t as ArCrashIsolationOptions } from "./ar-crash-isolation-DlXCGzMf.js";
-import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CnhYrJCa.js";
-import { n as PermissionStatus } from "./permission-checker-B-VtjnBA.js";
-import { a as SessionFeatureOptions, t as ArSessionCallbacks } from "./webxr-session-DefwObIu.js";
+import { t as ArCrashIsolationOptions } from "./ar-crash-isolation-BSFw_beO.js";
+import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CC0l9lCp.js";
+import { n as PermissionStatus } from "./permission-checker-BDrCOwQF.js";
+import { a as SessionFeatureOptions, t as ArSessionCallbacks } from "./webxr-session-DurXRnl_.js";
 
 //#region ../src/ar/enable-gps-ar.d.ts
 /**

package/dist/{frame-conversions-CH7E2Iv_.d.ts → frame-conversions-CzPQDYpM.d.ts}

@@ -1,4 +1,4 @@
-import { i as LatLongAlt, r as LatLong } from "./index-CjxbDm8W.js";
+import { i as LatLongAlt, r as LatLong } from "./index-T8Fxvzka.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/frame-conversions.d.ts

package/dist/{fused-path-DOKzVMiO.d.ts → fused-path-CBAttcVm.d.ts}

@@ -1,4 +1,4 @@
-import { t as GpsCoord } from "./geo-types-BfDK8kJu.js";
+import { t as GpsCoord } from "./geo-types-DGe5UKgx.js";
 import { LatLong, Matrix4, Vector3, fusedGpsFromOdom } from "gps-plus-slam-js";
 
 //#region ../src/utils/fused-path.d.ts

package/dist/geo/h3-proximity.d.ts

@@ -1,2 +1,2 @@
-import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-BaAulrnM.js";
+import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-CAEk3osq.js";
 export { H3_RESOLUTION, KnownGeoAnchor, approxDistanceMetres, clusterCellsByZoom, findNearbyGeoAnchor, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, isH3Index };

package/dist/geo/index.d.ts

@@ -1,2 +1,2 @@
-import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-BaAulrnM.js";
+import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-CAEk3osq.js";
 export { H3_RESOLUTION, type KnownGeoAnchor, approxDistanceMetres, clusterCellsByZoom, findNearbyGeoAnchor, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, isH3Index };

package/dist/{gps-anchor-BaqyRsPC.d.ts → gps-anchor-Gv4NDwH4.d.ts}

@@ -1,4 +1,4 @@
-import { i as LatLongAlt, r as LatLong } from "./index-CjxbDm8W.js";
+import { i as LatLongAlt, r as LatLong } from "./index-T8Fxvzka.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/gps-anchor.d.ts

package/dist/{gps-ar-pose-sampler-BuuUuK-D.d.ts → gps-ar-pose-sampler-DBEYDFY5.d.ts}

@@ -1,4 +1,4 @@
-import { t as ARPose } from "./ar-types-D6PYS4bc.js";
+import { t as ARPose } from "./ar-types-BprL3nKv.js";
 import { Quaternion, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/state/gps-ar-pose-sampler.d.ts

package/dist/{gps-event-coordinator-Cruoe5I-.d.ts → gps-event-coordinator-BAy56wYd.d.ts}

@@ -1,7 +1,7 @@
-import { t as ARPose } from "./ar-types-D6PYS4bc.js";
-import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CnhYrJCa.js";
-import { t as AbsoluteOrientationReading } from "./absolute-orientation-Dj1One3y.js";
-import { i as SlamAppStore } from "./create-slam-app-store-DFm5K9Ob.js";
+import { t as ARPose } from "./ar-types-BprL3nKv.js";
+import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CC0l9lCp.js";
+import { t as AbsoluteOrientationReading } from "./absolute-orientation-0WIsqJnu.js";
+import { i as SlamAppStore } from "./create-slam-app-store-sxb1-esK.js";
 import { RawAbsoluteOrientation, RawGpsPoint, RecordGpsEventPayload, eulerToQuaternion } from "gps-plus-slam-js";
 import { ReducersMapObject } from "@reduxjs/toolkit";
 

package/dist/{gps-event-markers-y2b2aVl6.d.ts → gps-event-markers-212h7j3D.d.ts}

@@ -1,5 +1,5 @@
 import * as THREE from "three";
-import { LatLong, Vector3 } from "gps-plus-slam-js";
+import { LatLong, Vector3 as Vector3$1 } from "gps-plus-slam-js";
 
 //#region ../src/visualization/gps-event-markers.d.ts
 /**
@@ -90,18 +90,18 @@ declare class GpsEventVisualizer {
    *   fixed 8 cm sphere (same defensive policy as `preview-map.ts`).
    *   Cyan fused and red snapshot markers are never affected by this argument.
    */
-  addGpsEvent(gpsCoords: Vector3, odomPosition: Vector3, accuracy?: GpsEventAccuracy): void;
+  addGpsEvent(gpsCoords: Vector3$1, odomPosition: Vector3$1, accuracy?: GpsEventAccuracy): void;
   /**
    * Add an alignment snapshot marker at the given NUE position.
    * Snapshots represent the system's best GPS estimate at each alignment update.
    * Added to scene root (GPS world space), not arWorldGroup.
    */
-  addAlignmentSnapshot(nuePosition: Vector3): void;
+  addAlignmentSnapshot(nuePosition: Vector3$1): void;
   /**
    * Get the NUE positions of all alignment snapshot markers.
    * Used at session end to convert to GPS coordinates for the summary map.
    */
-  getAlignmentSnapshotPositions(): Vector3[];
+  getAlignmentSnapshotPositions(): Vector3$1[];
   /**
    * Create a sphere marker mesh with the given color and name.
    */

package/dist/hit-test-reticle-driver-CfKiDgsa.d.ts

@@ -0,0 +1,40 @@
+import { Object3D, Vector3 } from "three";
+
+//#region ../src/ar/hit-test-reticle-driver.d.ts
+/** Live-reticle handle returned by {@link startHitTestReticle}. */
+interface HitTestReticleHandle {
+  /** Is a surface currently under the screen-centre reticle? */
+  isVisible(): boolean;
+  /**
+   * Write the reticle's current world position into `out` and return it. Only
+   * meaningful while `isVisible()` is true; the value is the GPS-world (NUE)
+   * pose once `arWorldGroup` carries the alignment.
+   */
+  getWorldPosition(out: Vector3): Vector3;
+  /** Remove the reticle mesh and unregister the frame loop (idempotent). */
+  dispose(): void;
+}
+/** Arguments for {@link startHitTestReticle}. */
+interface HitTestReticleArgs {
+  /**
+   * Parent for the reticle mesh — pass `getArWorldGroup()` so the reticle
+   * rides the GPS alignment and its world pose is GPS-world (NUE).
+   */
+  arWorldGroup: Object3D;
+  /**
+   * Optional tap handler, fired on EVERY WebXR `select` — with the reticle's
+   * current world position when a surface is present, or `null` when not.
+   * Surface-less taps are reported too so the app can react (GPS gating,
+   * "point at the floor" hints); the placement decision stays app-side.
+   * When omitted, no `select` listener is registered at all.
+   */
+  onSelect?: (worldPosition: Vector3 | null) => void;
+}
+/**
+ * Install the hit-test reticle under `arWorldGroup` and start driving it from
+ * the XR frame loop. Returns a handle the app reads at placement time (or
+ * ignores entirely when it placed via `onSelect`).
+ */
+declare function startHitTestReticle(args: HitTestReticleArgs): HitTestReticleHandle;
+//#endregion
+export { HitTestReticleHandle as n, startHitTestReticle as r, HitTestReticleArgs as t };

package/dist/{image-capture-BevgKpoO.d.ts → image-capture-BXmx1YvD.d.ts}

@@ -1,6 +1,6 @@
-import { i as MotionFilterConfig } from "./capture-motion-gate-CPwLekNf.js";
-import { o as WebXRQuaternion, s as WebXRVec3, t as ARPose } from "./ar-types-D6PYS4bc.js";
-import { s as QualityFilterConfig } from "./image-quality--HLuyJ2r.js";
+import { i as MotionFilterConfig } from "./capture-motion-gate-C60Qrilh.js";
+import { o as WebXRQuaternion, s as WebXRVec3, t as ARPose } from "./ar-types-BprL3nKv.js";
+import { s as QualityFilterConfig } from "./image-quality-G7_qT4aj.js";
 
 //#region ../src/ar/image-capture.d.ts
 /**

package/dist/{index-Dxb6ATNK.d.ts → index-DVmgFIgm.d.ts}

@@ -1,4 +1,4 @@
-import { o as RgbaImage } from "./qr-frontend-QzKZSqB-.js";
+import { o as RgbaImage } from "./qr-frontend-BnLlVjKu.js";
 //#region ../src/ar/camera-frame-source.d.ts
 /** Tuning for the camera frame source. */
 interface CameraFrameSourceConfig {

package/dist/{index-BWVwd9Zw.d.ts → index-DX9VC257.d.ts}

@@ -1,6 +1,6 @@
-import { t as GridCell } from "./bresenham3d-D-t9i_b5.js";
-import { a as QrPoseSolution, i as Pose, r as Point2, t as CameraIntrinsics } from "./qr-pose-21fRDcFO.js";
-import { a as QrFrontEnd, o as RgbaImage } from "./qr-frontend-QzKZSqB-.js";
+import { t as GridCell } from "./bresenham3d-bt61R-Qa.js";
+import { a as QrPoseSolution, i as Pose, r as Point2, t as CameraIntrinsics } from "./qr-pose-_dInl6di.js";
+import { a as QrFrontEnd, o as RgbaImage } from "./qr-frontend-BnLlVjKu.js";
 import { Quaternion, RecordGpsEventPayload, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/qr/qr-gps-vote.d.ts

package/dist/{index-ClmnNJ6-.d.ts → index-qYJ5-SBC.d.ts}

@@ -1,4 +1,4 @@
-import { N as CombinedRootState, m as TrackingQualityReport } from "./create-slam-app-store-DFm5K9Ob.js";
+import { N as CombinedRootState, m as TrackingQualityReport } from "./create-slam-app-store-sxb1-esK.js";
 import { Add2dImagePayload, GpsPoint as GpsPoint$1, LatLong as LatLong$1, RawDeviceOrientation, RawGpsPoint as RawGpsPoint$1, RecordGpsEventPayload as RecordGpsEventPayload$1, add2dImage, calcRelativeCoordsInMeters, recordGpsEvent as recordGpsEvent$1, setZeroPos as setZeroPos$1 } from "gps-plus-slam-js";
 
 //#region ../src/state/onboarding-guidance.d.ts