gps-plus-slam-app-framework 1.2.0 → 1.4.0

package/dist/index.d.ts

@@ -1,68 +1,78 @@
-import { r as bresenham3d, t as GridCell } from "./bresenham3d-CFfd7n6B.js";
-import { i as computeCaptureSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "./camera-blit-capture-D5_mNhla.js";
-import { i as isFullySupported, n as CapabilitySupport, r as capabilityMessage, t as CapabilityMessageOptions } from "./capability-checker-CQXJHxXg.js";
-import { a as createCaptureFailureTracker, i as DEFAULT_CAPTURE_TRACKER_CONFIG, n as CaptureFailureTracker, r as CaptureFailureTrackerConfig, t as CAPTURE_FAILURE_WARNING } from "./capture-failure-tracker-CUeU3L_M.js";
-import { a as applyChromiumProjectionLayerWorkaround, i as ChromiumProjectionLayerWorkaroundResult, n as BASELAYER_WINDOW_MIN, o as needsBaseLayerPersistence, r as ChromeVersion, s as parseChromeVersion, t as BASELAYER_WINDOW_MAX } from "./chromium-camera-access-workaround-Jqbn0apH.js";
-import { a as RgbTuple, i as DepthSample, n as ArPoseTuples, o as WebXRQuaternion, r as DepthPoint, s as WebXRVec3, t as ARPose } from "./ar-types-Dan1MVTi.js";
-import { a as wrapXRDepthInfo, i as DepthSamplerConfig, n as DepthSampler, r as DepthSamplerCallbacks, t as DepthInfo } from "./depth-sampler-Bhanfwla.js";
-import { n as createDepthUnprojector, r as unprojectDepthPoint, t as DepthUnprojector } from "./depth-unprojection-Y6i_mJuT.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 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 ImageCaptureManager, i as ImageCaptureConfig, n as DEFAULT_CAPTURE_CONFIG, o as MIN_VALID_IMAGE_BYTES, r as ImageCaptureCallbacks, t as CapturedImage } from "./image-capture-DZ4HFRgS.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, s as originReset, u as resetTracking } from "./tracking-slice-CdK8c-8P.js";
-import { n as createCss3dRendererManager, t as Css3dRendererManager } from "./css3d-renderer-manager-ptu_t3B3.js";
-import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "./xr-camera-texture-DBwCaKTd.js";
-import { D as setDepthCaptureCallback, I as startDepthCapture, L as startImageCapture, M as setTrackingLostCallback, O as setFrameCallback, P as setTrackingStore, R as stopDepthCapture, d as getCamera, f as getCurrentArPose, g as getScene, h as getLiveCss3dManager, j as setTrackingCallbacks, k as setImageCaptureCallback, m as getImageCaptureFrameCount, o as endARSession, p as getDepthSampleCount, t as SessionFeatureOptions, u as getArWorldGroup, v as initAR, z as stopImageCapture } from "./webxr-session-DtAG9srK.js";
-import { a as EnableGpsArState, i as EnableGpsArResult, n as EnableGpsArController, o as EnableGpsArStatus, r as EnableGpsArDeps, s as createEnableGpsArController, t as EnableGpsArConfig } from "./enable-gps-ar-CapmADVN.js";
-import { r as registerFrameUpdate, t as FrameUpdate } from "./frame-loop-CMewS8cY.js";
-import { n as OccupancyGridOptions, t as OccupancyGrid } from "./occupancy-grid-BRNRaPyT.js";
-import { i as registerXrFrameUpdate, n as XrFrameUpdate, t as XrFrameContext } from "./xr-frame-loop-BtYytZJg.js";
-import { n as createCameraFollower, t as CameraFollower } from "./camera-follower-C2mwEn7c.js";
-import { n as createAlignmentLerper, t as AlignmentLerper } from "./alignment-lerper-Dm9G7JJO.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, t as CameraMode, u as toggleCameraMode } from "./replay-scene-Bw58VL6p.js";
-import { t as SCENE_NODE } from "./scene-node-names-Bu0S66H1.js";
-import { t as WEBXR_TO_NUE } from "./webxr-nue-basis-CqKQmZzT.js";
-import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "./xr-error-handler-C0AQRmxs.js";
-import { a as gpsToH3, i as findNearbyGeoAnchor, n as KnownGeoAnchor, o as h3CellsMatch, r as approxDistanceMetres, s as isH3Index, t as H3_RESOLUTION } from "./h3-proximity-I1msGPgE.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";
-import { a as createLogger, c as setGlobalLogLevel, i as clearLogBuffer, l as subscribeToLogs, n as LogLevel, o as getGlobalLogLevel, r as Logger, s as getLogBuffer, t as LogEntry } from "./logger-BEHXsnnq.js";
-import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "./geo-types-SaPnIEUM.js";
-import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "./fused-path-DJoVu98b.js";
-import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "./failure-tracker-Cn8Fo9D4.js";
-import { t as mapWithConcurrencyLimit } from "./concurrency-CO1FQvs3.js";
-import { t as formatFileSize } from "./format-file-size-CLCZz3lC.js";
-import { t as listFormatter } from "./list-formatter-RRcBe8Vg.js";
-import { a as recordWriteFailure, i as recordDepthSample, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "./recording-slice-89O07ebs.js";
-import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, i as createSession, l as listSessions, o as getSessionHandle, r as checkStorageQuota, s as getSessionsRootHandle, u as resetOpfsStorage } from "./opfs-storage-DYm8WHq7.js";
-import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-C9HLFtgz.js";
-import { A as resetTrackingQuality, C as computeResidualConsensus, D as firstAgreementReached, 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 { a as ZipActionEntry, d as loadSessionMetadataFromBlob, f as readZipEntries, i as RecordedAction, l as loadGpsPathFromBlob, n as GpsPathCoord, r as MAX_ACTION_FILE_SIZE, s as loadActionsFromZip } from "./zip-reader-DSEXt7K6.js";
-import { n as replayRecording } from "./recording-replayer-BL-x-7k0.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 MapDataInput, r as buildMapData, t as MapData } from "./map-data-CkloBxIl.js";
-import { t as SubscribableStore } from "./subscribe-to-selector-CP3BKSbF.js";
-import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "./store-subscribers-rrkLkFTt.js";
-import { c as calcRelativeCoordsInMeters, d as OnboardingGuidance, f as OnboardingPhase, l as recordGpsEvent, m as selectOnboardingGuidance, p as computeOnboardingGuidance, s as add2dImage, u as setZeroPos } from "./index-KJq2amHF.js";
-import { t as NullStorageBackend } from "./null-storage-backend-CxEjZHRW.js";
-import { t as OpfsStorageBackend } from "./opfs-storage-backend-CjSAuqg_.js";
-import { c as resetForNewSession, d as startSession$1, f as verifyWriteAccess, l as resetStorageState, m as writeFrame, n as WriteAccessResult, o as initStorage, p as writeAction } from "./file-system-C_eqiEA8.js";
-import { n as formatFrameFilename, r as formatTimestamp, t as formatActionFilename } from "./file-system-utils-DyAmcuvX.js";
-import { a as downloadZip, c as syncToExternalZip, i as ZipExportResult, n as ZipContributorAddFile, o as exportAndDownloadSession, r as ZipExportContributor, s as exportSessionAsZip, t as ExportSessionAsZipOptions } from "./zip-export-D_5HAvFz.js";
-import { n as ArWorldGroupAlignmentOptions, r as enableArWorldGroupAlignment, t as ArWorldGroupAlignmentHandle } from "./ar-world-group-alignment-ColHB_5A.js";
-import { i as createGpsCompassCubes, n as COMPASS_CUBE_SIZE, r as GpsCompassCubes, t as COMPASS_CUBE_DISTANCE } from "./gps-compass-cubes-BM1uGiYV.js";
-import { i as isSphereInCameraFrustum, n as isObjectInCameraFrustum, r as isPointInCameraFrustum, t as buildCameraFrustum } from "./frustum-visibility-CmI96ESS.js";
-import { n as worldNueToGps, t as nueToArLocal } from "./frame-conversions-BfsafGWR.js";
-import { n as createReticleMesh, r as updateReticle, t as HitMatrix } from "./hit-test-reticle-BEzEybxZ.js";
-import { a as GpsAnchorSamplePoint, i as GpsAnchorPhase, n as GpsAnchorMode, o as createGpsAnchor, r as GpsAnchorOptions, t as GpsAnchor } from "./gps-anchor-dYeCvvp5.js";
-import { n as GpsEventVisualizer, r as gpsEventVisualizer } from "./gps-event-markers-Dc9FT-q1.js";
-import { a as DEFAULT_Z_OFFSET, n as DEFAULT_LEAFLET_MAP_SIZE_PX, o as LeafletMapOverlay, r as DEFAULT_WORLD_SIZE, s as LeafletMapOverlayOptions } from "./leaflet-map-overlay-6CJC-E1l.js";
-import { n as clampedAlpha, t as DEFAULT_LERP_RATE } from "./lerp-utils-BpV-0Dtk.js";
-import { a as addAccuracyCircles, i as AccuracyCircleSample, n as ACCURACY_CIRCLE_STROKE_OPACITY, r as ACCURACY_CIRCLE_WEIGHT, t as ACCURACY_CIRCLE_FILL_OPACITY } from "./accuracy-circles-BpwWAs8G.js";
-import { a as MAP_PATH_POLYLINE_OPACITY, c as USER_POSITION_COLOR, i as FUSED_PATH_COLOR, l as drawMapData, n as DrawMapDataOptions, o as MAP_PATH_POLYLINE_WEIGHT, r as DrawnMapData, s as RAW_GPS_COLOR, t as ALIGNMENT_SNAPSHOT_COLOR } from "./map-overlay-draw-krOKwDAq.js";
-import { a as MapOverlayOptions, c as tileXYToLatLon, i as MapOverlay, n as DEFAULT_MAP_SIZE, o as TextureLoaderInterface, r as DEFAULT_ZOOM, s as latLonToTileXY, t as DEFAULT_HEIGHT_OFFSET } from "./map-overlay-bcogY5fK.js";
-import { n as disposeMeshArray, r as disposeObject3D, t as DisposeOptions } from "./three-dispose-D950t71B.js";
-import { t as VIS_COLORS } from "./vis-colors-D6omC64K.js";
+import { r as bresenham3d, t as GridCell } from "./bresenham3d-ByjcmEgM.js";
+import { a as computeCaptureSize, i as computeAspectFitSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "./camera-blit-capture-CqWe1G7s.js";
+import { i as isFullySupported, n as CapabilitySupport, r as capabilityMessage, t as CapabilityMessageOptions } from "./capability-checker-CXqoJYtb.js";
+import { a as createCaptureFailureTracker, i as DEFAULT_CAPTURE_TRACKER_CONFIG, n as CaptureFailureTracker, r as CaptureFailureTrackerConfig, t as CAPTURE_FAILURE_WARNING } from "./capture-failure-tracker-BL5SoG2a.js";
+import { a as applyChromiumProjectionLayerWorkaround, i as ChromiumProjectionLayerWorkaroundResult, n as BASELAYER_WINDOW_MIN, o as needsBaseLayerPersistence, r as ChromeVersion, s as parseChromeVersion, t as BASELAYER_WINDOW_MAX } from "./chromium-camera-access-workaround-BNK189P0.js";
+import { a as RgbTuple, i as DepthSample, n as ArPoseTuples, o as WebXRQuaternion, r as DepthPoint, s as WebXRVec3, t as ARPose } from "./ar-types-BckI1E-O.js";
+import { n as createDepthGridLookup, t as DepthGridLookup } from "./depth-grid-lookup-vMDrGTk_.js";
+import { a as wrapXRDepthInfo, i as DepthSamplerConfig, n as DepthSampler, r as DepthSamplerCallbacks, t as DepthInfo } from "./depth-sampler-DwfPYzS7.js";
+import { n as createDepthUnprojector, r as unprojectDepthPoint, t as DepthUnprojector } from "./depth-unprojection-CK3b9htH.js";
+import { D as validateRecordingOptions, S as validateDepthOptions, _ as cloneRecordingOptions, b as saveRecordingOptions, c as ImageCaptureOptions, h as STORAGE_KEY, i as DepthCaptureOptions, m as RecordingOptionsInput, n as DEFAULT_RECORDING_OPTIONS, r as DEPTH_CONSTRAINTS, s as IMAGE_CONSTRAINTS, v as loadRecordingOptions, w as validateImageOptions, y as resetRecordingOptions } from "./recording-options-D93kksJU.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-C5inWeNV.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-CtPtPQRq.js";
+import { a as ImageCaptureConfig, i as ImageCaptureCallbacks, n as CapturedImage, o as ImageCaptureManager, r as DEFAULT_CAPTURE_CONFIG, s as MIN_VALID_IMAGE_BYTES } from "./image-capture-C2Feywet.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, s as originReset, u as resetTracking } from "./tracking-slice-DJZ9qeGg.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-Bt2reSw7.js";
+import { a as QrFrontEnd, c as createBarcodeDetectorFrontEnd, i as QrDetection, n as BarcodeDetectorLike, o as RgbaImage, r as DetectedBarcodeLike, s as ToImageBitmapSource, t as BarcodeDetectorFrontEnd } from "./qr-frontend-DufZp2xS.js";
+import { n as createCss3dRendererManager, t as Css3dRendererManager } from "./css3d-renderer-manager-m-ab19vp.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "./xr-camera-texture-BmrP7iNZ.js";
+import { G as stopDepthCapture, H as startDepthCapture, I as setTrackingCallbacks, K as stopImageCapture, L as setTrackingLostCallback, M as setDepthCaptureCallback, N as setFrameCallback, P as setImageCaptureCallback, S as initAR, U as startImageCapture, V as startCameraFrameCapture, W as stopCameraFrameCapture, _ as getDepthSampleCount, b as getScene, c as endARSession, f as getArWorldGroup, g as getCurrentArPose, h as getCameraFrameCount, j as setCameraFrameCallback, p as getCamera, r as SessionFeatureOptions, t as CameraFrameCaptureConfig, v as getImageCaptureFrameCount, y as getLiveCss3dManager, z as setTrackingStore } from "./webxr-session-COsOjJwn.js";
+import { a as EnableGpsArState, i as EnableGpsArResult, n as EnableGpsArController, o as EnableGpsArStatus, r as EnableGpsArDeps, s as createEnableGpsArController, t as EnableGpsArConfig } from "./enable-gps-ar-CjZ1nEdu.js";
+import { r as registerFrameUpdate, t as FrameUpdate } from "./frame-loop-BEO9_q3k.js";
+import { c as QrSizeAccumulatorOptions, d as QrSizeStatus, f as createQrSizeAccumulator, i as QrSizeMeasurer, l as QrSizeEstimate, n as QrSizeDepthContext, o as createQrSizeMeasurer, p as estimateQrSizeFromDepth, r as QrSizeMeasurement, s as QrSizeAccumulator, t as ImageSize, u as QrSizeObservation } from "./qr-size-measurer-D7739ZpB.js";
+import { t as createQrSizeDepthContext } from "./qr-size-depth-context-onu36E9s.js";
+import { a as createIncrementalQrPlacement, c as deriveSolvedQrPose, i as RawQrObservation, l as solveQrPoseFromObservation, n as DerivedQrPlacement, o as deriveQrPlacement, r as IncrementalQrPlacement, s as deriveQrSizeM, t as DeriveQrPoseDeps } from "./qr-derived-pose-DinKE600.js";
+import { n as createQrDebugView, t as QrDebugView } from "./qr-debug-view-B8gTzjMm.js";
+import { a as createQrDetectionController, i as RawObservationSink, n as QrDetectionControllerDeps, r as QrScanStatus, t as QrDetectionController } from "./qr-detection-controller-Cd2Ih4cC.js";
+import { a as QrPoseStability, c as aggregateQrPose, i as DEFAULT_ROTATION_INLIER_ANGLE_DEG, l as averageRotation, n as AverageRotationOptions, o as QrPoseStabilityOptions, r as AverageRotationResult, s as QrPoseStabilityStatus, t as AggregateQrPoseResult, u as evaluateQrPoseStability } from "./qr-pose-aggregation-CFlmLm6w.js";
+import { A as QrGpsVoteInput, C as QrLevel, D as Enu, E as parseQrLevel, M as localPlaneToEnu, N as offsetGeo, O as METERS_PER_DEG_LAT, S as FetchQrLevelOptions, T as fetchQrLevel, _ as QrTrackingController, a as checkQrPlausibility, b as createQrTrackingController, c as QrDetectionScheduler, d as createQrDetectionScheduler, f as CameraFrameSource, g as QrSolvePoseInput, h as QrDetectionEvent, i as QrPlausibilityVerdict, j as buildQrGpsVotes, k as QrGeoPose, l as QrDetectionSchedulerConfig, m as CameraFrameSourceConfig, n as QrPlausibility, o as DetectionScheduler, p as CameraFrameSourceCallbacks, r as QrPlausibilityOptions, s as DetectionSchedulerConfig, t as OccupancySurface, u as createDetectionScheduler, v as QrTrackingControllerConfig, w as QrLevelValidationError, x as FetchLike, y as QrTrackingStatus } from "./index-BvLo2poy.js";
+import { a as homographyFromCorrespondences, c as rotationToRodrigues, i as PoseCandidate, l as solveLinear, n as Mat3, o as ippePoseCandidates, r as PlanarPnpSquare, s as nearestRotation3x3, t as Homography } from "./planar-pnp-cjthe7Be.js";
+import { n as OccupancyGridOptions, t as OccupancyGrid } from "./occupancy-grid-Bvi2Gw1U.js";
+import { i as registerXrFrameUpdate, n as XrFrameUpdate, t as XrFrameContext } from "./xr-frame-loop-K8ebdjLw.js";
+import { n as createCameraFollower, t as CameraFollower } from "./camera-follower-BTb2Yp12.js";
+import { n as createAlignmentLerper, t as AlignmentLerper } from "./alignment-lerper-BUTsQ2yu.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, t as CameraMode, u as toggleCameraMode } from "./replay-scene-CPt56pps.js";
+import { t as SCENE_NODE } from "./scene-node-names-CdNeQjOE.js";
+import { t as WEBXR_TO_NUE } from "./webxr-nue-basis-CW1wsbm6.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "./xr-error-handler-BEjRgZjt.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-B57C6rYL.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-C2bS69oJ.js";
+import { a as createLogger, c as setGlobalLogLevel, i as clearLogBuffer, l as subscribeToLogs, n as LogLevel, o as getGlobalLogLevel, r as Logger, s as getLogBuffer, t as LogEntry } from "./logger-CzQrCe6C.js";
+import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "./geo-types-DqiBzPO9.js";
+import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "./fused-path-C0FHe67t.js";
+import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "./failure-tracker-Cnc_xWUw.js";
+import { n as mapWithConcurrencyLimit } from "./concurrency-DqAlKX4j.js";
+import { t as formatFileSize } from "./format-file-size-BFUWvir1.js";
+import { t as listFormatter } from "./list-formatter-ct8txwvR.js";
+import { a as recordWriteFailure, i as recordDepthSample, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "./recording-slice-B-uCgGoh.js";
+import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, i as createSession, l as listSessions, o as getSessionHandle, r as checkStorageQuota, s as getSessionsRootHandle, u as resetOpfsStorage } from "./opfs-storage-DMtlt57S.js";
+import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-CTJHNdMp.js";
+import { A as resetTrackingQuality, C as computeResidualConsensus, D as firstAgreementReached, 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-Ce2FMKCp.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-C7hwHyLA.js";
+import { a as ZipActionEntry, d as loadSessionMetadataFromBlob, f as readZipEntries, i as RecordedAction, l as loadGpsPathFromBlob, n as GpsPathCoord, r as MAX_ACTION_FILE_SIZE, s as loadActionsFromZip } from "./zip-reader-Q2ue6zlC.js";
+import { n as replayRecording } from "./recording-replayer-CUEK82tM.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-BSVd7Zzb.js";
+import { n as MapDataInput, r as buildMapData, t as MapData } from "./map-data-DdjPiSav.js";
+import { t as SubscribableStore } from "./subscribe-to-selector-Bp3sLx8L.js";
+import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "./store-subscribers-BZP81hjh.js";
+import { c as calcRelativeCoordsInMeters, d as OnboardingGuidance, f as OnboardingPhase, l as recordGpsEvent, m as selectOnboardingGuidance, p as computeOnboardingGuidance, s as add2dImage, u as setZeroPos } from "./index-m_LneUSi.js";
+import { t as NullStorageBackend } from "./null-storage-backend-CuSdYFsM.js";
+import { t as OpfsStorageBackend } from "./opfs-storage-backend-CeQAb0SD.js";
+import { a as formatTimestamp, i as formatFrameFilename, r as formatActionFilename } from "./file-system-utils-Bs7lpeVP.js";
+import { a as downloadZip, c as syncToExternalZip, i as ZipExportResult, n as ZipContributorAddFile, o as exportSessionAsZip, r as ZipExportContributor, s as exportSessionHandleAsZip, t as ExportSessionAsZipOptions } from "./zip-export-DDWXInTR.js";
+import { n as ArWorldGroupAlignmentOptions, r as enableArWorldGroupAlignment, t as ArWorldGroupAlignmentHandle } from "./ar-world-group-alignment-DDLkgNf_.js";
+import { i as createGpsCompassCubes, n as COMPASS_CUBE_SIZE, r as GpsCompassCubes, t as COMPASS_CUBE_DISTANCE } from "./gps-compass-cubes-BExxrWJ-.js";
+import { i as isSphereInCameraFrustum, n as isObjectInCameraFrustum, r as isPointInCameraFrustum, t as buildCameraFrustum } from "./frustum-visibility-D_RGmH98.js";
+import { n as worldNueToGps, t as nueToArLocal } from "./frame-conversions-D_Af8Dt3.js";
+import { n as createReticleMesh, r as updateReticle, t as HitMatrix } from "./hit-test-reticle-Dqak9hiR.js";
+import { a as GpsAnchorSamplePoint, i as GpsAnchorPhase, n as GpsAnchorMode, o as createGpsAnchor, r as GpsAnchorOptions, t as GpsAnchor } from "./gps-anchor-C6I9NDHA.js";
+import { n as GpsEventVisualizer, r as gpsEventVisualizer } from "./gps-event-markers-Dd0G2bD0.js";
+import { a as DEFAULT_Z_OFFSET, n as DEFAULT_LEAFLET_MAP_SIZE_PX, o as LeafletMapOverlay, r as DEFAULT_WORLD_SIZE, s as LeafletMapOverlayOptions } from "./leaflet-map-overlay-bnb2U1NQ.js";
+import { n as clampedAlpha, t as DEFAULT_LERP_RATE } from "./lerp-utils-kLxMJ2Xj.js";
+import { a as addAccuracyCircles, i as AccuracyCircleSample, n as ACCURACY_CIRCLE_STROKE_OPACITY, r as ACCURACY_CIRCLE_WEIGHT, t as ACCURACY_CIRCLE_FILL_OPACITY } from "./accuracy-circles-Pi2YeCrM.js";
+import { a as MAP_PATH_POLYLINE_OPACITY, c as USER_POSITION_COLOR, i as FUSED_PATH_COLOR, l as drawMapData, n as DrawMapDataOptions, o as MAP_PATH_POLYLINE_WEIGHT, r as DrawnMapData, s as RAW_GPS_COLOR, t as ALIGNMENT_SNAPSHOT_COLOR } from "./map-overlay-draw-CPVdAsFq.js";
+import { a as MapOverlayOptions, c as tileXYToLatLon, i as MapOverlay, n as DEFAULT_MAP_SIZE, o as TextureLoaderInterface, r as DEFAULT_ZOOM, s as latLonToTileXY, t as DEFAULT_HEIGHT_OFFSET } from "./map-overlay-Dci4yvm3.js";
+import { n as disposeMeshArray, r as disposeObject3D, t as DisposeOptions } from "./three-dispose-BCZkSJp2.js";
+import { t as VIS_COLORS } from "./vis-colors-BZsSLI4i.js";
 import { COMMUNITY_LICENSE_KEY } from "./licensing/index.js";
-export { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, ALIGNMENT_SNAPSHOT_COLOR, ARPose, AccuracyCircleSample, AlignmentLerper, type AlignmentSnapshot, ArPoseTuples, ArWorldGroupAlignmentHandle, ArWorldGroupAlignmentOptions, BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, CAPTURE_FAILURE_WARNING, COMMUNITY_LICENSE_KEY, COMPASS_CUBE_DISTANCE, COMPASS_CUBE_SIZE, CameraBlitCapture, CameraBlitCaptureConfig, CameraFollower, CameraMode, CameraTextureResult, CapabilityMessageOptions, CapabilitySupport, CaptureFailureTracker, CaptureFailureTrackerConfig, CapturedImage, ChromeVersion, ChromiumProjectionLayerWorkaroundResult, type CompleteCallback, type CreateSessionResult, Css3dRendererManager, 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, type DepthCaptureOptions, DepthInfo, DepthPoint, DepthSample, DepthSampler, DepthSamplerCallbacks, DepthSamplerConfig, DepthUnprojector, DisposeOptions, DrawMapDataOptions, DrawnMapData, EnableGpsArConfig, EnableGpsArController, EnableGpsArDeps, EnableGpsArResult, EnableGpsArState, EnableGpsArStatus, type ErrorCallback, type ExportSessionAsZipOptions, FUSED_PATH_COLOR, FailureTracker, FailureTrackerConfig, FrameUpdate, FusedPathInput, GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, GpsAnchor, GpsAnchorMode, GpsAnchorOptions, GpsAnchorPhase, GpsAnchorSamplePoint, GpsCompassCubes, GpsCoord, GpsEventVisualizer, type GpsPathCoord, GpsPosition, GridCell, H3_RESOLUTION, HitMatrix, IMAGE_CONSTRAINTS, ImageCaptureCallbacks, ImageCaptureConfig, ImageCaptureManager, type ImageCaptureOptions, KnownGeoAnchor, LeafletMapOverlay, LeafletMapOverlayOptions, LogEntry, LogLevel, Logger, MAP_PATH_POLYLINE_OPACITY, MAP_PATH_POLYLINE_WEIGHT, MAX_ACTION_FILE_SIZE, MIN_VALID_IMAGE_BYTES, MapData, MapDataInput, MapOverlay, MapOverlayOptions, NullStorageBackend, OccupancyGrid, OccupancyGridOptions, type OnboardingGuidance, type OnboardingPhase, OpfsStorageBackend, PermissionCheckResult, PermissionStatus, type PoseReceivedPayload, type ProgressCallback, RAW_GPS_COLOR, RawDeviceOrientation, RawGpsSample, type RecordedAction, type RecordingCoordinatorConfig, type RecordingOptionsInput, type RecordingState, RefPointMarker, RendererLike, type ReplayAction, ReplayEngine, ReplaySceneState, type ReplayState, RgbTuple, SCENE_NODE, STORAGE_KEY, SessionFeatureOptions, type SlamAppCombinedState, type SlamAppMiddleware, type SlamAppRootState, type SlamAppStore, type SlamAppStoreOptions, type StorageBackend, type StoreSubscriberDeps, type SubscribableStore, TextureLoaderInterface, type TrackingPhase, type TrackingQualityOptions, type TrackingQualityReport, type TrackingQualitySliceState, type TrackingQualityState, type TrackingSliceState, USER_POSITION_COLOR, VIS_COLORS, WEBXR_TO_NUE, WebXRQuaternion, WebXRVec3, type WriteAccessResult, XRCameraLike, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, XrFrameContext, XrFrameUpdate, type ZipActionEntry, type ZipContributorAddFile, type ZipExportContributor, type ZipExportResult, 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 };
+export { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, ALIGNMENT_SNAPSHOT_COLOR, ARPose, AccuracyCircleSample, AggregateQrPoseResult, AlignmentLerper, type AlignmentSnapshot, ArPoseTuples, ArWorldGroupAlignmentHandle, ArWorldGroupAlignmentOptions, AverageRotationOptions, AverageRotationResult, BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, BarcodeDetectorFrontEnd, BarcodeDetectorLike, CAPTURE_FAILURE_WARNING, COMMUNITY_LICENSE_KEY, COMPASS_CUBE_DISTANCE, COMPASS_CUBE_SIZE, CameraBlitCapture, CameraBlitCaptureConfig, CameraFollower, CameraFrameCaptureConfig, CameraFrameSource, CameraFrameSourceCallbacks, CameraFrameSourceConfig, CameraIntrinsics, CameraMode, CameraTextureResult, CapabilityMessageOptions, CapabilitySupport, CaptureFailureTracker, CaptureFailureTrackerConfig, CapturedImage, ChromeVersion, ChromiumProjectionLayerWorkaroundResult, type CompleteCallback, type CreateSessionResult, Css3dRendererManager, 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_ROTATION_INLIER_ANGLE_DEG, DEFAULT_TRACKING_QUALITY_OPTIONS, DEFAULT_WORLD_SIZE, DEFAULT_ZOOM, DEFAULT_Z_OFFSET, DEPTH_CONSTRAINTS, type DepthCaptureOptions, DepthGridLookup, DepthInfo, DepthPoint, DepthSample, DepthSampler, DepthSamplerCallbacks, DepthSamplerConfig, DepthUnprojector, DeriveQrPoseDeps, DerivedQrPlacement, DetectedBarcodeLike, DetectionScheduler, DetectionSchedulerConfig, DisposeOptions, DrawMapDataOptions, DrawnMapData, EnableGpsArConfig, EnableGpsArController, EnableGpsArDeps, EnableGpsArResult, EnableGpsArState, EnableGpsArStatus, Enu, type ErrorCallback, type ExportSessionAsZipOptions, FUSED_PATH_COLOR, FailureTracker, FailureTrackerConfig, FetchLike, FetchQrLevelOptions, FrameUpdate, FusedPathInput, GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, GpsAnchor, GpsAnchorMode, GpsAnchorOptions, GpsAnchorPhase, GpsAnchorSamplePoint, GpsCompassCubes, GpsCoord, GpsEventVisualizer, type GpsPathCoord, GpsPosition, GridCell, H3_RESOLUTION, HitMatrix, Homography, IMAGE_CONSTRAINTS, ImageCaptureCallbacks, ImageCaptureConfig, ImageCaptureManager, type ImageCaptureOptions, ImageSize, IncrementalQrPlacement, KnownGeoAnchor, LeafletMapOverlay, LeafletMapOverlayOptions, LogEntry, LogLevel, Logger, MAP_PATH_POLYLINE_OPACITY, MAP_PATH_POLYLINE_WEIGHT, MAX_ACTION_FILE_SIZE, METERS_PER_DEG_LAT, MIN_VALID_IMAGE_BYTES, MapData, MapDataInput, MapOverlay, MapOverlayOptions, Mat3, NullStorageBackend, OccupancyGrid, OccupancyGridOptions, OccupancySurface, type OnboardingGuidance, type OnboardingPhase, OpenCvPnpResult, OpfsStorageBackend, PermissionCheckResult, PermissionStatus, PlanarPnpSquare, Point2, Pose, PoseCandidate, type PoseReceivedPayload, type ProgressCallback, QrDebugView, QrDetection, QrDetectionController, QrDetectionControllerDeps, QrDetectionEvent, QrDetectionScheduler, QrDetectionSchedulerConfig, QrFrontEnd, QrGeoPose, QrGpsVoteInput, QrLevel, QrLevelValidationError, QrPlausibility, QrPlausibilityOptions, QrPlausibilityVerdict, QrPoseSolution, QrPoseStability, QrPoseStabilityOptions, QrPoseStabilityStatus, QrScanStatus, QrSizeAccumulator, QrSizeAccumulatorOptions, QrSizeDepthContext, QrSizeEstimate, QrSizeMeasurement, QrSizeMeasurer, QrSizeObservation, QrSizeStatus, QrSolvePoseInput, QrTrackingController, QrTrackingControllerConfig, QrTrackingStatus, QuadValidation, RAW_GPS_COLOR, RawDeviceOrientation, RawGpsSample, RawObservationSink, RawQrObservation, type RecordedAction, type RecordingCoordinatorConfig, type RecordingOptionsInput, type RecordingState, RefPointMarker, RendererLike, type ReplayAction, ReplayEngine, ReplaySceneState, type ReplayState, RgbTuple, RgbaImage, SCENE_NODE, STORAGE_KEY, SessionFeatureOptions, type SlamAppCombinedState, type SlamAppMiddleware, type SlamAppRootState, type SlamAppStore, type SlamAppStoreOptions, SolvePnpSquare, SolveQrPoseInput, type StorageBackend, type StoreSubscriberDeps, type SubscribableStore, TextureLoaderInterface, ToImageBitmapSource, type TrackingPhase, type TrackingQualityOptions, type TrackingQualityReport, type TrackingQualitySliceState, type TrackingQualityState, type TrackingSliceState, USER_POSITION_COLOR, VIS_COLORS, WEBXR_TO_NUE, WebXRQuaternion, WebXRVec3, XRCameraLike, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, XrFrameContext, XrFrameUpdate, type ZipActionEntry, type ZipContributorAddFile, type ZipExportContributor, type ZipExportResult, acquireCameraTexture, add2dImage, addAccuracyCircles, aggregateQrPose, applyChromiumProjectionLayerWorkaround, approxDistanceMetres, averageRotation, bresenham3d, buildCameraFrustum, buildMapData, buildObjectPoints, buildQrGpsVotes, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, capabilityMessage, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkQrPlausibility, checkStorageQuota, checkWebXRSupport, clampedAlpha, clearLastRestartedPayload, clearLogBuffer, cloneRecordingOptions, clusterCellsByZoom, composePose, computeAspectFitSize, computeCaptureSize, computeCompassAgreement, computeConvergence, computeCoverage, computeFusedPath, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeOnboardingGuidance, computeResidualConsensus, computeTrackingQualityReport, createAlignmentLerper, createBarcodeDetectorFrontEnd, createCameraFollower, createCaptureFailureTracker, createCss3dRendererManager, createDepthGridLookup, createDepthUnprojector, createDetectionScheduler, createEnableGpsArController, createFailureTracker, createGpsAnchor, createGpsCompassCubes, createGpsErrorHandler, createGpsPositionHandler, createIncrementalQrPlacement, createLogger, createQrDebugView, createQrDetectionController, createQrDetectionScheduler, createQrSizeAccumulator, createQrSizeDepthContext, createQrSizeMeasurer, createQrTrackingController, createReticleMesh, createSession, createSlamAppStore, createTrackingQualityListenerMiddleware, deriveQrPlacement, deriveQrSizeM, deriveSolvedQrPose, disposeMeshArray, disposeObject3D, disposeReplayScene, downloadZip, drawMapData, enableArWorldGroupAlignment, endARSession, endSession, estimateQrSizeFromDepth, eulerToQuaternion, evaluateQrPoseStability, exportSessionAsZip, exportSessionHandleAsZip, extractActionTimestamp, extractOdomPosition, extractOdomRotation, fetchQrLevel, findNearbyGeoAnchor, firstAgreementReached, formatActionFilename, formatFileSize, formatFrameFilename, formatTimestamp, fusedGpsFromOdom, getAlignmentLerper, getAppRootHandle, getArWorldGroup, getCamera, getCameraFollower, getCameraFrameCount, getCameraMode, getCurrentArPose, getDepthSampleCount, getGlobalLogLevel, getGpsErrorMessage, getImageCaptureFrameCount, getLastDeviceOrientation, getLiveCss3dManager, getLogBuffer, getReplayState, getScene, getSessionHandle, getSessionsRootHandle, getXrErrorMessage, gpsEventVisualizer, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, homographyFromCorrespondences, initAR, initOpfsStorage, initReplayScene, intrinsicsFromProjection, invertPose, ippePoseCandidates, isFullySupported, isH3Index, isObjectInCameraFrustum, isPointInCameraFrustum, isSphereInCameraFrustum, latLonToTileXY, listFormatter, listSessions, loadActionsFromZip, loadGpsPathFromBlob, loadRecordingOptions, loadSessionMetadataFromBlob, localPlaneToEnu, mapWithConcurrencyLimit, matrixDelta, nearestRotation3x3, needsBaseLayerPersistence, nueToArLocal, offsetGeo, originReset, parseChromeVersion, parseQrLevel, poseLost, poseReceived, projectViewPoint, qrInCameraFromOpenCv, readZipEntries, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, registerFrameUpdate, registerXrFrameUpdate, replayRecording, reportUpdated, reprojectionErrorPx, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetCoordinatorState, resetFileSystemState, resetOpfsStorage, resetRecordingOptions, resetSessionHandles, resetTracking, resetTrackingQuality, rotationToRodrigues, saveRecordingOptions, selectFirstAgreementObservationIndex, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectOnboardingGuidance, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, setCameraFrameCallback, setDepthCaptureCallback, setFileSystemState, setFrameCallback, setGlobalLogLevel, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, setZeroPos, signedQuadArea, snapshotPushed, snapshotsTrimmed, solveLinear, solveQrPose, solveQrPoseFromObservation, startCameraFrameCapture, startDepthCapture, startGpsWatch, startImageCapture, startOrientationWatch, startSession, stopCameraFrameCapture, stopDepthCapture, stopGpsWatch, stopImageCapture, stopOrientationWatch, subscribeToLogs, syncToExternalZip, tileXYToLatLon, toggleCameraMode, trackingQualityReducer, trackingReducer, transformPoint, unprojectDepthPoint, updateDeviceOrientation, updateOrbitTarget, updateReticle, validateDepthOptions, validateImageOptions, validateQuad, validateRecordingOptions, wireStoreSubscribers, worldNueToGps, wrapXRDepthInfo };

package/dist/index.js

@@ -1,6 +1,6 @@
 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 { CameraBlitCapture, DEFAULT_BLIT_CONFIG, computeAspectFitSize, computeCaptureSize } from "./ar/camera-blit-capture.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";
@@ -8,16 +8,27 @@ import { CAPTURE_FAILURE_WARNING, DEFAULT_CAPTURE_TRACKER_CONFIG, createCaptureF
 import { buildRawGpsPoint, buildRecordGpsEventPayload, createGpsPositionHandler, eulerToQuaternion, extractOdomPosition, extractOdomRotation, getLastDeviceOrientation, resetCoordinatorState, updateDeviceOrientation } from "./state/gps-event-coordinator.js";
 import { DepthSampler, wrapXRDepthInfo } from "./ar/depth-sampler.js";
 import { createDepthUnprojector, unprojectDepthPoint } from "./ar/depth-unprojection.js";
+import { createDepthGridLookup } from "./ar/depth-grid-lookup.js";
+import { n as createQrSizeAccumulator, r as estimateQrSizeFromDepth, t as createQrSizeMeasurer } from "./qr-size-measurer-DLb33geH.js";
+import { createQrSizeDepthContext } from "./ar/qr-size-depth-context.js";
+import { buildObjectPoints, composePose, intrinsicsFromProjection, invertPose, projectViewPoint, qrInCameraFromOpenCv, reprojectionErrorPx, signedQuadArea, solveQrPose, transformPoint, validateQuad } from "./ar/qr-pose.js";
+import { createIncrementalQrPlacement, deriveQrPlacement, deriveQrSizeM, deriveSolvedQrPose, solveQrPoseFromObservation } from "./ar/qr-derived-pose.js";
+import { WEBXR_TO_NUE } from "./ar/webxr-nue-basis.js";
+import { createQrDebugView } from "./ar/qr-debug-view.js";
+import { n as createDetectionScheduler, r as createQrDetectionScheduler, t as createQrDetectionController } from "./qr-detection-controller-B-tLVd-S.js";
+import { i as evaluateQrPoseStability, n as aggregateQrPose, r as averageRotation, t as DEFAULT_ROTATION_INLIER_ANGLE_DEG } from "./qr-pose-aggregation-DXR9STHs.js";
+import { a as localPlaneToEnu, c as fetchQrLevel, i as buildQrGpsVotes, l as parseQrLevel, n as createQrTrackingController, o as offsetGeo, r as METERS_PER_DEG_LAT, s as QrLevelValidationError, t as checkQrPlausibility } from "./ar-Dc72Ksiu.js";
+import { BarcodeDetectorFrontEnd, createBarcodeDetectorFrontEnd } from "./ar/qr-frontend.js";
+import { A as setFrameCallback, B as startImageCapture, H as stopDepthCapture, I as setTrackingStore, N as setTrackingCallbacks, O as setCameraFrameCallback, P as setTrackingLostCallback, R as startCameraFrameCapture, U as stopImageCapture, V as stopCameraFrameCapture, W as CameraFrameSource, _ as getScene, a as endARSession, f as getCameraFrameCount, g as getLiveCss3dManager, h as getImageCaptureFrameCount, j as setImageCaptureCallback, k as setDepthCaptureCallback, l as getArWorldGroup, m as getDepthSampleCount, p as getCurrentArPose, u as getCamera, y as initAR, z as startDepthCapture } from "./webxr-session-CJF9Nijp.js";
+import { PlanarPnpSquare, homographyFromCorrespondences, ippePoseCandidates, nearestRotation3x3, rotationToRodrigues, solveLinear } from "./ar/planar-pnp.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";
@@ -30,10 +41,9 @@ import { VIS_COLORS } from "./visualization/vis-colors.js";
 import { COMPASS_CUBE_DISTANCE, COMPASS_CUBE_SIZE, createGpsCompassCubes } from "./visualization/gps-compass-cubes.js";
 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 { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, createGpsErrorHandler, getGpsErrorMessage } from "./sensors/gps-error-handler.js";
 import "./sensors/index.js";
-import { H3_RESOLUTION, approxDistanceMetres, findNearbyGeoAnchor, gpsToH3, h3CellsMatch, isH3Index } from "./geo/h3-proximity.js";
+import { H3_RESOLUTION, approxDistanceMetres, clusterCellsByZoom, findNearbyGeoAnchor, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, isH3Index } from "./geo/h3-proximity.js";
 import "./geo/index.js";
 import { computeFusedPath, fusedGpsFromOdom } from "./utils/fused-path.js";
 import { mapWithConcurrencyLimit } from "./utils/concurrency.js";
@@ -51,11 +61,10 @@ 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 { a as computeOnboardingGuidance, i as setZeroPos, n as calcRelativeCoordsInMeters, o as selectOnboardingGuidance, r as recordGpsEvent, t as add2dImage } from "./state-BkIfpiyA.js";
+import { a as computeOnboardingGuidance, i as setZeroPos, n as calcRelativeCoordsInMeters, o as selectOnboardingGuidance, r as recordGpsEvent, t as add2dImage } from "./state-IEw0ZsBu.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 { downloadZip, exportSessionAsZip, exportSessionHandleAsZip, 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";
@@ -69,4 +78,4 @@ 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, 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 };
+export { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, ALIGNMENT_SNAPSHOT_COLOR, BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, BarcodeDetectorFrontEnd, CAPTURE_FAILURE_WARNING, COMMUNITY_LICENSE_KEY, COMPASS_CUBE_DISTANCE, COMPASS_CUBE_SIZE, CameraBlitCapture, CameraFrameSource, 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_ROTATION_INLIER_ANGLE_DEG, 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, METERS_PER_DEG_LAT, MIN_VALID_IMAGE_BYTES, MapOverlay, NullStorageBackend, OccupancyGrid, OpfsStorageBackend, PlanarPnpSquare, QrLevelValidationError, 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, aggregateQrPose, applyChromiumProjectionLayerWorkaround, approxDistanceMetres, averageRotation, bresenham3d, buildCameraFrustum, buildMapData, buildObjectPoints, buildQrGpsVotes, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, capabilityMessage, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkQrPlausibility, checkStorageQuota, checkWebXRSupport, clampedAlpha, clearLastRestartedPayload, clearLogBuffer, cloneRecordingOptions, clusterCellsByZoom, composePose, computeAspectFitSize, computeCaptureSize, computeCompassAgreement, computeConvergence, computeCoverage, computeFusedPath, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeOnboardingGuidance, computeResidualConsensus, computeTrackingQualityReport, createAlignmentLerper, createBarcodeDetectorFrontEnd, createCameraFollower, createCaptureFailureTracker, createCss3dRendererManager, createDepthGridLookup, createDepthUnprojector, createDetectionScheduler, createEnableGpsArController, createFailureTracker, createGpsAnchor, createGpsCompassCubes, createGpsErrorHandler, createGpsPositionHandler, createIncrementalQrPlacement, createLogger, createQrDebugView, createQrDetectionController, createQrDetectionScheduler, createQrSizeAccumulator, createQrSizeDepthContext, createQrSizeMeasurer, createQrTrackingController, createReticleMesh, createSession, createSlamAppStore, createTrackingQualityListenerMiddleware, deriveQrPlacement, deriveQrSizeM, deriveSolvedQrPose, disposeMeshArray, disposeObject3D, disposeReplayScene, downloadZip, drawMapData, enableArWorldGroupAlignment, endARSession, endSession, estimateQrSizeFromDepth, eulerToQuaternion, evaluateQrPoseStability, exportSessionAsZip, exportSessionHandleAsZip, extractActionTimestamp, extractOdomPosition, extractOdomRotation, fetchQrLevel, findNearbyGeoAnchor, firstAgreementReached, formatActionFilename, formatFileSize, formatFrameFilename, formatTimestamp, fusedGpsFromOdom, getAlignmentLerper, getAppRootHandle, getArWorldGroup, getCamera, getCameraFollower, getCameraFrameCount, getCameraMode, getCurrentArPose, getDepthSampleCount, getGlobalLogLevel, getGpsErrorMessage, getImageCaptureFrameCount, getLastDeviceOrientation, getLiveCss3dManager, getLogBuffer, getReplayState, getScene, getSessionHandle, getSessionsRootHandle, getXrErrorMessage, gpsEventVisualizer, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, homographyFromCorrespondences, initAR, initOpfsStorage, initReplayScene, intrinsicsFromProjection, invertPose, ippePoseCandidates, isFullySupported, isH3Index, isObjectInCameraFrustum, isPointInCameraFrustum, isSphereInCameraFrustum, latLonToTileXY, listFormatter, listSessions, loadActionsFromZip, loadGpsPathFromBlob, loadRecordingOptions, loadSessionMetadataFromBlob, localPlaneToEnu, mapWithConcurrencyLimit, matrixDelta, nearestRotation3x3, needsBaseLayerPersistence, nueToArLocal, offsetGeo, originReset, parseChromeVersion, parseQrLevel, poseLost, poseReceived, projectViewPoint, qrInCameraFromOpenCv, readZipEntries, recordDepthSample, recordGpsEvent, recordWriteFailure, recordingReducer, registerFrameUpdate, registerXrFrameUpdate, replayRecording, reportUpdated, reprojectionErrorPx, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetCoordinatorState, resetFileSystemState, resetOpfsStorage, resetRecordingOptions, resetSessionHandles, resetTracking, resetTrackingQuality, rotationToRodrigues, saveRecordingOptions, selectFirstAgreementObservationIndex, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectOnboardingGuidance, selectRecentAlignments, selectTrackingPhase, selectTrackingQuality, setCameraFrameCallback, setDepthCaptureCallback, setFileSystemState, setFrameCallback, setGlobalLogLevel, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, setZeroPos, signedQuadArea, snapshotPushed, snapshotsTrimmed, solveLinear, solveQrPose, solveQrPoseFromObservation, startCameraFrameCapture, startDepthCapture, startGpsWatch, startImageCapture, startOrientationWatch, startSession, stopCameraFrameCapture, stopDepthCapture, stopGpsWatch, stopImageCapture, stopOrientationWatch, subscribeToLogs, syncToExternalZip, tileXYToLatLon, toggleCameraMode, trackingQualityReducer, trackingReducer, transformPoint, unprojectDepthPoint, updateDeviceOrientation, updateOrbitTarget, updateReticle, validateDepthOptions, validateImageOptions, validateQuad, validateRecordingOptions, wireStoreSubscribers, worldNueToGps, wrapXRDepthInfo };

package/dist/{leaflet-map-overlay-6CJC-E1l.d.ts → leaflet-map-overlay-bnb2U1NQ.d.ts}

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

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

@@ -1,4 +1,4 @@
-import { n as RawGpsSample, t as GpsCoord } from "./geo-types-SaPnIEUM.js";
+import { n as RawGpsSample, t as GpsCoord } from "./geo-types-DqiBzPO9.js";
 import { LatLong, Matrix4, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/visualization/map-data.d.ts

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

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

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

@@ -1,5 +1,5 @@
-import { n as SessionMetadata } from "./opfs-storage-DYm8WHq7.js";
-import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-C9HLFtgz.js";
+import { n as SessionMetadata } from "./opfs-storage-DMtlt57S.js";
+import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-CTJHNdMp.js";
 
 //#region ../src/storage/null-storage-backend.d.ts
 declare class NullStorageBackend implements StorageBackend {

package/dist/{occupancy-grid-BRNRaPyT.d.ts → occupancy-grid-Bvi2Gw1U.d.ts}

@@ -1,5 +1,5 @@
-import { t as GridCell } from "./bresenham3d-CFfd7n6B.js";
-import { a as RgbTuple, i as DepthSample } from "./ar-types-Dan1MVTi.js";
+import { t as GridCell } from "./bresenham3d-ByjcmEgM.js";
+import { a as RgbTuple, i as DepthSample } from "./ar-types-BckI1E-O.js";
 import { Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/occupancy-grid.d.ts
@@ -43,6 +43,16 @@ declare class OccupancyGrid {
   cellForPosition(pos: Vector3): GridCell;
   /** Center of a cell in raw WebXR space (round-consistent: cell · cellSizeM). */
   getCellCenter(cell: GridCell): Vector3;
+  /**
+   * Running-average of the EXACT unprojected surface points observed in this
+   * cell (raw WebXR space), or null for an unknown cell. Unlike
+   * {@link getCellCenter} (the geometric 15 cm-lattice center) this hugs the
+   * real measured surface and noise-averages across viewpoints — used by the
+   * COLMAP `points3D` export and the debug cubes (follow-up Item A). Being a
+   * centroid of points that fell in the cell, it always lies within
+   * `cellSizeM/2` of the cell center per axis.
+   */
+  getCellPoint(cell: GridCell): Vector3 | null;
   /**
    * 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

package/dist/{opfs-storage-DYm8WHq7.d.ts → opfs-storage-DMtlt57S.d.ts}

@@ -14,7 +14,7 @@
  *       │   ├── actions/
  *       │   │   ├── 000001.json
  *       │   │   └── ...
- *       │   └── frames/
+ *       │   └── images/        (legacy recordings: frames/)
  *       │       ├── frame-000001.jpg
  *       │       └── ...
  *       └── ...
@@ -69,6 +69,24 @@ interface SessionMetadata {
   };
   /** The page URL the recording was made from (origin + pathname only). Optional for backwards compat. */
   pageUrl?: string;
+  /**
+   * Per-tour H3 coverage index: the deduplicated H3 cells (at {@link h3Resolution})
+   * that the recording's GPS path crossed. Powers the map-centric recording
+   * browser — it shows roughly where each tour was recorded and which tours cross
+   * a given tile — WITHOUT unzipping the GPS action data (the cells are read
+   * straight from session.json during folder discovery). Computed from the raw GPS
+   * path at recording stop via `gpsPathToCoverageCells`.
+   *
+   * Optional for backwards compatibility: legacy recordings predate this field and
+   * are backfilled in memory from their GPS path on demand by the browser.
+   */
+  h3Cells?: string[];
+  /**
+   * The H3 resolution used to compute {@link h3Cells} (currently
+   * `H3_RESOLUTION` = 11). Stored so older readers stay self-describing if the
+   * capture resolution ever changes.
+   */
+  h3Resolution?: number;
 }
 /**
  * Result from createSession.
@@ -117,7 +135,7 @@ declare function getAppRootHandle(): FileSystemDirectoryHandle | null;
  * Creates the directory structure:
  * - /gps-plus-slam/sessions/recording-{timestamp}/
  * - /gps-plus-slam/sessions/recording-{timestamp}/actions/
- * - /gps-plus-slam/sessions/recording-{timestamp}/frames/
+ * - /gps-plus-slam/sessions/recording-{timestamp}/images/ (legacy: frames/)
  *
  * @param timestamp - Session start time (used for folder naming)
  * @param _contextTag - Opaque tag; not used by the flat layout but accepted
@@ -134,10 +152,11 @@ declare function getSessionHandle(): FileSystemDirectoryHandle | null;
 /**
  * Set the active session handles externally.
  *
- * Used by file-system.ts's scenario-based path to reuse opfs-storage's
- * write infrastructure for sessions created outside the flat layout.
- * This is a temporary bridge until the recorder migrates to
- * ScenarioWrappingStorageBackend.
+ * Lets a wrapping StorageBackend that creates sessions outside the flat layout
+ * (e.g. the recorder's `ScenarioWrappingStorageBackend`, which nests sessions
+ * under a named bucket) reuse opfs-storage's write infrastructure: it creates
+ * the session directory itself, then hands the handles here so subsequent
+ * `writeAction` / `writeFrame` / `writeSessionMetadata` calls target them.
  *
  * @internal
  */

package/dist/{opfs-storage-backend-CjSAuqg_.d.ts → opfs-storage-backend-CeQAb0SD.d.ts}

@@ -1,9 +1,9 @@
-import { n as SessionMetadata } from "./opfs-storage-DYm8WHq7.js";
-import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-C9HLFtgz.js";
+import { n as SessionMetadata } from "./opfs-storage-DMtlt57S.js";
+import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-CTJHNdMp.js";
 
 //#region ../src/storage/opfs-storage-backend.d.ts
 declare class OpfsStorageBackend implements StorageBackend {
-  createSession(_timestamp: Date, _contextTag?: string): Promise<CreateSessionResult>;
+  createSession(timestamp: Date, _contextTag?: string): Promise<CreateSessionResult>;
   listSessions(): Promise<string[]>;
   writeAction(action: unknown, index: number): Promise<void>;
   writeFrame(blob: Blob, index: number): Promise<void>;

package/dist/{persistence-middleware-DwyzgfWr.d.ts → persistence-middleware-5eearhSV.d.ts}

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

package/dist/planar-pnp-cjthe7Be.d.ts

@@ -0,0 +1,67 @@
+import { n as OpenCvPnpResult, r as Point2, s as SolvePnpSquare, t as CameraIntrinsics } from "./qr-pose-Bt2reSw7.js";
+import { Vector3 } from "gps-plus-slam-js";
+
+//#region ../src/ar/planar-pnp.d.ts
+/** A 3×3 matrix in ROW-MAJOR order: [r00,r01,r02, r10,r11,r12, r20,r21,r22]. */
+type Mat3 = readonly [number, number, number, number, number, number, number, number, number];
+/** A 3×3 homography in row-major order (same layout as {@link Mat3}). */
+type Homography = Mat3;
+/** A candidate rigid pose in the OpenCV camera frame (p_cam = R·p_obj + t). */
+interface PoseCandidate {
+  /** Rotation, row-major 3×3. */
+  R: Mat3;
+  /** Translation (object origin in the OpenCV camera frame), meters. */
+  t: Vector3;
+}
+/**
+ * Solve the dense square linear system `A·x = b` by Gaussian elimination with
+ * partial pivoting. `A` is `n×n` ROW-MAJOR (length n²), `b` is length n. Returns
+ * the solution, or `null` when the matrix is singular (no unique solution).
+ */
+declare function solveLinear(A: readonly number[], b: readonly number[]): number[] | null;
+/**
+ * Estimate the exact planar homography H (row-major 3×3, h₃₃ = 1) mapping object
+ * plane coords `(X,Y,1)` to NORMALIZED image coords `(x,y,1)` from 4 (or more)
+ * correspondences via a DLT. Returns `null` when the configuration is degenerate
+ * (collinear points → singular system). `objectXY`/`imageXY` are parallel arrays
+ * of `[X,Y]` / `[x,y]`.
+ */
+declare function homographyFromCorrespondences(objectXY: ReadonlyArray<readonly [number, number]>, imageXY: ReadonlyArray<readonly [number, number]>): Homography | null;
+/**
+ * Project a near-orthogonal 3×3 matrix onto the nearest rotation (SO(3)) by
+ * iterative polar decomposition (Higham: `R_{k+1} = ½(R_k + R_k⁻ᵀ)`). Converges
+ * quadratically for an already near-orthonormal input; needs no SVD/eigensolver
+ * (gl-matrix has neither). Forces `det = +1` by flipping the least-aligned column
+ * if the input was left-handed. Returns the input unchanged if it is singular.
+ */
+declare function nearestRotation3x3(input: Mat3): Mat3;
+/**
+ * Generate the planar-pose candidates from a homography via true IPPE
+ * (Collins & Bartoli 2014). Returns up to 4 chirality-valid candidates (the two
+ * tilt-flip roots × the z-sign of the in-plane axes); the caller picks the
+ * lowest reprojection error. Returns `[]` when the homography is degenerate.
+ *
+ * Derivation (see planar-pnp.ts.md): with `[r1 r2]` the first two columns of R,
+ * the local first-order map at the model origin gives `M·[r1 r2] = t_z·J` where
+ * `M = [[1,0,-p],[0,1,-q]]`, `(p,q)` is the origin's normalized image and `J` the
+ * 2×2 Jacobian of the homography there. Aligning the origin's ray to +z (rotation
+ * `Rv`) reduces this to a 2×2 block `B = τ·g` whose unknown bottom row plus the
+ * orthonormality of `[r1 r2]` yields a biquadratic in `τ = t_z`:
+ * `D²·τ⁴ − S·τ² + 1 = 0`, with `S = ‖g‖_F²`, `D = det(g)`. Its two roots are the
+ * two planar poses (they coincide fronto-parallel — no flip there).
+ */
+declare function ippePoseCandidates(H: Homography): PoseCandidate[];
+/**
+ * Convert a row-major rotation matrix to a Rodrigues vector (axis · angle).
+ * Double-precision, no gl-matrix Float32 round-trip.
+ */
+declare function rotationToRodrigues(R: Mat3): Vector3;
+/**
+ * `SolvePnpSquare` for a centered planar square via pure-JS IPPE. Stateless and
+ * synchronous — construct once and reuse, or construct per call; either is fine.
+ */
+declare class PlanarPnpSquare implements SolvePnpSquare {
+  solve(objectPoints: readonly Vector3[], imagePoints: readonly Point2[], intrinsics: CameraIntrinsics): OpenCvPnpResult | null;
+}
+//#endregion
+export { homographyFromCorrespondences as a, rotationToRodrigues as c, PoseCandidate as i, solveLinear as l, Mat3 as n, ippePoseCandidates as o, PlanarPnpSquare as r, nearestRotation3x3 as s, Homography as t };

package/dist/qr-debug-view-B8gTzjMm.d.ts

@@ -0,0 +1,29 @@
+import { i as Pose } from "./qr-pose-Bt2reSw7.js";
+import { Object3D } from "three";
+
+//#region ../src/ar/qr-debug-view.d.ts
+interface QrDebugView {
+  /**
+   * Glue the debug objects to a solved pose. The **axis** is placed from the
+   * pose alone (it needs no size). The **cube** models the QR's physical extent,
+   * so it is shown only when a measured `sizeM` is available; pass `null` to show
+   * the axis while keeping the cube hidden.
+   *
+   * The derive-on-read consumer only solves a pose once a size exists (PnP needs
+   * a metric size), so in practice `sizeM` is non-null; the `null` path is
+   * retained for the generic "pose but no size" case (e.g. a future
+   * depth-position/PnP-rotation hybrid).
+   */
+  update(pose: Pose, sizeM: number | null): void;
+  /** Hide the objects (e.g. on reset); does NOT detach them from the scene. */
+  clear(): void;
+  /** Remove the objects from the parent and free GPU resources. */
+  dispose(): void;
+}
+/**
+ * Create the debug axis + cube under `parent` (the `arWorldGroup`). Objects
+ * start hidden; the first `update()` reveals and positions them.
+ */
+declare function createQrDebugView(parent: Object3D): QrDebugView;
+//#endregion
+export { createQrDebugView as n, QrDebugView as t };