gps-plus-slam-app-framework 1.3.0 → 1.4.0

package/dist/{app-selectors-B8VQoMDY.d.ts → app-selectors-CrOucL00.d.ts}

@@ -1,4 +1,4 @@
-import { L as CombinedRootState, r as SlamAppRootState } from "./create-slam-app-store-BljusOua.js";
+import { L as CombinedRootState, r as SlamAppRootState } from "./create-slam-app-store-Ce2FMKCp.js";
 import * as _$gps_plus_slam_js0 from "gps-plus-slam-js";
 import { ArImageCapture, GpsPoint, LatLong, Matrix4, Quaternion, Vector3 } from "gps-plus-slam-js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";

package/dist/ar/bresenham3d.d.ts

@@ -1,2 +1,2 @@
-import { n as MAX_TRACE_STEPS, r as bresenham3d, t as GridCell } from "../bresenham3d-CFfd7n6B.js";
+import { n as MAX_TRACE_STEPS, r as bresenham3d, t as GridCell } from "../bresenham3d-ByjcmEgM.js";
 export { GridCell, MAX_TRACE_STEPS, bresenham3d };

package/dist/ar/camera-blit-capture.d.ts

@@ -1,2 +1,2 @@
-import { i as computeCaptureSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "../camera-blit-capture-CnxUDbKx.js";
-export { CameraBlitCapture, CameraBlitCaptureConfig, DEFAULT_BLIT_CONFIG, computeCaptureSize };
+import { a as computeCaptureSize, i as computeAspectFitSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "../camera-blit-capture-CqWe1G7s.js";
+export { CameraBlitCapture, CameraBlitCaptureConfig, DEFAULT_BLIT_CONFIG, computeAspectFitSize, computeCaptureSize };

package/dist/ar/camera-blit-capture.js

@@ -51,6 +51,36 @@ function computeCaptureSize(cameraWidth, cameraHeight, divisor) {
 	};
 }
 /**
+* Compute blit dimensions that PRESERVE the camera aspect ratio with the
+* **longer edge fixed at `maxEdge`**. Unlike {@link computeCaptureSize} (which
+* divides the native resolution by a user divisor), this fits the frame into a
+* fixed pixel budget, so a 4:3 camera becomes e.g. 512×384 — NOT a stretched
+* 512×512. Used by the QR-detection blit (B2) so the detector sees an
+* undistorted code while the readback cost stays bounded by `maxEdge²`.
+*
+* @param cameraWidth  - Native camera width in pixels (from XRCamera)
+* @param cameraHeight - Native camera height in pixels (from XRCamera)
+* @param maxEdge      - Target length (px) of the longer output edge.
+* @returns Integer dimensions, longer edge == `maxEdge`, aspect preserved
+*   (within rounding), each clamped to ≥ 1. When `maxEdge` itself is invalid
+*   (< 1 / NaN / Infinity) the longer edge falls back to
+*   `DEFAULT_BLIT_CONFIG.width` (still aspect-preserving). When the camera
+*   dimensions are invalid (≤ 0 / NaN / Infinity) the aspect is unknown, so it
+*   returns a square at the (possibly defaulted) edge.
+*/
+function computeAspectFitSize(cameraWidth, cameraHeight, maxEdge) {
+	const safeEdge = maxEdge >= 1 && Number.isFinite(maxEdge) ? Math.floor(maxEdge) : DEFAULT_BLIT_CONFIG.width;
+	if (!(cameraWidth > 0) || !Number.isFinite(cameraWidth) || !(cameraHeight > 0) || !Number.isFinite(cameraHeight)) return {
+		width: safeEdge,
+		height: safeEdge
+	};
+	const scale = safeEdge / Math.max(cameraWidth, cameraHeight);
+	return {
+		width: Math.max(1, Math.round(cameraWidth * scale)),
+		height: Math.max(1, Math.round(cameraHeight * scale))
+	};
+}
+/**
 * Number of sampled pixels to check in isBlackFrame.
 * We sample a subset rather than checking every pixel for speed.
 */
@@ -168,6 +198,32 @@ var CameraBlitCapture = class {
 		}
 	}
 	/**
+	* Capture the camera texture as **top-left-origin** RGBA — the orientation
+	* QR detection (and `BarcodeDetector`) expects — returning a FRESH copy that
+	* is safe to retain beyond the next capture.
+	*
+	* This is the efficient replacement for the demo's old JPEG round-trip: blit
+	* + readback (shared with {@link captureToBlob} / {@link captureToPixels}),
+	* then the same vertical flip the JPEG encoder applies, but with no encode →
+	* decode. Unlike {@link captureToPixels} (which returns the reusable internal
+	* buffer in WebGL bottom-row-first order), this returns an owned,
+	* correctly-oriented `Uint8ClampedArray`.
+	*
+	* IMPORTANT: Must be called within the XR animation frame callback, while the
+	* camera texture is valid.
+	*
+	* @returns `{ data, width, height }` (top-left RGBA), or null on
+	*   failure/dispose.
+	*/
+	captureToRgba(renderer, cameraTexture) {
+		if (!this.captureToPixels(renderer, cameraTexture)) return null;
+		return {
+			data: this.flippedPixelCopy(),
+			width: this.width,
+			height: this.height
+		};
+	}
+	/**
 	* Check if a pixel buffer is entirely black (all zeros).
 	* Uses sampling for performance (checks BLACK_CHECK_SAMPLE_COUNT evenly-spaced pixels).
 	*
@@ -197,10 +253,19 @@ var CameraBlitCapture = class {
 		return this.pixelsToJpegViaCanvas(quality);
 	}
 	getFlippedImageData() {
-		const clampedBuffer = new Uint8ClampedArray(this.pixelBuffer);
-		const imageData = new ImageData(clampedBuffer, this.width, this.height);
-		this.flipImageDataVertically(imageData);
-		return imageData;
+		return new ImageData(this.flippedPixelCopy(), this.width, this.height);
+	}
+	/**
+	* Produce a FRESH, top-left-origin RGBA copy of the internal readback buffer.
+	* WebGL `readPixels` returns bottom-row-first; this copies (so the internal
+	* buffer stays y-flipped for a subsequent capture) and swaps rows. Shared by
+	* the JPEG encode path ({@link getFlippedImageData}) and {@link captureToRgba}.
+	*/
+	flippedPixelCopy() {
+		const copy = new Uint8ClampedArray(this.pixelBuffer.length);
+		copy.set(this.pixelBuffer);
+		this.flipRowsVertically(copy, this.width, this.height);
+		return copy;
 	}
 	async pixelsToJpegViaOffscreenCanvas(quality) {
 		const offscreen = new OffscreenCanvas(this.width, this.height);
@@ -229,11 +294,11 @@ var CameraBlitCapture = class {
 		});
 	}
 	/**
-	* Flip ImageData vertically in-place.
-	* WebGL readPixels returns bottom-row-first; canvas expects top-row-first.
+	* Flip an RGBA buffer vertically in-place (row swap).
+	* WebGL readPixels returns bottom-row-first; canvas / detectors expect
+	* top-row-first.
 	*/
-	flipImageDataVertically(imageData) {
-		const { data, width, height } = imageData;
+	flipRowsVertically(data, width, height) {
 		const rowSize = width * 4;
 		const tempRow = new Uint8ClampedArray(rowSize);
 		for (let y = 0; y < Math.floor(height / 2); y++) {
@@ -291,4 +356,4 @@ var CameraBlitCapture = class {
 	}
 };
 //#endregion
-export { CameraBlitCapture, DEFAULT_BLIT_CONFIG, computeCaptureSize };
+export { CameraBlitCapture, DEFAULT_BLIT_CONFIG, computeAspectFitSize, computeCaptureSize };

package/dist/ar/capability-checker.d.ts

@@ -1,2 +1,2 @@
-import { i as isFullySupported, n as CapabilitySupport, r as capabilityMessage, t as CapabilityMessageOptions } from "../capability-checker-CQXJHxXg.js";
+import { i as isFullySupported, n as CapabilitySupport, r as capabilityMessage, t as CapabilityMessageOptions } from "../capability-checker-CXqoJYtb.js";
 export { CapabilityMessageOptions, CapabilitySupport, capabilityMessage, isFullySupported };

package/dist/ar/capture-failure-tracker.d.ts

@@ -1,2 +1,2 @@
-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 createCaptureFailureTracker, i as DEFAULT_CAPTURE_TRACKER_CONFIG, n as CaptureFailureTracker, r as CaptureFailureTrackerConfig, t as CAPTURE_FAILURE_WARNING } from "../capture-failure-tracker-BL5SoG2a.js";
 export { CAPTURE_FAILURE_WARNING, CaptureFailureTracker, CaptureFailureTrackerConfig, DEFAULT_CAPTURE_TRACKER_CONFIG, createCaptureFailureTracker };

package/dist/ar/chromium-camera-access-workaround.d.ts

@@ -1,2 +1,2 @@
-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 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";
 export { BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, ChromeVersion, ChromiumProjectionLayerWorkaroundResult, applyChromiumProjectionLayerWorkaround, needsBaseLayerPersistence, parseChromeVersion };

package/dist/ar/depth-grid-lookup.d.ts

@@ -0,0 +1,2 @@
+import { n as createDepthGridLookup, t as DepthGridLookup } from "../depth-grid-lookup-vMDrGTk_.js";
+export { DepthGridLookup, createDepthGridLookup };

package/dist/ar/depth-grid-lookup.js

@@ -0,0 +1,43 @@
+//#region ../src/ar/depth-grid-lookup.ts
+/** A node's depth if finite and positive, else `null` (a grid hole). */
+function validDepth(points, index) {
+	const p = points[index];
+	if (!p) return null;
+	const d = p.depthM;
+	return Number.isFinite(d) && d > 0 ? d : null;
+}
+/**
+* Build a bilinear lookup over a depth-sampler grid.
+*
+* @param points - the grid `DepthPoint`s (row-major, `row·g + col`).
+* @param gridSize - points-per-side; inferred as `round(√points.length)` when
+*   omitted (the sampler always emits a full `g²` grid).
+*/
+function createDepthGridLookup(points, gridSize) {
+	const g = gridSize ?? Math.round(Math.sqrt(points.length));
+	if (g < 2 || points.length < g * g) return { depthAt() {
+		for (let i = 0; i < points.length; i++) {
+			const d = validDepth(points, i);
+			if (d !== null) return d;
+		}
+		return null;
+	} };
+	return { depthAt(screenX, screenY) {
+		const gx = screenX * (g + 1) - 1;
+		const gy = screenY * (g + 1) - 1;
+		if (gx < 0 || gx > g - 1 || gy < 0 || gy > g - 1) return null;
+		const col0 = Math.min(Math.floor(gx), g - 2);
+		const row0 = Math.min(Math.floor(gy), g - 2);
+		const fx = gx - col0;
+		const fy = gy - row0;
+		const d00 = validDepth(points, row0 * g + col0);
+		const d10 = validDepth(points, row0 * g + col0 + 1);
+		const d01 = validDepth(points, (row0 + 1) * g + col0);
+		const d11 = validDepth(points, (row0 + 1) * g + col0 + 1);
+		if (d00 === null || d10 === null || d01 === null || d11 === null) return null;
+		const top = d00 + (d10 - d00) * fx;
+		return top + (d01 + (d11 - d01) * fx - top) * fy;
+	} };
+}
+//#endregion
+export { createDepthGridLookup };

package/dist/ar/depth-sampler.d.ts

@@ -1,3 +1,3 @@
-import { i as DepthSample } 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 { i as DepthSample } from "../ar-types-BckI1E-O.js";
+import { a as wrapXRDepthInfo, i as DepthSamplerConfig, n as DepthSampler, r as DepthSamplerCallbacks, t as DepthInfo } from "../depth-sampler-DwfPYzS7.js";
 export { DepthInfo, DepthSample, DepthSampler, DepthSamplerCallbacks, DepthSamplerConfig, wrapXRDepthInfo };

package/dist/ar/depth-sampler.js

@@ -56,10 +56,8 @@ var DepthSampler = class {
 	unavailableCallbackFired = false;
 	constructor(callbacks, config) {
 		this.callbacks = callbacks;
-		this.config = {
-			...DEFAULT_CONFIG,
-			...config
-		};
+		this.config = { ...DEFAULT_CONFIG };
+		if (config) this.updateConfig(config);
 	}
 	/**
 	* Start depth sampling.

package/dist/ar/depth-unprojection.d.ts

@@ -1,2 +1,2 @@
-import { n as createDepthUnprojector, r as unprojectDepthPoint, t as DepthUnprojector } from "../depth-unprojection-Y6i_mJuT.js";
+import { n as createDepthUnprojector, r as unprojectDepthPoint, t as DepthUnprojector } from "../depth-unprojection-CK3b9htH.js";
 export { DepthUnprojector, createDepthUnprojector, unprojectDepthPoint };

package/dist/ar/enable-gps-ar.d.ts

@@ -1,2 +1,2 @@
-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-BfUJOgpW.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";
 export { EnableGpsArConfig, EnableGpsArController, EnableGpsArDeps, EnableGpsArResult, EnableGpsArState, EnableGpsArStatus, createEnableGpsArController };

package/dist/ar/enable-gps-ar.js

@@ -1,7 +1,7 @@
 import { createLogger } from "../utils/logger.js";
+import { a as endARSession, b as isWebXRSupported, y as initAR } from "../webxr-session-CJF9Nijp.js";
 import { requestGeolocationPermission, requestOrientationPermission, requestWebXRWithDepthPermission } from "../sensors/permission-checker.js";
 import { startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch } from "../sensors/gps.js";
-import { _ as isWebXRSupported, g as initAR, i as endARSession } from "../webxr-session-TIaD883f.js";
 //#region ../src/ar/enable-gps-ar.ts
 const log = createLogger("EnableGpsAr");
 const defaultDeps = {
@@ -74,10 +74,12 @@ function createEnableGpsArController(deps = {}) {
 			error: "AR is already starting, running or stopping."
 		};
 		setState({ status: "starting" });
+		let sessionStarted = false;
 		try {
 			const permissionError = await requestPermissions(config);
 			if (permissionError !== null) return fail(permissionError);
 			await resolved.initAR(config.container, config.isolationOptions, { requestHitTest: config.requestHitTest });
+			sessionStarted = true;
 			if (config.onGpsPosition) {
 				resolved.startGpsWatch(config.onGpsPosition);
 				gpsWatchActive = true;
@@ -89,6 +91,29 @@ function createEnableGpsArController(deps = {}) {
 			setState({ status: "running" });
 			return { ok: true };
 		} catch (err) {
+			if (sessionStarted) {
+				if (gpsWatchActive) {
+					try {
+						resolved.stopGpsWatch();
+					} catch (cleanupErr) {
+						log.error("stopGpsWatch during enable() cleanup threw:", cleanupErr);
+					}
+					gpsWatchActive = false;
+				}
+				if (orientationWatchActive) {
+					try {
+						resolved.stopOrientationWatch();
+					} catch (cleanupErr) {
+						log.error("stopOrientationWatch during enable() cleanup threw:", cleanupErr);
+					}
+					orientationWatchActive = false;
+				}
+				try {
+					await resolved.endARSession();
+				} catch (cleanupErr) {
+					log.error("Cleanup after enable() failure threw; continuing:", cleanupErr);
+				}
+			}
 			return fail(err instanceof Error ? err.message : String(err));
 		}
 	}

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

@@ -1,2 +1,2 @@
-import { i as runFrameUpdates, n as clearFrameUpdates, r as registerFrameUpdate, t as FrameUpdate } from "../frame-loop-CMewS8cY.js";
+import { i as runFrameUpdates, n as clearFrameUpdates, r as registerFrameUpdate, t as FrameUpdate } from "../frame-loop-BEO9_q3k.js";
 export { FrameUpdate, clearFrameUpdates, registerFrameUpdate, runFrameUpdates };

package/dist/ar/image-capture.d.ts

@@ -1,2 +1,2 @@
-import { a as ImageCaptureConfig, i as ImageCaptureCallbacks, n as CapturedImage, o as ImageCaptureManager, r as DEFAULT_CAPTURE_CONFIG, s as MIN_VALID_IMAGE_BYTES, t as CapturedFrame } from "../image-capture-qAZ5Fh5X.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, t as CapturedFrame } from "../image-capture-C2Feywet.js";
 export { CapturedFrame, CapturedImage, DEFAULT_CAPTURE_CONFIG, ImageCaptureCallbacks, ImageCaptureConfig, ImageCaptureManager, MIN_VALID_IMAGE_BYTES };

package/dist/ar/index.d.ts

@@ -1,19 +1,30 @@
-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-CnxUDbKx.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 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 { 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-qAZ5Fh5X.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-GjZ2BIpS.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-BfUJOgpW.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 { 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";
-export { BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, CAPTURE_FAILURE_WARNING, CameraBlitCapture, type CameraBlitCaptureConfig, type CameraMode, type CameraTextureResult, type CapabilityMessageOptions, type CapabilitySupport, type CaptureFailureTracker, type CaptureFailureTrackerConfig, type CapturedImage, type ChromeVersion, type ChromiumProjectionLayerWorkaroundResult, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, type DepthInfo, DepthSampler, type DepthSamplerCallbacks, type DepthSamplerConfig, type DepthUnprojector, type EnableGpsArConfig, type EnableGpsArController, type EnableGpsArDeps, type EnableGpsArResult, type EnableGpsArState, type EnableGpsArStatus, type FrameUpdate, type GridCell, type ImageCaptureCallbacks, type ImageCaptureConfig, ImageCaptureManager, MIN_VALID_IMAGE_BYTES, OccupancyGrid, type OccupancyGridOptions, type RendererLike, type ReplaySceneState, SCENE_NODE, type SessionFeatureOptions, WEBXR_TO_NUE, type XRCameraLike, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, type XrFrameContext, type XrFrameUpdate, acquireCameraTexture, applyChromiumProjectionLayerWorkaround, bresenham3d, capabilityMessage, computeCaptureSize, createCaptureFailureTracker, createDepthUnprojector, createEnableGpsArController, disposeReplayScene, endARSession, getAlignmentLerper, getArWorldGroup, getCamera, getCameraFollower, getCameraMode, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getScene, getXrErrorMessage, initAR, initReplayScene, isFullySupported, needsBaseLayerPersistence, parseChromeVersion, registerFrameUpdate, registerXrFrameUpdate, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, unprojectDepthPoint, updateOrbitTarget, wrapXRDepthInfo };
+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 { 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 { 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 { _ 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 { 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 { 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";
+export { AggregateQrPoseResult, AverageRotationOptions, AverageRotationResult, BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, BarcodeDetectorFrontEnd, BarcodeDetectorLike, CAPTURE_FAILURE_WARNING, CameraBlitCapture, CameraBlitCaptureConfig, CameraFrameCaptureConfig, CameraFrameSource, CameraFrameSourceCallbacks, CameraFrameSourceConfig, CameraIntrinsics, CameraMode, CameraTextureResult, CapabilityMessageOptions, CapabilitySupport, CaptureFailureTracker, CaptureFailureTrackerConfig, CapturedImage, ChromeVersion, ChromiumProjectionLayerWorkaroundResult, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DEFAULT_ROTATION_INLIER_ANGLE_DEG, DepthGridLookup, DepthInfo, DepthSampler, DepthSamplerCallbacks, DepthSamplerConfig, DepthUnprojector, DeriveQrPoseDeps, DerivedQrPlacement, DetectedBarcodeLike, DetectionScheduler, DetectionSchedulerConfig, EnableGpsArConfig, EnableGpsArController, EnableGpsArDeps, EnableGpsArResult, EnableGpsArState, EnableGpsArStatus, Enu, FetchLike, FetchQrLevelOptions, FrameUpdate, GridCell, Homography, ImageCaptureCallbacks, ImageCaptureConfig, ImageCaptureManager, ImageSize, IncrementalQrPlacement, METERS_PER_DEG_LAT, MIN_VALID_IMAGE_BYTES, Mat3, OccupancyGrid, OccupancyGridOptions, OccupancySurface, OpenCvPnpResult, PlanarPnpSquare, Point2, Pose, PoseCandidate, 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, RawObservationSink, RawQrObservation, RendererLike, ReplaySceneState, RgbaImage, SCENE_NODE, SessionFeatureOptions, SolvePnpSquare, SolveQrPoseInput, ToImageBitmapSource, WEBXR_TO_NUE, XRCameraLike, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, XrFrameContext, XrFrameUpdate, acquireCameraTexture, aggregateQrPose, applyChromiumProjectionLayerWorkaround, averageRotation, bresenham3d, buildObjectPoints, buildQrGpsVotes, capabilityMessage, checkQrPlausibility, composePose, computeAspectFitSize, computeCaptureSize, createBarcodeDetectorFrontEnd, createCaptureFailureTracker, createDepthGridLookup, createDepthUnprojector, createDetectionScheduler, createEnableGpsArController, createIncrementalQrPlacement, createQrDebugView, createQrDetectionController, createQrDetectionScheduler, createQrSizeAccumulator, createQrSizeDepthContext, createQrSizeMeasurer, createQrTrackingController, deriveQrPlacement, deriveQrSizeM, deriveSolvedQrPose, disposeReplayScene, endARSession, estimateQrSizeFromDepth, evaluateQrPoseStability, fetchQrLevel, getAlignmentLerper, getArWorldGroup, getCamera, getCameraFollower, getCameraFrameCount, getCameraMode, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getScene, getXrErrorMessage, homographyFromCorrespondences, initAR, initReplayScene, intrinsicsFromProjection, invertPose, ippePoseCandidates, isFullySupported, localPlaneToEnu, nearestRotation3x3, needsBaseLayerPersistence, offsetGeo, parseChromeVersion, parseQrLevel, projectViewPoint, qrInCameraFromOpenCv, registerFrameUpdate, registerXrFrameUpdate, reprojectionErrorPx, rotationToRodrigues, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, signedQuadArea, solveLinear, solveQrPose, solveQrPoseFromObservation, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, transformPoint, unprojectDepthPoint, updateOrbitTarget, validateQuad, wrapXRDepthInfo };

package/dist/ar/index.js

@@ -1,19 +1,30 @@
-import { CameraBlitCapture, DEFAULT_BLIT_CONFIG, computeCaptureSize } from "./camera-blit-capture.js";
+import { CameraBlitCapture, DEFAULT_BLIT_CONFIG, computeAspectFitSize, computeCaptureSize } from "./camera-blit-capture.js";
 import { capabilityMessage, isFullySupported } from "./capability-checker.js";
 import { BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, applyChromiumProjectionLayerWorkaround, needsBaseLayerPersistence, parseChromeVersion } from "./chromium-camera-access-workaround.js";
 import { CAPTURE_FAILURE_WARNING, DEFAULT_CAPTURE_TRACKER_CONFIG, createCaptureFailureTracker } from "./capture-failure-tracker.js";
 import { DepthSampler, wrapXRDepthInfo } from "./depth-sampler.js";
 import { createDepthUnprojector, unprojectDepthPoint } from "./depth-unprojection.js";
+import { createDepthGridLookup } from "./depth-grid-lookup.js";
+import { n as createQrSizeAccumulator, r as estimateQrSizeFromDepth, t as createQrSizeMeasurer } from "../qr-size-measurer-DLb33geH.js";
+import { createQrSizeDepthContext } from "./qr-size-depth-context.js";
+import { buildObjectPoints, composePose, intrinsicsFromProjection, invertPose, projectViewPoint, qrInCameraFromOpenCv, reprojectionErrorPx, signedQuadArea, solveQrPose, transformPoint, validateQuad } from "./qr-pose.js";
+import { createIncrementalQrPlacement, deriveQrPlacement, deriveQrSizeM, deriveSolvedQrPose, solveQrPoseFromObservation } from "./qr-derived-pose.js";
+import { WEBXR_TO_NUE } from "./webxr-nue-basis.js";
+import { createQrDebugView } from "./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 "./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 "./planar-pnp.js";
 import { bresenham3d } from "./bresenham3d.js";
 import { OccupancyGrid } from "./occupancy-grid.js";
 import { registerFrameUpdate } from "./frame-loop.js";
 import { registerXrFrameUpdate } from "./xr-frame-loop.js";
-import { WEBXR_TO_NUE } from "./webxr-nue-basis.js";
 import { DEFAULT_CAPTURE_CONFIG, ImageCaptureManager, MIN_VALID_IMAGE_BYTES } from "./image-capture.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-TIaD883f.js";
 import { acquireCameraTexture } from "./xr-camera-texture.js";
 import { SCENE_NODE } from "./scene-node-names.js";
 import { createEnableGpsArController } from "./enable-gps-ar.js";
 import { disposeReplayScene, getAlignmentLerper, getCameraFollower, getCameraMode, getReplayState, initReplayScene, toggleCameraMode, updateOrbitTarget } from "./replay-scene.js";
 import { XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, getXrErrorMessage } from "./xr-error-handler.js";
-export { BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, CAPTURE_FAILURE_WARNING, CameraBlitCapture, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DepthSampler, ImageCaptureManager, MIN_VALID_IMAGE_BYTES, OccupancyGrid, SCENE_NODE, WEBXR_TO_NUE, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, applyChromiumProjectionLayerWorkaround, bresenham3d, capabilityMessage, computeCaptureSize, createCaptureFailureTracker, createDepthUnprojector, createEnableGpsArController, disposeReplayScene, endARSession, getAlignmentLerper, getArWorldGroup, getCamera, getCameraFollower, getCameraMode, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getScene, getXrErrorMessage, initAR, initReplayScene, isFullySupported, needsBaseLayerPersistence, parseChromeVersion, registerFrameUpdate, registerXrFrameUpdate, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, unprojectDepthPoint, updateOrbitTarget, wrapXRDepthInfo };
+export { BASELAYER_WINDOW_MAX, BASELAYER_WINDOW_MIN, BarcodeDetectorFrontEnd, CAPTURE_FAILURE_WARNING, CameraBlitCapture, CameraFrameSource, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DEFAULT_ROTATION_INLIER_ANGLE_DEG, DepthSampler, ImageCaptureManager, METERS_PER_DEG_LAT, MIN_VALID_IMAGE_BYTES, OccupancyGrid, PlanarPnpSquare, QrLevelValidationError, SCENE_NODE, WEBXR_TO_NUE, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, aggregateQrPose, applyChromiumProjectionLayerWorkaround, averageRotation, bresenham3d, buildObjectPoints, buildQrGpsVotes, capabilityMessage, checkQrPlausibility, composePose, computeAspectFitSize, computeCaptureSize, createBarcodeDetectorFrontEnd, createCaptureFailureTracker, createDepthGridLookup, createDepthUnprojector, createDetectionScheduler, createEnableGpsArController, createIncrementalQrPlacement, createQrDebugView, createQrDetectionController, createQrDetectionScheduler, createQrSizeAccumulator, createQrSizeDepthContext, createQrSizeMeasurer, createQrTrackingController, deriveQrPlacement, deriveQrSizeM, deriveSolvedQrPose, disposeReplayScene, endARSession, estimateQrSizeFromDepth, evaluateQrPoseStability, fetchQrLevel, getAlignmentLerper, getArWorldGroup, getCamera, getCameraFollower, getCameraFrameCount, getCameraMode, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getScene, getXrErrorMessage, homographyFromCorrespondences, initAR, initReplayScene, intrinsicsFromProjection, invertPose, ippePoseCandidates, isFullySupported, localPlaneToEnu, nearestRotation3x3, needsBaseLayerPersistence, offsetGeo, parseChromeVersion, parseQrLevel, projectViewPoint, qrInCameraFromOpenCv, registerFrameUpdate, registerXrFrameUpdate, reprojectionErrorPx, rotationToRodrigues, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, signedQuadArea, solveLinear, solveQrPose, solveQrPoseFromObservation, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, transformPoint, unprojectDepthPoint, updateOrbitTarget, validateQuad, wrapXRDepthInfo };

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

@@ -1,2 +1,2 @@
-import { n as OccupancyGridOptions, t as OccupancyGrid } from "../occupancy-grid-BRNRaPyT.js";
+import { n as OccupancyGridOptions, t as OccupancyGrid } from "../occupancy-grid-Bvi2Gw1U.js";
 export { OccupancyGrid, OccupancyGridOptions };

package/dist/ar/occupancy-grid.js

@@ -47,10 +47,11 @@ var OccupancyGrid = class {
 			if (!cellsEqual(cameraCell, cell)) this.carve(cameraCell, cell);
 			endpoints.push({
 				cell,
+				world,
 				rgb: point.rgb
 			});
 		}
-		for (const endpoint of endpoints) this.increment(endpoint.cell, endpoint.rgb);
+		for (const endpoint of endpoints) this.increment(endpoint.cell, endpoint.world, endpoint.rgb);
 		return endpoints.length;
 	}
 	/** Occupied cells observed at least `minObservations` times (default 1). */
@@ -76,6 +77,24 @@ var OccupancyGrid = class {
 		];
 	}
 	/**
+	* 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) {
+		const record = this.cells.get(cellKey(cell));
+		if (!record || record.count === 0) return null;
+		return [
+			record.posSum[0] / record.count,
+			record.posSum[1] / record.count,
+			record.posSum[2] / record.count
+		];
+	}
+	/**
 	* Running-average color of the cell's colored observations (Iter 8), or
 	* null when the cell is unknown or was only ever observed without color
 	* (rgb option off / pre-Iter-8 recordings) — consumers fall back to
@@ -126,13 +145,18 @@ var OccupancyGrid = class {
 			return true;
 		}, this.carveStopCells);
 	}
-	increment(cell, rgb) {
+	increment(cell, world, rgb) {
 		const key = cellKey(cell);
 		let record = this.cells.get(key);
 		if (!record) {
 			record = {
 				cell,
 				count: 0,
+				posSum: [
+					0,
+					0,
+					0
+				],
 				colorCount: 0,
 				colorSum: [
 					0,
@@ -143,6 +167,9 @@ var OccupancyGrid = class {
 			this.cells.set(key, record);
 		}
 		record.count++;
+		record.posSum[0] += world[0];
+		record.posSum[1] += world[1];
+		record.posSum[2] += world[2];
 		if (rgb && isFiniteTriple(rgb)) {
 			record.colorCount++;
 			record.colorSum[0] += rgb[0];

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

@@ -0,0 +1,2 @@
+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";
+export { Homography, Mat3, PlanarPnpSquare, PoseCandidate, homographyFromCorrespondences, ippePoseCandidates, nearestRotation3x3, rotationToRodrigues, solveLinear };