gps-plus-slam-app-framework 1.3.0 → 1.7.0

package/dist/ar/image-quality.js

@@ -0,0 +1,168 @@
+//#region ../src/ar/image-quality.ts
+/**
+* Default image-quality configuration. **Disabled by default** (plan §10): the
+* relative blur threshold is unvalidated, and a mis-tuned gate silently dropping
+* good frames for every consumer app is worse than the motion gate's low-risk
+* default-on. Flip to `true` once the thresholds are field-tuned. The numeric
+* values are PLACEHOLDERS pending on-device tuning (record measured values in
+* implementation-progress.md). `maxWaitMs` of 4000 ms is 2× the default 2000 ms
+* image interval.
+*/
+const DEFAULT_QUALITY_FILTER = {
+	enabled: false,
+	blurRelativeThreshold: .5,
+	minMeanLuminance: 10,
+	maxWaitMs: 4e3
+};
+/** Default number of recent (non-black) sharpness scores the gate keeps. */
+const DEFAULT_SHARPNESS_HISTORY_SIZE = 15;
+/**
+* Default minimum samples before the relative blur check engages. Below this the
+* gate is in "cold start" and accepts every non-black frame — the same
+* "no baseline yet ⇒ don't block" principle the motion gate uses for an empty
+* window.
+*/
+const DEFAULT_SHARPNESS_MIN_SAMPLES = 3;
+/**
+* Compute the **variance of the Laplacian** of a single-channel grayscale image
+* — the standard focus measure (higher ⇒ sharper / more in-focus).
+*
+* The discrete Laplacian per interior pixel is
+* `up + down + left + right − 4·centre` (the 4-neighbour kernel); the score is
+* the variance of that response over all interior pixels. A flat/constant image
+* yields 0; a focused, textured image yields a large value.
+*
+* Defensive: returns `0` (rather than throwing or `NaN`) for any input that has
+* no interior pixels — non-integer or `< 3` dimensions, or a buffer shorter than
+* `width · height`. A tiny negative variance from floating-point cancellation is
+* clamped to 0.
+*
+* @param gray  Row-major single-channel intensities, length ≥ `width · height`.
+* @param width  Image width in pixels.
+* @param height Image height in pixels.
+*/
+function sharpnessScore(gray, width, height) {
+	if (!Number.isInteger(width) || !Number.isInteger(height)) return 0;
+	if (width < 3 || height < 3) return 0;
+	if (gray.length < width * height) return 0;
+	let sum = 0;
+	let sumSq = 0;
+	let count = 0;
+	for (let y = 1; y < height - 1; y++) {
+		const row = y * width;
+		for (let x = 1; x < width - 1; x++) {
+			const i = row + x;
+			const laplacian = gray[i - 1] + gray[i + 1] + gray[i - width] + gray[i + width] - 4 * gray[i];
+			sum += laplacian;
+			sumSq += laplacian * laplacian;
+			count++;
+		}
+	}
+	if (count === 0) return 0;
+	const mean = sum / count;
+	const variance = sumSq / count - mean * mean;
+	return variance > 0 ? variance : 0;
+}
+/**
+* Convert an RGBA buffer to a single-channel grayscale (Rec. 601 luma) buffer,
+* the input {@link sharpnessScore} expects. Pure; ignores the alpha channel. A
+* partial trailing pixel (length not a multiple of 4) is ignored.
+*/
+function rgbaToGrayscale(rgba) {
+	const pixels = Math.floor(rgba.length / 4);
+	const out = new Uint8ClampedArray(pixels);
+	for (let p = 0; p < pixels; p++) {
+		const o = p * 4;
+		out[p] = .299 * rgba[o] + .587 * rgba[o + 1] + .114 * rgba[o + 2];
+	}
+	return out;
+}
+/**
+* Mean Rec. 601 luma (`0.299R + 0.587G + 0.114B`) over an RGBA buffer, on a
+* 0–255 scale. Near-zero ⇒ black/empty frame. Alpha is ignored. Returns `0` for
+* an empty buffer.
+*/
+function meanLuminance(rgba) {
+	const pixels = Math.floor(rgba.length / 4);
+	if (pixels === 0) return 0;
+	let sum = 0;
+	for (let p = 0; p < pixels; p++) {
+		const o = p * 4;
+		sum += .299 * rgba[o] + .587 * rgba[o + 1] + .114 * rgba[o + 2];
+	}
+	return sum / pixels;
+}
+/**
+* Lower-middle median (matches the project's other `medianOf` helpers, e.g.
+* `qr-pose-aggregation.ts`). Caller guarantees a non-empty array.
+*/
+function medianOf(values) {
+	const sorted = [...values].sort((a, b) => a - b);
+	return sorted[Math.floor((sorted.length - 1) / 2)];
+}
+/**
+* The self-calibrating blur+blackness verdict, with the rolling sharpness
+* history that makes the blur check scene-relative (§5). Stateful but pure (no
+* DOM/worker): one instance per recording session, fed each analysed frame's
+* metrics.
+*
+* Policy per frame ({@link evaluate}):
+*  1. **Blackness — absolute.** `meanLuminance < config.minMeanLuminance` ⇒
+*     reject `'black'`. The score is NOT recorded (a black frame's ~0 sharpness
+*     must not drag the median down and disarm the blur check).
+*  2. **Blur — relative.** Once at least `minSamples` non-black frames have been
+*     seen, reject `'blurry'` when `sharpness < blurRelativeThreshold · median`.
+*     Before that (cold start) every non-black frame is accepted.
+*  3. The non-black frame's sharpness is recorded into the rolling window
+*     (capped at `historySize`) so the median tracks the scene's texture level —
+*     including a genuinely softening scene, which gradually lowers the bar (the
+*     §10 "retry storm" regime where the fallback then guarantees progress).
+*/
+var ImageQualityGate = class {
+	history = [];
+	historySize;
+	minSamples;
+	constructor(historySize = 15, minSamples = 3) {
+		this.historySize = Number.isFinite(historySize) && historySize >= 1 ? Math.floor(historySize) : 15;
+		this.minSamples = Number.isFinite(minSamples) && minSamples >= 1 ? Math.floor(minSamples) : 3;
+	}
+	/**
+	* Judge one frame from its precomputed metrics + the current config, updating
+	* the rolling history. See the class doc for the policy.
+	*/
+	evaluate(sharpness, meanLum, config) {
+		if (meanLum < config.minMeanLuminance) return {
+			accept: false,
+			reason: "black",
+			sharpness,
+			meanLuminance: meanLum
+		};
+		let blurry = false;
+		if (this.history.length >= this.minSamples) {
+			if (sharpness < config.blurRelativeThreshold * medianOf(this.history)) blurry = true;
+		}
+		this.history.push(sharpness);
+		if (this.history.length > this.historySize) this.history.shift();
+		return blurry ? {
+			accept: false,
+			reason: "blurry",
+			sharpness,
+			meanLuminance: meanLum
+		} : {
+			accept: true,
+			reason: null,
+			sharpness,
+			meanLuminance: meanLum
+		};
+	}
+	/** Number of (non-black) sharpness samples currently retained. */
+	historyLength() {
+		return this.history.length;
+	}
+	/** Clear the rolling history (e.g. on a new recording session). */
+	reset() {
+		this.history.length = 0;
+	}
+};
+//#endregion
+export { DEFAULT_QUALITY_FILTER, DEFAULT_SHARPNESS_HISTORY_SIZE, DEFAULT_SHARPNESS_MIN_SAMPLES, ImageQualityGate, meanLuminance, rgbaToGrayscale, sharpnessScore };

package/dist/ar/index.d.ts

@@ -1,19 +1,31 @@
-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-CU1Gv2W4.js";
+import { a as computeCaptureSize, i as computeAspectFitSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "../camera-blit-capture-NKT9H5-e.js";
+import { i as isFullySupported, n as CapabilitySupport, r as capabilityMessage, t as CapabilityMessageOptions } from "../capability-checker-DUQLg6gq.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-gsm8q7yi.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-D4K2uwwQ.js";
+import { n as createDepthGridLookup, t as DepthGridLookup } from "../depth-grid-lookup-DQ-IYhO3.js";
+import { a as wrapXRDepthInfo, i as DepthSamplerConfig, n as DepthSampler, r as DepthSamplerCallbacks, t as DepthInfo } from "../depth-sampler-asc8exHt.js";
+import { n as createDepthUnprojector, r as unprojectDepthPoint, t as DepthUnprojector } from "../depth-unprojection-DjsbJW9L.js";
+import { a as QualityFilterConfig, c as meanLuminance, i as ImageQualityGate, l as rgbaToGrayscale, n as DEFAULT_SHARPNESS_HISTORY_SIZE, o as QualityRejectReason, r as DEFAULT_SHARPNESS_MIN_SAMPLES, s as QualityVerdict, t as DEFAULT_QUALITY_FILTER, u as sharpnessScore } from "../image-quality-smCBoFj1.js";
+import { a as ImageCaptureCallbacks, c as MIN_VALID_IMAGE_BYTES, i as FrameQualityVerdict, n as CapturedImage, o as ImageCaptureConfig, r as DEFAULT_CAPTURE_CONFIG, s as ImageCaptureManager, t as CapturedFrame } from "../image-capture-CNZDrQXG.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-D2rfu5DA.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--fFX25mV.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-Cva1q3Qj.js";
+import { B as setTrackingStore, F as setImageQualityAnalyzer, G as stopCameraFrameCapture, H as startCameraFrameCapture, K as stopDepthCapture, L as setTrackingCallbacks, M as setDepthCaptureCallback, N as setFrameCallback, P as setImageCaptureCallback, R as setTrackingLostCallback, S as initAR, U as startDepthCapture, W as startImageCapture, _ as getDepthSampleCount, b as getScene, c as endARSession, f as getArWorldGroup, g as getCurrentArPose, h as getCameraFrameCount, j as setCameraFrameCallback, p as getCamera, q as stopImageCapture, r as SessionFeatureOptions, t as CameraFrameCaptureConfig, v as getImageCaptureFrameCount, y as getLiveCss3dManager } from "../webxr-session-Do5L6G3B.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-DkNhFv4Y.js";
+import { r as registerFrameUpdate, t as FrameUpdate } from "../frame-loop-CpVjQ1dH.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-DQdAsid1.js";
+import { t as createQrSizeDepthContext } from "../qr-size-depth-context-CeAG53fy.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-CmxTP2m4.js";
+import { n as createQrDebugView, t as QrDebugView } from "../qr-debug-view-Brl73HGO.js";
+import { a as createQrDetectionController, i as RawObservationSink, n as QrDetectionControllerDeps, r as QrScanStatus, t as QrDetectionController } from "../qr-detection-controller-CDurHv8E.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-B7tWJq7j.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-BneSj4_5.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-my9bqULS.js";
+import { n as OccupancyGridOptions, t as OccupancyGrid } from "../occupancy-grid-DnOc-6PU.js";
+import { i as registerXrFrameUpdate, n as XrFrameUpdate, t as XrFrameContext } from "../xr-frame-loop-DIYtRcUa.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-DBlDrV_x.js";
+import { t as SCENE_NODE } from "../scene-node-names-BiShOQDB.js";
+import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-3nfjDJJp.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-CtvHpjfm.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, CapturedFrame, CapturedImage, ChromeVersion, ChromiumProjectionLayerWorkaroundResult, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DEFAULT_QUALITY_FILTER, DEFAULT_ROTATION_INLIER_ANGLE_DEG, DEFAULT_SHARPNESS_HISTORY_SIZE, DEFAULT_SHARPNESS_MIN_SAMPLES, DepthGridLookup, DepthInfo, DepthSampler, DepthSamplerCallbacks, DepthSamplerConfig, DepthUnprojector, DeriveQrPoseDeps, DerivedQrPlacement, DetectedBarcodeLike, DetectionScheduler, DetectionSchedulerConfig, EnableGpsArConfig, EnableGpsArController, EnableGpsArDeps, EnableGpsArResult, EnableGpsArState, EnableGpsArStatus, Enu, FetchLike, FetchQrLevelOptions, FrameQualityVerdict, FrameUpdate, GridCell, Homography, ImageCaptureCallbacks, ImageCaptureConfig, ImageCaptureManager, ImageQualityGate, 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, QualityFilterConfig, QualityRejectReason, QualityVerdict, 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, meanLuminance, nearestRotation3x3, needsBaseLayerPersistence, offsetGeo, parseChromeVersion, parseQrLevel, projectViewPoint, qrInCameraFromOpenCv, registerFrameUpdate, registerXrFrameUpdate, reprojectionErrorPx, rgbaToGrayscale, rotationToRodrigues, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, sharpnessScore, signedQuadArea, solveLinear, solveQrPose, solveQrPoseFromObservation, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, transformPoint, unprojectDepthPoint, updateOrbitTarget, validateQuad, wrapXRDepthInfo };

package/dist/ar/index.js

@@ -1,19 +1,31 @@
-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-DBiaLW0O.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-MFpFlV7j.js";
+import { BarcodeDetectorFrontEnd, createBarcodeDetectorFrontEnd } from "./qr-frontend.js";
+import { A as setFrameCallback, B as startDepthCapture, F as setTrackingLostCallback, G as CameraFrameSource, H as stopCameraFrameCapture, L as setTrackingStore, M as setImageQualityAnalyzer, O as setCameraFrameCallback, P as setTrackingCallbacks, U as stopDepthCapture, V as startImageCapture, W as stopImageCapture, _ 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 startCameraFrameCapture } from "../webxr-session-DG-eNfny.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 { n as ImageCaptureManager, r as MIN_VALID_IMAGE_BYTES, t as DEFAULT_CAPTURE_CONFIG } from "../image-capture-B2-b6tKK.js";
+import { DEFAULT_QUALITY_FILTER, DEFAULT_SHARPNESS_HISTORY_SIZE, DEFAULT_SHARPNESS_MIN_SAMPLES, ImageQualityGate, meanLuminance, rgbaToGrayscale, sharpnessScore } from "./image-quality.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_QUALITY_FILTER, DEFAULT_ROTATION_INLIER_ANGLE_DEG, DEFAULT_SHARPNESS_HISTORY_SIZE, DEFAULT_SHARPNESS_MIN_SAMPLES, DepthSampler, ImageCaptureManager, ImageQualityGate, 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, meanLuminance, nearestRotation3x3, needsBaseLayerPersistence, offsetGeo, parseChromeVersion, parseQrLevel, projectViewPoint, qrInCameraFromOpenCv, registerFrameUpdate, registerXrFrameUpdate, reprojectionErrorPx, rgbaToGrayscale, rotationToRodrigues, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, sharpnessScore, 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-DnOc-6PU.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-my9bqULS.js";
+export { Homography, Mat3, PlanarPnpSquare, PoseCandidate, homographyFromCorrespondences, ippePoseCandidates, nearestRotation3x3, rotationToRodrigues, solveLinear };