gps-plus-slam-app-framework 1.4.0 → 1.8.0

package/dist/state/tracking-quality.js

@@ -1,4 +1,5 @@
-import { selectLastSensorOrientation, selectLastValidPose, selectTrackingPhase } from "./tracking-slice.js";
+import { t as geodesicAngleRad } from "../geodesic-angle-BTldfFgs.js";
+import { selectTrackingPhase } from "./tracking-slice.js";
 import { selectAlignmentMatrix, selectGpsPositions, selectOdometryPositions, selectZeroReference } from "./app-selectors.js";
 import { calcGpsCoords, distanceInMeters } from "gps-plus-slam-js";
 import { mat4, quat, vec3 } from "gl-matrix";
@@ -13,19 +14,15 @@ const DEFAULT_TRACKING_QUALITY_OPTIONS = {
 	coverageDirectionSpreadDeg: 90,
 	convergenceRotationWarnDeg: 6,
 	convergenceTranslationWarnM: 2,
-	compassWarnDeg: 15,
-	compassFailDeg: 35,
 	warmupMinObservations: 10,
 	warmupMinCoverage: .5,
 	residualConfidenceTargetM: 3,
 	gpsAccuracyFloorM: 1,
-	firstAgreementMinStreak: 3,
 	degradedHoldoff: 3,
 	convergenceEmaAlpha: .3
 };
 const initialState = {
 	recentAlignments: [],
-	firstAgreementObservationIndex: null,
 	report: null,
 	degradedConsecutiveCount: 0,
 	smoothedConvergence: null
@@ -47,11 +44,6 @@ function emaBlend(prev, raw, alpha) {
 	if (prev === null) return raw;
 	return prev + (Number.isFinite(alpha) ? alpha : 1) * (raw - prev);
 }
-function wrapToHalfCircle(deg) {
-	let d = (deg + 180) % 360 - 180;
-	if (d < -180) d += 360;
-	return d;
-}
 function bearingDeg(north, east) {
 	let deg = Math.atan2(east, north) * 180 / Math.PI;
 	if (deg < 0) deg += 360;
@@ -88,6 +80,20 @@ function rampUp(value, low, high) {
 	return (value - low) / (high - low);
 }
 /**
+* True iff the matrix is well-formed: exactly 16 elements, all finite (no
+* NaN/Infinity). The length check matters because `computeConvergence` scores a
+* pair as corrupt (fail side) only when this returns false; without it a finite
+* but wrong-length snapshot (`AlignmentSnapshot.matrix` is typed `number[]`,
+* not a 16-tuple) would slip past here, then hit `matrixDelta`'s own length
+* guard which returns ZERO deltas = "perfectly stable" — inflating the score
+* instead of degrading it (the same trap the non-finite guard avoids).
+*/
+function isFiniteMatrix(m) {
+	if (m.length !== 16) return false;
+	for (let i = 0; i < m.length; i++) if (!Number.isFinite(m[i])) return false;
+	return true;
+}
+/**
 * §4.1 matrix-history convergence over the buffered snapshots.
 *
 * Reuses the same kernel idea as `computeStabilityDelta` from the
@@ -118,7 +124,15 @@ function computeConvergence(snapshots, options = {}) {
 	let sumTransM = 0;
 	let pairCount = 0;
 	for (let i = 1; i < snapshots.length; i++) {
-		const { rotationDeltaDeg, translationDeltaM } = matrixDelta(snapshots[i - 1].matrix, snapshots[i].matrix);
+		const prevM = snapshots[i - 1].matrix;
+		const currM = snapshots[i].matrix;
+		if (!isFiniteMatrix(prevM) || !isFiniteMatrix(currM)) {
+			sumRotDeg += rotFail;
+			sumTransM += transFail;
+			pairCount += 1;
+			continue;
+		}
+		const { rotationDeltaDeg, translationDeltaM } = matrixDelta(prevM, currM);
 		sumRotDeg += Math.abs(rotationDeltaDeg);
 		sumTransM += Math.abs(translationDeltaM);
 		pairCount += 1;
@@ -137,7 +151,8 @@ function computeConvergence(snapshots, options = {}) {
 * the column-major layout that gl-matrix and the framework use.
 *
 * Rotation: extract the orientation quaternion with `mat4.getRotation`
-* and compute the relative angle via `quat.getAngle` (degrees).
+* and compute the relative angle via the shared `geodesicAngleRad` kernel
+* (radians, converted to degrees here).
 * Translation: extract the origin column with `mat4.getTranslation` and
 * compute the Euclidean distance.
 *
@@ -161,15 +176,16 @@ function matrixDelta(prev, curr) {
 	mat4.getRotation(currQuat, currMat);
 	quat.normalize(prevQuat, prevQuat);
 	quat.normalize(currQuat, currQuat);
-	const angleRad = quat.getAngle(prevQuat, currQuat);
-	const rotationDeltaDeg = Number.isNaN(angleRad) ? 0 : angleRad * 180 / Math.PI;
+	const angleRad = geodesicAngleRad(prevQuat, currQuat);
+	const rotationDeltaDeg = Number.isFinite(angleRad) ? angleRad * 180 / Math.PI : 0;
 	const prevT = vec3.create();
 	const currT = vec3.create();
 	mat4.getTranslation(prevT, prevMat);
 	mat4.getTranslation(currT, currMat);
+	const rawTranslation = vec3.distance(prevT, currT);
 	return {
 		rotationDeltaDeg,
-		translationDeltaM: vec3.distance(prevT, currT)
+		translationDeltaM: Number.isFinite(rawTranslation) ? rawTranslation : 0
 	};
 }
 /**
@@ -319,56 +335,6 @@ function computeCoverage(odometryPositions, options = {}) {
 	};
 }
 /**
-* §4.3 — Compare the alignment matrix's mapping of AR-forward to ENU
-* against the device compass heading. Returns `score = null` whenever
-* the sensor's `absolute !== true` so the aggregate excludes the
-* sub-score (per Q2 in the plan).
-*
-* AR-forward in our `ARPose` convention is `(0, 0, -1)` (right-handed,
-* Y-up). We rotate that by the alignment's 3×3 rotation, take its
-* North/East components, and compare against the compass alpha.
-*/
-function computeCompassAgreement(alignmentMatrix, sensorOrientation, arPose, options = {}) {
-	const warn = options.warnDeg ?? DEFAULT_TRACKING_QUALITY_OPTIONS.compassWarnDeg;
-	const fail = options.failDeg ?? DEFAULT_TRACKING_QUALITY_OPTIONS.compassFailDeg;
-	if (!alignmentMatrix || !sensorOrientation || !arPose) return {
-		score: null,
-		headingDeltaDeg: null
-	};
-	if (sensorOrientation.absolute !== true) return {
-		score: null,
-		headingDeltaDeg: null
-	};
-	const q = arPose.orientation;
-	const fx = 0;
-	const fy = 0;
-	const fz = -1;
-	const x = q.x, y = q.y, z = q.z, w = q.w;
-	const tx = 2 * (y * fz - z * fy);
-	const ty = 2 * (z * fx - x * fz);
-	const tz = 2 * (x * fy - y * fx);
-	const arForwardLocal = [
-		fx + w * tx + (y * tz - z * ty),
-		fy + w * ty + (z * tx - x * tz),
-		fz + w * tz + (x * ty - y * tx)
-	];
-	const m = alignmentMatrix;
-	const enuN = m[0] * arForwardLocal[0] + m[4] * arForwardLocal[1] + m[8] * arForwardLocal[2];
-	m[1] * arForwardLocal[0] + m[5] * arForwardLocal[1] + m[9] * arForwardLocal[2];
-	const enuE = m[2] * arForwardLocal[0] + m[6] * arForwardLocal[1] + m[10] * arForwardLocal[2];
-	if (Math.hypot(enuN, enuE) < 1e-6) return {
-		score: null,
-		headingDeltaDeg: null
-	};
-	const alignmentHeadingDeg = bearingDeg(enuN, enuE);
-	const compassHeadingDeg = sensorOrientation.alpha;
-	const delta = Math.abs(wrapToHalfCircle(alignmentHeadingDeg - compassHeadingDeg));
-	return {
-		score: rampDown(delta, warn, fail),
-		headingDeltaDeg: delta
-	};
-}
-/**
 * §4.6 — Maximum lateral distance between raw GPS positions and the
 * positions you would predict by transforming the matching odometry
 * positions through the current alignment. Diagnostic only — never
@@ -418,9 +384,6 @@ const trackingQualitySlice = createSlice({
 		reportUpdated(state, action) {
 			state.report = action.payload;
 		},
-		firstAgreementReached(state, action) {
-			state.firstAgreementObservationIndex = action.payload;
-		},
 		/** §4.8 — update the hysteresis counter for ok → degraded holdoff. */
 		degradedCountUpdated(state, action) {
 			state.degradedConsecutiveCount = action.payload;
@@ -439,7 +402,7 @@ const trackingQualitySlice = createSlice({
 		}
 	}
 });
-const { snapshotPushed, snapshotsTrimmed, reportUpdated, firstAgreementReached, degradedCountUpdated, resetTrackingQuality } = trackingQualitySlice.actions;
+const { snapshotPushed, snapshotsTrimmed, reportUpdated, degradedCountUpdated, resetTrackingQuality } = trackingQualitySlice.actions;
 const { smoothedConvergenceUpdated } = trackingQualitySlice.actions;
 const trackingQualityReducer = trackingQualitySlice.reducer;
 function selectTrackingQuality(state) {
@@ -448,9 +411,6 @@ function selectTrackingQuality(state) {
 function selectRecentAlignments(state) {
 	return state.trackingQuality?.recentAlignments ?? EMPTY_SNAPSHOTS;
 }
-function selectFirstAgreementObservationIndex(state) {
-	return state.trackingQuality?.firstAgreementObservationIndex ?? null;
-}
 const EMPTY_SNAPSHOTS = Object.freeze([]);
 /**
 * Pure function — produces a {@link TrackingQualityReport} from a root
@@ -474,10 +434,7 @@ function computeTrackingQualityReport(rootState, options = {}) {
 	const odometryPositions = selectOdometryPositions(rootState);
 	const zeroRef = selectZeroReference(rootState);
 	const trackingPhase = selectTrackingPhase(rootState);
-	const sensorOrientation = selectLastSensorOrientation(rootState);
-	const lastPose = selectLastValidPose(rootState);
 	const snapshots = selectRecentAlignments(rootState);
-	const firstAgreementIdx = selectFirstAgreementObservationIndex(rootState);
 	const coverage = computeCoverage(odometryPositions, {
 		walkedDistanceM: opts.coverageWalkedDistanceM,
 		directionSpreadDeg: opts.coverageDirectionSpreadDeg
@@ -492,15 +449,10 @@ function computeTrackingQualityReport(rootState, options = {}) {
 		rotationWarnDeg: opts.convergenceRotationWarnDeg,
 		translationWarnM: opts.convergenceTranslationWarnM
 	});
-	const compass = computeCompassAgreement(alignmentMatrix, sensorOrientation, lastPose, {
-		warnDeg: opts.compassWarnDeg,
-		failDeg: opts.compassFailDeg
-	});
 	const gpsVsFusedMaxDivergenceM = computeGpsVsFusedDivergence(alignmentMatrix, gpsPositions, odometryPositions, zeroRef);
 	const subScores = {
 		convergence: clamp01(emaBlend(rootState.trackingQuality?.smoothedConvergence ?? null, convergence.score, opts.convergenceEmaAlpha)),
 		residualConsensus: clamp01(residual.score),
-		compassAgreement: compass.score === null ? null : clamp01(compass.score),
 		gpsAccuracy: clamp01(gpsAccuracy.score),
 		coverage: clamp01(coverage.score)
 	};
@@ -510,7 +462,6 @@ function computeTrackingQualityReport(rootState, options = {}) {
 		subScores.gpsAccuracy,
 		subScores.coverage
 	];
-	if (subScores.compassAgreement !== null) aggregateInputs.push(subScores.compassAgreement);
 	const confidence = clamp01(Math.min(...aggregateInputs));
 	const observationsSeen = gpsPositions.length;
 	let state;
@@ -529,8 +480,6 @@ function computeTrackingQualityReport(rootState, options = {}) {
 			medianRecentGpsAccuracyM: gpsAccuracy.medianM,
 			walkedDistanceM: coverage.walkedDistanceM,
 			directionSpreadDeg: coverage.directionSpreadDeg,
-			headingDeltaDeg: compass.headingDeltaDeg,
-			compassDriftDetected: firstAgreementIdx !== null && compass.headingDeltaDeg !== null && compass.headingDeltaDeg > opts.compassWarnDeg,
 			observationsSeen,
 			gpsVsFusedMaxDivergenceM
 		}
@@ -540,15 +489,14 @@ function computeTrackingQualityReport(rootState, options = {}) {
 * Per-field tolerances for the {@link reportsEqual} dispatch gate.
 *
 * Why this exists: `tracking/poseReceived` fires on *every* XR frame
-* (30–60 fps). The §4.3 compass cross-check consumes the live AR pose
-* and sensor heading, so `subScores.compassAgreement` and
-* `diagnostics.headingDeltaDeg` (and, when compass is the minimum,
-* `confidence`) jitter by imperceptible floating-point amounts on a
-* held-still device. With a strict `!==` comparison every such frame
-* produced a fresh `reportUpdated` dispatch → high Redux churn and a
-* HUD re-render at frame rate. The tolerances below quantise those
-* sub-perceptual changes so the gate only fires when the user-visible
-* quality actually moved.
+* (30–60 fps). The per-frame recompute reuses GPS/odometry windows that
+* are unchanged between pose frames, so the float sub-scores and
+* diagnostics (and `confidence`) jitter by imperceptible floating-point
+* amounts on a held-still device. With a strict `!==` comparison every
+* such frame produced a fresh `reportUpdated` dispatch → high Redux
+* churn and a HUD re-render at frame rate. The tolerances below quantise
+* those sub-perceptual changes so the gate only fires when the
+* user-visible quality actually moved.
 *
 * The gate compares the freshly computed report against the *last
 * dispatched* report (the stored `prev`), not against the previous
@@ -567,10 +515,9 @@ const REPORT_METRE_EPSILON_M = .001;
 * (both `null` ⇒ equal; exactly one `null` ⇒ different) and otherwise
 * compares with an absolute epsilon. Non-finite values are compared with
 * {@link Object.is}, so a genuine finite↔NaN/Infinity transition still
-* fires a dispatch, but a *persistently* NaN diagnostic (the only
-* unguarded path is a NaN compass `alpha` leaking into
-* `diagnostics.headingDeltaDeg`) does NOT churn the gate every frame —
-* `Object.is(NaN, NaN)` is `true` whereas `NaN === NaN` is `false`.
+* fires a dispatch, but a *persistently* NaN diagnostic does NOT churn
+* the gate every frame — `Object.is(NaN, NaN)` is `true` whereas
+* `NaN === NaN` is `false`.
 */
 function nearlyEqual(a, b, eps) {
 	if (a === null || b === null) return a === b;
@@ -585,8 +532,8 @@ function nearlyEqual(a, b, eps) {
 *
 * Float fields use the per-field tolerances above
 * ({@link REPORT_SCORE_EPSILON} et al.) so imperceptible per-frame
-* compass jitter does not churn the store — see the constants' doc
-* comment for the rationale.
+* jitter does not churn the store — see the constants' doc comment for
+* the rationale.
 */
 function reportsEqual(a, b) {
 	if (a === b) return true;
@@ -595,10 +542,10 @@ function reportsEqual(a, b) {
 	if (!nearlyEqual(a.confidence, b.confidence, REPORT_SCORE_EPSILON)) return false;
 	const sa = a.subScores;
 	const sb = b.subScores;
-	if (!nearlyEqual(sa.convergence, sb.convergence, REPORT_SCORE_EPSILON) || !nearlyEqual(sa.residualConsensus, sb.residualConsensus, REPORT_SCORE_EPSILON) || !nearlyEqual(sa.compassAgreement, sb.compassAgreement, REPORT_SCORE_EPSILON) || !nearlyEqual(sa.gpsAccuracy, sb.gpsAccuracy, REPORT_SCORE_EPSILON) || !nearlyEqual(sa.coverage, sb.coverage, REPORT_SCORE_EPSILON)) return false;
+	if (!nearlyEqual(sa.convergence, sb.convergence, REPORT_SCORE_EPSILON) || !nearlyEqual(sa.residualConsensus, sb.residualConsensus, REPORT_SCORE_EPSILON) || !nearlyEqual(sa.gpsAccuracy, sb.gpsAccuracy, REPORT_SCORE_EPSILON) || !nearlyEqual(sa.coverage, sb.coverage, REPORT_SCORE_EPSILON)) return false;
 	const da = a.diagnostics;
 	const db = b.diagnostics;
-	return da.compassDriftDetected === db.compassDriftDetected && da.observationsSeen === db.observationsSeen && nearlyEqual(da.recentSumRotationDeltaDeg, db.recentSumRotationDeltaDeg, REPORT_ANGLE_EPSILON_DEG) && nearlyEqual(da.directionSpreadDeg, db.directionSpreadDeg, REPORT_ANGLE_EPSILON_DEG) && nearlyEqual(da.headingDeltaDeg, db.headingDeltaDeg, REPORT_ANGLE_EPSILON_DEG) && nearlyEqual(da.recentSumTranslationDeltaM, db.recentSumTranslationDeltaM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.medianResidualM, db.medianResidualM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.medianRecentGpsAccuracyM, db.medianRecentGpsAccuracyM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.walkedDistanceM, db.walkedDistanceM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.gpsVsFusedMaxDivergenceM, db.gpsVsFusedMaxDivergenceM, REPORT_METRE_EPSILON_M);
+	return da.observationsSeen === db.observationsSeen && nearlyEqual(da.recentSumRotationDeltaDeg, db.recentSumRotationDeltaDeg, REPORT_ANGLE_EPSILON_DEG) && nearlyEqual(da.directionSpreadDeg, db.directionSpreadDeg, REPORT_ANGLE_EPSILON_DEG) && nearlyEqual(da.recentSumTranslationDeltaM, db.recentSumTranslationDeltaM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.medianResidualM, db.medianResidualM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.medianRecentGpsAccuracyM, db.medianRecentGpsAccuracyM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.walkedDistanceM, db.walkedDistanceM, REPORT_METRE_EPSILON_M) && nearlyEqual(da.gpsVsFusedMaxDivergenceM, db.gpsVsFusedMaxDivergenceM, REPORT_METRE_EPSILON_M);
 }
 function matricesNearlyEqual(a, b) {
 	if (a.length !== b.length) return false;
@@ -650,16 +597,14 @@ function createTrackingQualityListenerMiddleware(options = {}) {
 		...DEFAULT_TRACKING_QUALITY_OPTIONS,
 		...options
 	};
-	let compassStreak = 0;
 	const listenerMiddleware = createListenerMiddleware();
 	listenerMiddleware.startListening({
 		predicate: (action) => inputActionPredicate(action),
 		effect: (action, api) => {
 			const state = api.getState();
 			if (action.type === TRACKING_QUALITY_INPUT_ACTIONS.startSession || action.type === TRACKING_QUALITY_INPUT_ACTIONS.resetTracking) {
-				compassStreak = 0;
 				const tq = state.trackingQuality;
-				if (tq && (tq.recentAlignments.length > 0 || tq.firstAgreementObservationIndex !== null || tq.report !== null || tq.degradedConsecutiveCount > 0)) api.dispatch(resetTrackingQuality());
+				if (tq && (tq.recentAlignments.length > 0 || tq.report !== null || tq.degradedConsecutiveCount > 0)) api.dispatch(resetTrackingQuality());
 				return;
 			}
 			if (action.type === TRACKING_QUALITY_INPUT_ACTIONS.gpsRecorded || action.type === TRACKING_QUALITY_INPUT_ACTIONS.setZeroPos) {
@@ -678,30 +623,6 @@ function createTrackingQualityListenerMiddleware(options = {}) {
 					}
 				}
 			}
-			const midState = api.getState();
-			const midTq = midState.trackingQuality;
-			if (midTq && midTq.firstAgreementObservationIndex === null) {
-				const snapshots = selectRecentAlignments(midState);
-				if (snapshots.length >= 2) {
-					const conv = computeConvergence(snapshots, {
-						rotationWarnDeg: opts.convergenceRotationWarnDeg,
-						translationWarnM: opts.convergenceTranslationWarnM
-					});
-					const sensorOr = selectLastSensorOrientation(midState);
-					const pose = selectLastValidPose(midState);
-					const compass = computeCompassAgreement(selectAlignmentMatrix(midState), sensorOr, pose, {
-						warnDeg: opts.compassWarnDeg,
-						failDeg: opts.compassFailDeg
-					});
-					if (conv.score >= .7 && compass.headingDeltaDeg !== null && compass.headingDeltaDeg <= opts.compassWarnDeg) {
-						compassStreak += 1;
-						if (compassStreak >= opts.firstAgreementMinStreak) {
-							const obsCount = selectGpsPositions(midState).length;
-							api.dispatch(firstAgreementReached(obsCount));
-						}
-					} else compassStreak = 0;
-				}
-			}
 			const next = api.getState();
 			const report = computeTrackingQualityReport(next, opts);
 			const prev = next.trackingQuality?.report ?? null;
@@ -720,4 +641,4 @@ function createTrackingQualityListenerMiddleware(options = {}) {
 	return listenerMiddleware.middleware;
 }
 //#endregion
-export { DEFAULT_TRACKING_QUALITY_OPTIONS, computeCompassAgreement, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeResidualConsensus, computeTrackingQualityReport, createTrackingQualityListenerMiddleware, degradedCountUpdated, firstAgreementReached, matrixDelta, reportUpdated, resetTrackingQuality, selectFirstAgreementObservationIndex, selectRecentAlignments, selectTrackingQuality, snapshotPushed, snapshotsTrimmed, trackingQualityReducer };
+export { DEFAULT_TRACKING_QUALITY_OPTIONS, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeResidualConsensus, computeTrackingQualityReport, createTrackingQualityListenerMiddleware, degradedCountUpdated, matrixDelta, reportUpdated, resetTrackingQuality, selectRecentAlignments, selectTrackingQuality, snapshotPushed, snapshotsTrimmed, trackingQualityReducer };

package/dist/state/tracking-slice.d.ts

@@ -1,2 +1,2 @@
-import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-DJZ9qeGg.js";
+import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-DMkHlbny.js";
 export { DeviceOrientation, PoseReceivedPayload, ResetTransformData, TrackingPhase, TrackingSliceState, clearLastRestartedPayload, originReset, poseLost, poseReceived, resetTracking, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectTrackingPhase, trackingReducer };

package/dist/{state-IEw0ZsBu.js → state-BeKvn4B-.js}

@@ -7,7 +7,7 @@ import "./state/gps-ar-pose-sampler.js";
 import "./state/app-selectors.js";
 import { selectTrackingQuality } from "./state/tracking-quality.js";
 import "./state/persistence-middleware.js";
-import "./state/create-slam-app-store.js";
+import "./create-slam-app-store-DXiAnJwR.js";
 import "./state/recording-replayer.js";
 import "./state/store-subscribers.js";
 import { add2dImage, calcRelativeCoordsInMeters, recordGpsEvent as recordGpsEvent$1, setZeroPos as setZeroPos$1 } from "gps-plus-slam-js";

package/dist/storage/file-system-utils.d.ts

@@ -1,2 +1,2 @@
-import { a as formatTimestamp, i as formatFrameFilename, n as SESSION_IMAGES_DIR, r as formatActionFilename, t as LEGACY_SESSION_IMAGES_DIR } from "../file-system-utils-Bs7lpeVP.js";
+import { a as formatTimestamp, i as formatFrameFilename, n as SESSION_IMAGES_DIR, r as formatActionFilename, t as LEGACY_SESSION_IMAGES_DIR } from "../file-system-utils-DueXHxo9.js";
 export { LEGACY_SESSION_IMAGES_DIR, SESSION_IMAGES_DIR, formatActionFilename, formatFrameFilename, formatTimestamp };

package/dist/storage/index.d.ts

@@ -1,9 +1,9 @@
-import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, n as SessionMetadata, 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 ZipActionEntry, c as loadEntriesFromSubdir, d as loadSessionMetadataFromBlob, f as readZipEntries, i as RecordedAction, l as loadGpsPathFromBlob, n as GpsPathCoord, o as ZipSubdirEntry, r as MAX_ACTION_FILE_SIZE, s as loadActionsFromZip, t as Entry, u as loadSessionMetadata } from "../zip-reader-Q2ue6zlC.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 { t as embedCoverageInSessionJson } from "../zip-coverage-embed-tFohI2J4.js";
+import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, n as SessionMetadata, o as getSessionHandle, r as checkStorageQuota, s as getSessionsRootHandle, u as resetOpfsStorage } from "../opfs-storage-CTkxvxN4.js";
+import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-sEtmM4yW.js";
+import { a as ZipActionEntry, c as loadEntriesFromSubdir, d as loadSessionMetadataFromBlob, f as readZipEntries, i as RecordedAction, l as loadGpsPathFromBlob, n as GpsPathCoord, o as ZipSubdirEntry, r as MAX_ACTION_FILE_SIZE, s as loadActionsFromZip, t as Entry, u as loadSessionMetadata } from "../zip-reader-CvruaGvD.js";
+import { t as NullStorageBackend } from "../null-storage-backend-B1-jlpin.js";
+import { t as OpfsStorageBackend } from "../opfs-storage-backend-D6Z03fML.js";
+import { a as formatTimestamp, i as formatFrameFilename, r as formatActionFilename } from "../file-system-utils-DueXHxo9.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-CtiUnAlJ.js";
+import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-ncVbaZAz.js";
 export { type CreateSessionResult, type Entry, type ExportSessionAsZipOptions, type GpsPathCoord, MAX_ACTION_FILE_SIZE, NullStorageBackend, OpfsStorageBackend, type RecordedAction, type SessionMetadata, type StorageBackend, type ZipActionEntry, type ZipContributorAddFile, type ZipExportContributor, type ZipExportResult, type ZipSubdirEntry, checkStorageQuota, createSession, downloadZip, embedCoverageInSessionJson, exportSessionAsZip, exportSessionHandleAsZip, formatActionFilename, formatFrameFilename, formatTimestamp, getAppRootHandle, getSessionHandle, getSessionsRootHandle, initOpfsStorage, listSessions, loadActionsFromZip, loadEntriesFromSubdir, loadGpsPathFromBlob, loadSessionMetadataFromBlob, loadSessionMetadata as loadSessionMetadataFromZip, readZipEntries, resetOpfsStorage, resetSessionHandles, syncToExternalZip, writeSessionMetadata };

package/dist/storage/null-storage-backend.d.ts

@@ -1,2 +1,2 @@
-import { t as NullStorageBackend } from "../null-storage-backend-CuSdYFsM.js";
+import { t as NullStorageBackend } from "../null-storage-backend-B1-jlpin.js";
 export { NullStorageBackend };

package/dist/storage/opfs-storage-backend.d.ts

@@ -1,2 +1,2 @@
-import { t as OpfsStorageBackend } from "../opfs-storage-backend-CeQAb0SD.js";
+import { t as OpfsStorageBackend } from "../opfs-storage-backend-D6Z03fML.js";
 export { OpfsStorageBackend };

package/dist/storage/opfs-storage.d.ts

@@ -1,2 +1,2 @@
-import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, f as setSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, m as writeFrame, n as SessionMetadata, o as getSessionHandle, p as writeAction, r as checkStorageQuota, s as getSessionsRootHandle, t as CreateSessionResult, u as resetOpfsStorage } from "../opfs-storage-DMtlt57S.js";
+import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, f as setSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, m as writeFrame, n as SessionMetadata, o as getSessionHandle, p as writeAction, r as checkStorageQuota, s as getSessionsRootHandle, t as CreateSessionResult, u as resetOpfsStorage } from "../opfs-storage-CTkxvxN4.js";
 export { CreateSessionResult, SessionMetadata, checkStorageQuota, createSession, getAppRootHandle, getSessionHandle, getSessionsRootHandle, initOpfsStorage, listSessions, resetOpfsStorage, resetSessionHandles, setSessionHandles, writeAction, writeFrame, writeSessionMetadata };

package/dist/storage/opfs-storage.js

@@ -89,6 +89,19 @@ function getAppRootHandle() {
 	return gpsPlusSlamDir;
 }
 /**
+* True when a session directory named `name` already exists under `dir`.
+* Used by {@link createSession} to avoid silently reusing a directory when two
+* recordings start within the same (second-resolution) timestamp.
+*/
+async function sessionDirExists(dir, name) {
+	try {
+		await dir.getDirectoryHandle(name, { create: false });
+		return true;
+	} catch {
+		return false;
+	}
+}
+/**
 * Create a new recording session.
 *
 * Creates the directory structure:
@@ -96,6 +109,11 @@ function getAppRootHandle() {
 * - /gps-plus-slam/sessions/recording-{timestamp}/actions/
 * - /gps-plus-slam/sessions/recording-{timestamp}/images/ (legacy: frames/)
 *
+* The folder name is `recording-{timestamp}` at whole-second resolution; if a
+* directory with that name already exists (two recordings started in the same
+* UTC second), a numeric suffix (`-2`, `-3`, …) is appended so the new session
+* never silently reuses and corrupts the earlier one's directory.
+*
 * @param timestamp - Session start time (used for folder naming)
 * @param _contextTag - Opaque tag; not used by the flat layout but accepted
 *   for interface compatibility with wrapping backends
@@ -104,7 +122,13 @@ function getAppRootHandle() {
 */
 async function createSession(timestamp, _contextTag) {
 	if (!sessionsDir) throw new Error("OPFS storage not initialized. Call initOpfsStorage first.");
-	const sessionName = `recording-${formatTimestamp(timestamp)}`;
+	const baseName = `recording-${formatTimestamp(timestamp)}`;
+	let sessionName = baseName;
+	let suffix = 1;
+	while (await sessionDirExists(sessionsDir, sessionName)) {
+		suffix += 1;
+		sessionName = `${baseName}-${suffix}`;
+	}
 	currentSessionHandle = await sessionsDir.getDirectoryHandle(sessionName, { create: true });
 	actionsHandle = await currentSessionHandle.getDirectoryHandle("actions", { create: true });
 	framesHandle = await currentSessionHandle.getDirectoryHandle(SESSION_IMAGES_DIR, { create: true });

package/dist/storage/storage-backend.d.ts

@@ -1,2 +1,2 @@
-import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-CTJHNdMp.js";
+import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-sEtmM4yW.js";
 export { CreateSessionResult, StorageBackend };

package/dist/storage/zip-coverage-embed.d.ts

@@ -1,2 +1,2 @@
-import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-tFohI2J4.js";
+import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-ncVbaZAz.js";
 export { embedCoverageInSessionJson };

package/dist/storage/zip-export.d.ts

@@ -1,2 +1,2 @@
-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 { 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-CtiUnAlJ.js";
 export { ExportSessionAsZipOptions, ZipContributorAddFile, ZipExportContributor, ZipExportResult, downloadZip, exportSessionAsZip, exportSessionHandleAsZip, syncToExternalZip };

package/dist/storage/zip-reader.d.ts

@@ -1,2 +1,2 @@
-import { a as ZipActionEntry, c as loadEntriesFromSubdir, d as loadSessionMetadataFromBlob, f as readZipEntries, i as RecordedAction, l as loadGpsPathFromBlob, n as GpsPathCoord, o as ZipSubdirEntry, r as MAX_ACTION_FILE_SIZE, s as loadActionsFromZip, t as Entry, u as loadSessionMetadata } from "../zip-reader-Q2ue6zlC.js";
+import { a as ZipActionEntry, c as loadEntriesFromSubdir, d as loadSessionMetadataFromBlob, f as readZipEntries, i as RecordedAction, l as loadGpsPathFromBlob, n as GpsPathCoord, o as ZipSubdirEntry, r as MAX_ACTION_FILE_SIZE, s as loadActionsFromZip, t as Entry, u as loadSessionMetadata } from "../zip-reader-CvruaGvD.js";
 export { Entry, GpsPathCoord, MAX_ACTION_FILE_SIZE, RecordedAction, ZipActionEntry, ZipSubdirEntry, loadActionsFromZip, loadEntriesFromSubdir, loadGpsPathFromBlob, loadSessionMetadata, loadSessionMetadataFromBlob, readZipEntries };

package/dist/{storage-backend-CTJHNdMp.d.ts → storage-backend-sEtmM4yW.d.ts}

@@ -1,4 +1,4 @@
-import { n as SessionMetadata } from "./opfs-storage-DMtlt57S.js";
+import { n as SessionMetadata } from "./opfs-storage-CTkxvxN4.js";
 
 //#region ../src/storage/storage-backend.d.ts
 interface CreateSessionResult {

package/dist/{store-subscribers-BZP81hjh.d.ts → store-subscribers-DScA7tdT.d.ts}

@@ -1,5 +1,5 @@
-import { t as MapData } from "./map-data-DdjPiSav.js";
-import { t as SubscribableStore } from "./subscribe-to-selector-Bp3sLx8L.js";
+import { t as MapData } from "./map-data-PNfGKGWx.js";
+import { t as SubscribableStore } from "./subscribe-to-selector-B9ylM5Oh.js";
 import { LatLong, Matrix4, Quaternion, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/state/store-subscribers.d.ts

package/dist/{subscribe-to-selector-Bp3sLx8L.d.ts → subscribe-to-selector-B9ylM5Oh.d.ts}

@@ -1,4 +1,4 @@
-import { L as CombinedRootState } from "./create-slam-app-store-Ce2FMKCp.js";
+import { N as CombinedRootState } from "./create-slam-app-store-D3nzh9Wb.js";
 
 //#region ../src/state/subscribe-to-selector.d.ts
 /**

package/dist/test-utils/browser-mocks.d.ts

@@ -1,4 +1,4 @@
-import { o as WebXRQuaternion, s as WebXRVec3 } from "../ar-types-BckI1E-O.js";
+import { o as WebXRQuaternion, s as WebXRVec3 } from "../ar-types-Cc5yvBwn.js";
 import { Mock } from "vitest";
 
 //#region ../src/test-utils/browser-mocks.d.ts

package/dist/test-utils/zip-round-trip-helpers.d.ts

@@ -1,4 +1,4 @@
-import { i as RecordedAction } from "../zip-reader-Q2ue6zlC.js";
+import { i as RecordedAction } from "../zip-reader-CvruaGvD.js";
 import { LatLong } from "gps-plus-slam-js";
 
 //#region ../src/test-utils/zip-round-trip-helpers.d.ts

package/dist/{tracking-slice-DJZ9qeGg.d.ts → tracking-slice-DMkHlbny.d.ts}

@@ -1,4 +1,4 @@
-import { t as ARPose } from "./ar-types-BckI1E-O.js";
+import { t as ARPose } from "./ar-types-Cc5yvBwn.js";
 import { OdometryTrackingRestartedPayload, Quaternion, Vector3 } from "gps-plus-slam-js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
 

package/dist/types/ar-types.d.ts

@@ -1,2 +1,2 @@
-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 { a as RgbTuple, i as DepthSample, n as ArPoseTuples, o as WebXRQuaternion, r as DepthPoint, s as WebXRVec3, t as ARPose } from "../ar-types-Cc5yvBwn.js";
 export { ARPose, ArPoseTuples, DepthPoint, DepthSample, RgbTuple, WebXRQuaternion, WebXRVec3 };

package/dist/types/geo-types.d.ts

@@ -1,2 +1,2 @@
-import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-DqiBzPO9.js";
+import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-DrGVu8nS.js";
 export { GpsCoord, RawGpsSample, RefPointMarker };

package/dist/types/index.d.ts

@@ -1,3 +1,3 @@
-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 RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-DqiBzPO9.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-Cc5yvBwn.js";
+import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-DrGVu8nS.js";
 export { ARPose, ArPoseTuples, DepthPoint, DepthSample, GpsCoord, RawGpsSample, RefPointMarker, RgbTuple, WebXRQuaternion, WebXRVec3 };

package/dist/utils/concurrency.d.ts

@@ -1,2 +1,2 @@
-import { n as mapWithConcurrencyLimit, t as forEachWithConcurrencyLimit } from "../concurrency-DqAlKX4j.js";
+import { n as mapWithConcurrencyLimit, t as forEachWithConcurrencyLimit } from "../concurrency-DPeGBH0X.js";
 export { forEachWithConcurrencyLimit, mapWithConcurrencyLimit };

package/dist/utils/failure-tracker.d.ts

@@ -1,2 +1,2 @@
-import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-Cnc_xWUw.js";
+import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-CeKf5HIc.js";
 export { FailureTracker, FailureTrackerConfig, createFailureTracker };

package/dist/utils/format-file-size.d.ts

@@ -1,2 +1,2 @@
-import { t as formatFileSize } from "../format-file-size-BFUWvir1.js";
+import { t as formatFileSize } from "../format-file-size-DxN-EBLc.js";
 export { formatFileSize };

package/dist/utils/fused-path.d.ts

@@ -1,2 +1,2 @@
-import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-C0FHe67t.js";
+import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-C5pp0PJU.js";
 export { FusedPathInput, computeFusedPath, fusedGpsFromOdom };

package/dist/utils/index.d.ts

@@ -1,7 +1,8 @@
-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 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";
-export { type FailureTracker, type FailureTrackerConfig, type FusedPathInput, type LogEntry, LogLevel, type Logger, clearLogBuffer, computeFusedPath, createFailureTracker, createLogger, formatFileSize, fusedGpsFromOdom, getGlobalLogLevel, getLogBuffer, listFormatter, mapWithConcurrencyLimit, setGlobalLogLevel, subscribeToLogs };
+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-CqTd5Kpk.js";
+import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-C5pp0PJU.js";
+import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-CeKf5HIc.js";
+import { n as mapWithConcurrencyLimit } from "../concurrency-DPeGBH0X.js";
+import { t as geodesicAngleRad } from "../index-D74JTX4I.js";
+import { t as formatFileSize } from "../format-file-size-DxN-EBLc.js";
+import { t as listFormatter } from "../list-formatter-DLFDnS70.js";
+export { FailureTracker, FailureTrackerConfig, FusedPathInput, LogEntry, LogLevel, Logger, clearLogBuffer, computeFusedPath, createFailureTracker, createLogger, formatFileSize, fusedGpsFromOdom, geodesicAngleRad, getGlobalLogLevel, getLogBuffer, listFormatter, mapWithConcurrencyLimit, setGlobalLogLevel, subscribeToLogs };

package/dist/utils/index.js

@@ -1,7 +1,8 @@
 import { LogLevel, clearLogBuffer, createLogger, getGlobalLogLevel, getLogBuffer, setGlobalLogLevel, subscribeToLogs } from "./logger.js";
 import { createFailureTracker } from "./failure-tracker.js";
+import { t as geodesicAngleRad } from "../geodesic-angle-BTldfFgs.js";
 import { computeFusedPath, fusedGpsFromOdom } from "./fused-path.js";
 import { mapWithConcurrencyLimit } from "./concurrency.js";
 import { formatFileSize } from "./format-file-size.js";
 import { listFormatter } from "./list-formatter.js";
-export { LogLevel, clearLogBuffer, computeFusedPath, createFailureTracker, createLogger, formatFileSize, fusedGpsFromOdom, getGlobalLogLevel, getLogBuffer, listFormatter, mapWithConcurrencyLimit, setGlobalLogLevel, subscribeToLogs };
+export { LogLevel, clearLogBuffer, computeFusedPath, createFailureTracker, createLogger, formatFileSize, fusedGpsFromOdom, geodesicAngleRad, getGlobalLogLevel, getLogBuffer, listFormatter, mapWithConcurrencyLimit, setGlobalLogLevel, subscribeToLogs };

package/dist/utils/list-formatter.d.ts

@@ -1,2 +1,2 @@
-import { t as listFormatter } from "../list-formatter-ct8txwvR.js";
+import { t as listFormatter } from "../list-formatter-DLFDnS70.js";
 export { listFormatter };

package/dist/utils/logger.d.ts

@@ -1,2 +1,2 @@
-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 { 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-CqTd5Kpk.js";
 export { LogEntry, LogLevel, Logger, clearLogBuffer, createLogger, getGlobalLogLevel, getLogBuffer, setGlobalLogLevel, subscribeToLogs };

package/dist/visualization/accuracy-circles.d.ts

@@ -1,2 +1,2 @@
-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 addAccuracyCircles, i as AccuracyCircleSample, n as ACCURACY_CIRCLE_STROKE_OPACITY, r as ACCURACY_CIRCLE_WEIGHT, t as ACCURACY_CIRCLE_FILL_OPACITY } from "../accuracy-circles-DkWBkF5g.js";
 export { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, AccuracyCircleSample, addAccuracyCircles };