gps-plus-slam-app-framework 1.7.0 → 1.8.0

package/dist/state/recording-options.js

@@ -1,5 +1,5 @@
 import { createLogger } from "../utils/logger.js";
-import { t as DEFAULT_MOTION_FILTER } from "../capture-motion-gate-4EscNZCw.js";
+import { t as DEFAULT_MOTION_FILTER } from "../capture-motion-gate-_NdTSwKi.js";
 import { DEFAULT_QUALITY_FILTER } from "../ar/image-quality.js";
 //#region ../src/state/recording-options.ts
 /**
@@ -12,6 +12,55 @@ import { DEFAULT_QUALITY_FILTER } from "../ar/image-quality.js";
 */
 const log = createLogger("RecordingOptions");
 /**
+* Configuration for the derived AR-space occupancy grid (the voxelization of
+* the depth samples, port plan 2026-06-11). These settings do NOT change what
+* is recorded — they govern the grid derived from the recorded depth points,
+* so they also apply when replaying an existing recording, letting the same
+* session be re-quantized at a different resolution.
+*/
+/**
+* Mesher strategy for the **persistent occluder** mesh, exposed as a recorder
+* setting (2026-06-30 occluder-tuning, F2/F2b) so the two surface-hugging
+* approaches can be A/B-tested on-device against the blocky baseline:
+* - `'greedy'` — blocky greedy cubes (the existing default; fewest triangles).
+* - `'corner-fit'` — cubes with corners pulled to the measured centroids
+*   (surface-hugging **and** watertight).
+* - `'smooth'` — surface nets: smoothest, hugs the measured surface, but an open
+*   sheet over thin features.
+*
+* Maps directly onto `meshOccupiedCells` / `OcclusionMesh` `MeshMode` (a subset).
+* `'per-face'` is intentionally not offered (same shape as `'greedy'`, more
+* triangles — no on-device value).
+*/
+const OCCLUDER_MESH_MODES = [
+	"greedy",
+	"corner-fit",
+	"smooth"
+];
+/**
+* Debug-visualization style for the **persistent occluder** mesh (2026-07-02
+* debug-viz-styles plan) — which visible debug skin(s) `OcclusionMesh` renders
+* on top of the invisible depth-only occluder:
+* - `'off'` — no debug rendering (the shipped default; occlusion is invisible).
+* - `'matcap'` — the original shiny semi-transparent cyan skin.
+* - `'depth-shaded'` — matcap + camera-distance fade + white fresnel rim, so
+*   overlapping near/far surfaces read as separate shells.
+* - `'wireframe'` — the raw triangulation as GL lines (mesh-structure
+*   inspection: triangle density, mesher seams, degenerate spots).
+* - `'depth-shaded-wireframe'` — both of the above composed.
+*
+* Values array module-private (validation only; the settings `<select>`
+* options are hardcoded in the recorder's `index.html`), type exported —
+* mirroring `OCCLUDER_MESH_MODES` / {@link OccluderMeshMode}.
+*/
+const OCCLUDER_DEBUG_STYLES = [
+	"off",
+	"matcap",
+	"depth-shaded",
+	"wireframe",
+	"depth-shaded-wireframe"
+];
+/**
 * localStorage key for persisted options.
 *
 * **Multi-tab caveat:** All tabs/instances sharing the same origin will
@@ -25,8 +74,8 @@ const STORAGE_KEY = "gps-plus-slam-recorder-options";
 const DEFAULT_RECORDING_OPTIONS = {
 	depth: {
 		enabled: true,
-		intervalMs: 1e3,
-		gridSize: 16,
+		intervalMs: 500,
+		gridSize: 32,
 		rgb: true
 	},
 	images: {
@@ -47,14 +96,24 @@ const DEFAULT_RECORDING_OPTIONS = {
 	},
 	occupancy: {
 		cellSizeM: .15,
-		minConfidence: 3
+		minConfidence: 3,
+		persistentOcclusion: true,
+		liveOcclusion: false,
+		occluderDebugStyle: "off",
+		occluderMeshMode: "smooth",
+		occluderRadiusM: 25
+	},
+	frameTileDisplay: {
+		divisor: 2,
+		maxTiles: 100
 	},
-	frameTileDisplay: { divisor: 2 },
 	visualization: {
 		frameTiles: true,
 		occupancyCubes: true,
 		gpsAlignmentMarkers: true,
-		compassCubes: true
+		compassCubes: true,
+		headingUpMap: true,
+		statsOverlay: false
 	},
 	qr: {
 		enabled: false,
@@ -76,7 +135,7 @@ const DEPTH_CONSTRAINTS = {
 	},
 	gridSize: {
 		min: 2,
-		max: 32,
+		max: 64,
 		step: 1
 	}
 };
@@ -181,6 +240,11 @@ const OCCUPANCY_CONSTRAINTS = {
 		min: 1,
 		max: 10,
 		step: 1
+	},
+	occluderRadiusM: {
+		min: 0,
+		max: 200,
+		step: 5
 	}
 };
 /**
@@ -191,11 +255,18 @@ const OCCUPANCY_CONSTRAINTS = {
 * same. The intended stops are 1, 2, 4, 8 (full / half / quarter / eighth); the
 * divisor is rounded to an integer so the resize target dimensions stay clean.
 */
-const FRAME_TILE_DISPLAY_CONSTRAINTS = { divisor: {
-	min: 1,
-	max: 8,
-	step: 1
-} };
+const FRAME_TILE_DISPLAY_CONSTRAINTS = {
+	divisor: {
+		min: 1,
+		max: 8,
+		step: 1
+	},
+	maxTiles: {
+		min: 0,
+		max: 2e3,
+		step: 10
+	}
+};
 /**
 * Validation constraints for QR-capture options.
 *
@@ -257,7 +328,9 @@ function validateVisualizationOptions(options) {
 		frameTiles: typeof options.frameTiles === "boolean" ? options.frameTiles : defaults.frameTiles,
 		occupancyCubes: typeof options.occupancyCubes === "boolean" ? options.occupancyCubes : defaults.occupancyCubes,
 		gpsAlignmentMarkers: typeof options.gpsAlignmentMarkers === "boolean" ? options.gpsAlignmentMarkers : defaults.gpsAlignmentMarkers,
-		compassCubes: typeof options.compassCubes === "boolean" ? options.compassCubes : defaults.compassCubes
+		compassCubes: typeof options.compassCubes === "boolean" ? options.compassCubes : defaults.compassCubes,
+		headingUpMap: typeof options.headingUpMap === "boolean" ? options.headingUpMap : defaults.headingUpMap,
+		statsOverlay: typeof options.statsOverlay === "boolean" ? options.statsOverlay : defaults.statsOverlay
 	};
 }
 /**
@@ -353,12 +426,55 @@ function validateImageOptions(options) {
 * `RangeError` on a non-finite cell size, and `clamp(NaN, …)` would otherwise
 * pass `NaN` straight through (it is `typeof 'number'`). Falling back to the
 * default keeps a corrupted stored value from crashing grid construction.
+*
+* **Backward-compat migration:** the occlusion options were a single
+* `occlusionMeshEnabled` boolean before 2026-06-29; they are now the two
+* composable booleans `persistentOcclusion` + `liveOcclusion`. A persisted
+* object that predates the split carries only the legacy field, so when the new
+* `persistentOcclusion` is absent we read `occlusionMeshEnabled` and map
+* `true → persistentOcclusion: true` (the old mesh occluder is the persistent
+* one); the legacy shape never enabled a live occluder, so `liveOcclusion`
+* stays at its default. A present new field always wins over the legacy one.
+* See `2026-06-29-occupancy-mesh-followups.md`.
+*/
+/**
+* Resolve `persistentOcclusion` with legacy migration. A **present** new field
+* always wins over the legacy `occlusionMeshEnabled` — even when its value is
+* invalid: a present-but-corrupt value falls back to the default, never to the
+* legacy flag, so corrupted saved options can't silently flip the occluder
+* against the "new field wins" contract. Only an **absent** new field migrates
+* the legacy boolean (`true → persistent on`); else the default.
 */
+function resolvePersistentOcclusion(options, legacyOcclusionMeshEnabled, defaultValue) {
+	if ("persistentOcclusion" in options) return typeof options.persistentOcclusion === "boolean" ? options.persistentOcclusion : defaultValue;
+	return typeof legacyOcclusionMeshEnabled === "boolean" ? legacyOcclusionMeshEnabled : defaultValue;
+}
+/**
+* Resolve `occluderDebugStyle` with legacy migration, following the same
+* contract as {@link resolvePersistentOcclusion}: a **present** new field
+* always wins over the legacy `occluderDebugViz` boolean — even when its value
+* is unknown/corrupt it falls back to the default (`'off'`), never to the
+* legacy flag, so corrupted saved options can't silently turn a debug render
+* on. Only an **absent** new field migrates the legacy boolean
+* (`true → 'matcap'`, the skin the boolean used to enable); else the default.
+*/
+function resolveOccluderDebugStyle(options, legacyOccluderDebugViz, defaultValue) {
+	if ("occluderDebugStyle" in options) return OCCLUDER_DEBUG_STYLES.includes(options.occluderDebugStyle) ? options.occluderDebugStyle : defaultValue;
+	if (typeof legacyOccluderDebugViz === "boolean") return legacyOccluderDebugViz ? "matcap" : "off";
+	return defaultValue;
+}
 function validateOccupancyOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.occupancy;
+	const legacyOcclusionMeshEnabled = options.occlusionMeshEnabled;
+	const legacyOccluderDebugViz = options.occluderDebugViz;
 	return {
 		cellSizeM: clamp(typeof options.cellSizeM === "number" && Number.isFinite(options.cellSizeM) ? options.cellSizeM : defaults.cellSizeM, OCCUPANCY_CONSTRAINTS.cellSizeM.min, OCCUPANCY_CONSTRAINTS.cellSizeM.max),
-		minConfidence: clamp(typeof options.minConfidence === "number" && Number.isFinite(options.minConfidence) ? Math.round(options.minConfidence) : defaults.minConfidence, OCCUPANCY_CONSTRAINTS.minConfidence.min, OCCUPANCY_CONSTRAINTS.minConfidence.max)
+		minConfidence: clamp(typeof options.minConfidence === "number" && Number.isFinite(options.minConfidence) ? Math.round(options.minConfidence) : defaults.minConfidence, OCCUPANCY_CONSTRAINTS.minConfidence.min, OCCUPANCY_CONSTRAINTS.minConfidence.max),
+		persistentOcclusion: resolvePersistentOcclusion(options, legacyOcclusionMeshEnabled, defaults.persistentOcclusion),
+		liveOcclusion: typeof options.liveOcclusion === "boolean" ? options.liveOcclusion : defaults.liveOcclusion,
+		occluderDebugStyle: resolveOccluderDebugStyle(options, legacyOccluderDebugViz, defaults.occluderDebugStyle),
+		occluderMeshMode: OCCLUDER_MESH_MODES.includes(options.occluderMeshMode) ? options.occluderMeshMode : defaults.occluderMeshMode,
+		occluderRadiusM: clamp(typeof options.occluderRadiusM === "number" && Number.isFinite(options.occluderRadiusM) ? Math.round(options.occluderRadiusM) : defaults.occluderRadiusM, OCCUPANCY_CONSTRAINTS.occluderRadiusM.min, OCCUPANCY_CONSTRAINTS.occluderRadiusM.max)
 	};
 }
 /**
@@ -370,7 +486,10 @@ function validateOccupancyOptions(options) {
 */
 function validateFrameTileDisplayOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.frameTileDisplay;
-	return { divisor: clamp(typeof options.divisor === "number" && Number.isFinite(options.divisor) ? Math.round(options.divisor) : defaults.divisor, FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.min, FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.max) };
+	return {
+		divisor: clamp(typeof options.divisor === "number" && Number.isFinite(options.divisor) ? Math.round(options.divisor) : defaults.divisor, FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.min, FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.max),
+		maxTiles: clamp(typeof options.maxTiles === "number" && Number.isFinite(options.maxTiles) ? Math.round(options.maxTiles) : defaults.maxTiles, FRAME_TILE_DISPLAY_CONSTRAINTS.maxTiles.min, FRAME_TILE_DISPLAY_CONSTRAINTS.maxTiles.max)
+	};
 }
 /**
 * Validate and normalize a full RecordingOptions object.

package/dist/state/recording-replayer.d.ts

@@ -1,3 +1,3 @@
-import { N as CombinedRootState } from "../create-slam-app-store-n_VF63D5.js";
-import { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-DQKpAGyQ.js";
+import { N as CombinedRootState } from "../create-slam-app-store-D3nzh9Wb.js";
+import { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-D0V9WkmY.js";
 export { CombinedRootState, ReplayRecordingOptions, replayRecording };

package/dist/state/recording-replayer.js

@@ -1,6 +1,6 @@
 import { loadActionsFromZip } from "../storage/zip-reader.js";
 import { NullStorageBackend } from "../storage/null-storage-backend.js";
-import { t as createSlamAppStore } from "../create-slam-app-store-DkCHOpvb.js";
+import { t as createSlamAppStore } from "../create-slam-app-store-DXiAnJwR.js";
 //#region ../src/state/recording-replayer.ts
 /**
 * Recording Replayer

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

@@ -1,2 +1,2 @@
-import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-DaxHZvNu.js";
+import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-DTUtSVgd.js";
 export { RecordingState, SessionMetadata, endSession, recordDepthSample, recordWriteFailure, recordingReducer, startSession };

package/dist/state/replay-engine.d.ts

@@ -1,2 +1,2 @@
-import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-CmKh_4wf.js";
+import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-xdrUgWJi.js";
 export { CompleteCallback, DEFAULT_MAX_DELAY_MS, ErrorCallback, ProgressCallback, ReplayAction, ReplayEngine, ReplayState, computeInterActionDelay, extractActionTimestamp };

package/dist/state/store-subscribers.d.ts

@@ -1,3 +1,3 @@
-import { t as SubscribableStore } from "../subscribe-to-selector-B6EUmQ3I.js";
-import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-CA6AJH_8.js";
+import { t as SubscribableStore } from "../subscribe-to-selector-B9ylM5Oh.js";
+import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-DScA7tdT.js";
 export { StoreSubscriberDeps, SubscribableStore, wireStoreSubscribers };

package/dist/state/store-subscribers.js

@@ -1,5 +1,5 @@
 import { selectAlignmentMatrix, selectGpsPositions, selectOdometryPositions, selectOdometryRotations, selectZeroReference } from "./app-selectors.js";
-import { buildMapData } from "../visualization/map-data.js";
+import { t as buildMapData } from "../map-data-D7rpMC6f.js";
 import { subscribeToSelector } from "./subscribe-to-selector.js";
 import { calcGpsCoords } from "gps-plus-slam-js";
 import { mat4, vec3 } from "gl-matrix";
@@ -46,6 +46,7 @@ function wireStoreSubscribers(store, deps) {
 		deps.mapOverlay.render(buildMapData({
 			rawGpsPath,
 			odometryPositions: selectOdometryPositions(state),
+			odometryRotations: selectOdometryRotations(state),
 			alignmentMatrix: selectAlignmentMatrix(state),
 			zeroRef: selectZeroReference(state),
 			alignmentSnapshots: alignmentSnapshotGps

package/dist/state/subscribe-to-selector.d.ts

@@ -1,2 +1,2 @@
-import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-B6EUmQ3I.js";
+import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-B9ylM5Oh.js";
 export { SubscribableStore, subscribeToSelector };

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

@@ -1,2 +1,2 @@
-import { A as snapshotPushed, C as createTrackingQualityListenerMiddleware, D as resetTrackingQuality, E as reportUpdated, M as trackingQualityReducer, O as selectRecentAlignments, S as computeTrackingQualityReport, T as matrixDelta, _ as computeConvergence, b as computeGpsVsFusedDivergence, c as ConvergenceResult, d as GpsAccuracyResult, f as ResidualConsensusResult, g as TrackingQualityState, h as TrackingQualitySliceState, j as snapshotsTrimmed, k as selectTrackingQuality, l as CoverageResult, m as TrackingQualityReport, p as TrackingQualityOptions, s as AlignmentSnapshot, u as DEFAULT_TRACKING_QUALITY_OPTIONS, v as computeCoverage, w as degradedCountUpdated, x as computeResidualConsensus, y as computeGpsAccuracy } from "../create-slam-app-store-n_VF63D5.js";
+import { A as snapshotPushed, C as createTrackingQualityListenerMiddleware, D as resetTrackingQuality, E as reportUpdated, M as trackingQualityReducer, O as selectRecentAlignments, S as computeTrackingQualityReport, T as matrixDelta, _ as computeConvergence, b as computeGpsVsFusedDivergence, c as ConvergenceResult, d as GpsAccuracyResult, f as ResidualConsensusResult, g as TrackingQualityState, h as TrackingQualitySliceState, j as snapshotsTrimmed, k as selectTrackingQuality, l as CoverageResult, m as TrackingQualityReport, p as TrackingQualityOptions, s as AlignmentSnapshot, u as DEFAULT_TRACKING_QUALITY_OPTIONS, v as computeCoverage, w as degradedCountUpdated, x as computeResidualConsensus, y as computeGpsAccuracy } from "../create-slam-app-store-D3nzh9Wb.js";
 export { AlignmentSnapshot, ConvergenceResult, CoverageResult, DEFAULT_TRACKING_QUALITY_OPTIONS, GpsAccuracyResult, ResidualConsensusResult, TrackingQualityOptions, TrackingQualityReport, TrackingQualitySliceState, TrackingQualityState, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeResidualConsensus, computeTrackingQualityReport, createTrackingQualityListenerMiddleware, degradedCountUpdated, matrixDelta, reportUpdated, resetTrackingQuality, selectRecentAlignments, selectTrackingQuality, snapshotPushed, snapshotsTrimmed, trackingQualityReducer };

package/dist/state/tracking-quality.js

@@ -79,8 +79,17 @@ function rampUp(value, low, high) {
 	if (value >= high) return 1;
 	return (value - low) / (high - low);
 }
-/** True iff every element of the matrix is a finite number (no NaN/Infinity). */
+/**
+* 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;
 }

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-BuAZxXZ5.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-E51QT_-j.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 "./create-slam-app-store-DkCHOpvb.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-DOajnMm-.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-3VZh-qH6.js";
-import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-BdVLD0dU.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-D9iPQwdQ.js";
-import { t as NullStorageBackend } from "../null-storage-backend-B9rtyDfG.js";
-import { t as OpfsStorageBackend } from "../opfs-storage-backend-JJiUJo-3.js";
-import { a as formatTimestamp, i as formatFrameFilename, r as formatActionFilename } from "../file-system-utils-DOajnMm-.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-ol0S_Ofd.js";
-import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-DCAREVmw.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-B9rtyDfG.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-JJiUJo-3.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-3VZh-qH6.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-BdVLD0dU.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-DCAREVmw.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-ol0S_Ofd.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-D9iPQwdQ.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-BdVLD0dU.d.ts → storage-backend-sEtmM4yW.d.ts}

@@ -1,4 +1,4 @@
-import { n as SessionMetadata } from "./opfs-storage-3VZh-qH6.js";
+import { n as SessionMetadata } from "./opfs-storage-CTkxvxN4.js";
 
 //#region ../src/storage/storage-backend.d.ts
 interface CreateSessionResult {

package/dist/{store-subscribers-CA6AJH_8.d.ts → store-subscribers-DScA7tdT.d.ts}

@@ -1,5 +1,5 @@
-import { t as MapData } from "./map-data-B4oEehUh.js";
-import { t as SubscribableStore } from "./subscribe-to-selector-B6EUmQ3I.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-B6EUmQ3I.d.ts → subscribe-to-selector-B9ylM5Oh.d.ts}

@@ -1,4 +1,4 @@
-import { N as CombinedRootState } from "./create-slam-app-store-n_VF63D5.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-BFX2r1wk.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-D9iPQwdQ.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-BuAZxXZ5.d.ts → tracking-slice-DMkHlbny.d.ts}

@@ -1,4 +1,4 @@
-import { t as ARPose } from "./ar-types-BFX2r1wk.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-BFX2r1wk.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-3Ip1NzVR.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-BFX2r1wk.js";
-import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-3Ip1NzVR.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-By0oOTZt.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-BO7M7jF_.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-Dc98ulzB.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-v6eOmLl3.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

@@ -1,8 +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-CLnPrHiD.js";
-import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-v6eOmLl3.js";
-import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-BO7M7jF_.js";
-import { n as mapWithConcurrencyLimit } from "../concurrency-By0oOTZt.js";
-import { t as geodesicAngleRad } from "../index-BAPokxMb.js";
-import { t as formatFileSize } from "../format-file-size-Dc98ulzB.js";
-import { t as listFormatter } from "../list-formatter-KNMS0ay2.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";
+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/list-formatter.d.ts

@@ -1,2 +1,2 @@
-import { t as listFormatter } from "../list-formatter-KNMS0ay2.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-CLnPrHiD.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-BtqOP_v1.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 };

package/dist/visualization/accuracy-circles.js

@@ -14,16 +14,26 @@ import L from "leaflet";
 /**
 * Style for per-event GPS accuracy circles. Radius comes from the GPS event's
 * horizontal accuracy in meters; larger circles mean lower-quality fixes.
-* Filled and stroked with a highly transparent variant of the path color so
-* overlapping circles remain legible without obscuring the basemap or the
-* polyline drawn on top.
+*
+* Circles are drawn **stroke-only** (no fill): Leaflet composites overlapping
+* semi-transparent SVG fills, so N stacked filled circles reach
+* `1 − (1 − fillOpacity)^N` opacity and paint the basemap solid on dense
+* recordings (~90 % at ~18 overlaps with the old 0.12 fill). A fill-free
+* outline never accumulates an opaque interior, so the basemap shows through at
+* ANY overlap density while each accuracy radius stays readable.
+*/
+/**
+* @deprecated Stroke-only since 2026-06-28 (Finding 1) — accuracy circles no
+* longer render a fill, so this opacity is unused. Retained as an exported
+* constant only to preserve the published API surface; do not pass it to
+* `L.circle`. See `2026-06-28-map-rings-transparency-and-view-direction-user-feedback.md`.
 */
 const ACCURACY_CIRCLE_FILL_OPACITY = .12;
 const ACCURACY_CIRCLE_STROKE_OPACITY = .5;
 const ACCURACY_CIRCLE_WEIGHT = 1;
 /**
-* Draw one transparent circle per sample whose `accuracy` is a finite
-* positive number. Samples without a usable accuracy value are skipped so
+* Draw one stroke-only (un-filled) circle per sample whose `accuracy` is a
+* finite positive number. Samples without a usable accuracy value are skipped so
 * pre-accuracy recordings still render their polyline.
 *
 * Circles are added to `map` immediately. The caller is responsible for
@@ -33,7 +43,7 @@ const ACCURACY_CIRCLE_WEIGHT = 1;
 * @param map - The Leaflet map to add circles to.
 * @param samples - GPS samples to consider; non-positive / non-finite
 *   `accuracy` values are silently skipped.
-* @param color - CSS color string used for both stroke and fill.
+* @param color - CSS color string used for the stroke (no fill is drawn).
 * @returns The created `L.Circle` instances, in the order they were added.
 *   Callers that track layers for cleanup can append these to their list.
 */
@@ -46,8 +56,7 @@ function addAccuracyCircles(map, samples, color) {
 			color,
 			weight: 1,
 			opacity: ACCURACY_CIRCLE_STROKE_OPACITY,
-			fillColor: color,
-			fillOpacity: ACCURACY_CIRCLE_FILL_OPACITY
+			fill: false
 		}).addTo(map);
 		circles.push(circle);
 	}

package/dist/visualization/alignment-lerper.d.ts

@@ -1,2 +1,2 @@
-import { n as createAlignmentLerper, t as AlignmentLerper } from "../alignment-lerper-Bil6vbVw.js";
+import { n as createAlignmentLerper, t as AlignmentLerper } from "../alignment-lerper-gD70k7Fq.js";
 export { AlignmentLerper, createAlignmentLerper };