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

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

@@ -1,2 +1,2 @@
-import { a as EnableGpsArState, i as EnableGpsArResult, n as EnableGpsArController, o as EnableGpsArStatus, r as EnableGpsArDeps, s as createEnableGpsArController, t as EnableGpsArConfig } from "../enable-gps-ar-DkNhFv4Y.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-DvGzBOrp.js";
 export { EnableGpsArConfig, EnableGpsArController, EnableGpsArDeps, EnableGpsArResult, EnableGpsArState, EnableGpsArStatus, createEnableGpsArController };

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

@@ -1,5 +1,5 @@
 import { createLogger } from "../utils/logger.js";
-import { a as endARSession, b as isWebXRSupported, y as initAR } from "../webxr-session-DG-eNfny.js";
+import { C as initAR, c as endARSession, w as isWebXRSupported } from "../webxr-session-BCP2XK7k.js";
 import { requestGeolocationPermission, requestOrientationPermission, requestWebXRWithDepthPermission } from "../sensors/permission-checker.js";
 import { startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch } from "../sensors/gps.js";
 //#region ../src/ar/enable-gps-ar.ts

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

@@ -1,2 +1,2 @@
-import { i as runFrameUpdates, n as clearFrameUpdates, r as registerFrameUpdate, t as FrameUpdate } from "../frame-loop-CpVjQ1dH.js";
+import { i as runFrameUpdates, n as clearFrameUpdates, r as registerFrameUpdate, t as FrameUpdate } from "../frame-loop-7GBMBu68.js";
 export { FrameUpdate, clearFrameUpdates, registerFrameUpdate, runFrameUpdates };

package/dist/ar/frame-loop.js

@@ -15,6 +15,13 @@ import { createLogger } from "../utils/logger.js";
 const log = createLogger("FrameLoop");
 const updates = /* @__PURE__ */ new Set();
 /**
+* Cached iteration snapshot of {@link updates}, invalidated on every registry
+* mutation. The snapshot SEMANTICS (a register/unregister during a tick defers
+* to the next frame) are unchanged — caching only avoids re-allocating an
+* identical array at 60–90 Hz between (rare) registry changes (PR #67 review).
+*/
+let snapshot = null;
+/**
 * Register a per-frame callback. Returns an unregister function.
 *
 * Registration is idempotent — calling with the same `fn` twice is a no-op
@@ -22,8 +29,10 @@ const updates = /* @__PURE__ */ new Set();
 */
 function registerFrameUpdate(fn) {
 	updates.add(fn);
+	snapshot = null;
 	return () => {
 		updates.delete(fn);
+		snapshot = null;
 	};
 }
 /**
@@ -44,8 +53,8 @@ function registerFrameUpdate(fn) {
 * logged and the loop continues — mirrored by `runXrFrameUpdates`.
 */
 function runFrameUpdates(dt, elapsed) {
-	const snapshot = Array.from(updates);
-	for (const fn of snapshot) try {
+	const fns = snapshot ?? (snapshot = Array.from(updates));
+	for (const fn of fns) try {
 		fn(dt, elapsed);
 	} catch (error) {
 		log.error("A registered FrameUpdate threw; continuing the loop", error);
@@ -58,6 +67,7 @@ function runFrameUpdates(dt, elapsed) {
 */
 function clearFrameUpdates() {
 	updates.clear();
+	snapshot = null;
 }
 //#endregion
 export { clearFrameUpdates, registerFrameUpdate, runFrameUpdates };

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

@@ -1,2 +1,2 @@
-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 { 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-Bp6Pd4Md.js";
 export { CapturedFrame, CapturedImage, DEFAULT_CAPTURE_CONFIG, FrameQualityVerdict, ImageCaptureCallbacks, ImageCaptureConfig, ImageCaptureManager, MIN_VALID_IMAGE_BYTES };

package/dist/ar/image-capture.js

@@ -1,2 +1,2 @@
-import { n as ImageCaptureManager, r as MIN_VALID_IMAGE_BYTES, t as DEFAULT_CAPTURE_CONFIG } from "../image-capture-B2-b6tKK.js";
+import { n as ImageCaptureManager, r as MIN_VALID_IMAGE_BYTES, t as DEFAULT_CAPTURE_CONFIG } from "../image-capture-DVcuqMtX.js";
 export { DEFAULT_CAPTURE_CONFIG, ImageCaptureManager, MIN_VALID_IMAGE_BYTES };

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

@@ -1,2 +1,2 @@
-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 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-BMx2ko9-.js";
 export { DEFAULT_QUALITY_FILTER, DEFAULT_SHARPNESS_HISTORY_SIZE, DEFAULT_SHARPNESS_MIN_SAMPLES, ImageQualityGate, QualityFilterConfig, QualityRejectReason, QualityVerdict, meanLuminance, rgbaToGrayscale, sharpnessScore };

package/dist/ar/image-quality.js

@@ -124,7 +124,8 @@ var ImageQualityGate = class {
 	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;
+		const wantedMinSamples = Number.isFinite(minSamples) && minSamples >= 1 ? Math.floor(minSamples) : 3;
+		this.minSamples = Math.min(wantedMinSamples, this.historySize);
 	}
 	/**
 	* Judge one frame from its precomputed metrics + the current config, updating

package/dist/ar/index.d.ts

@@ -1,31 +1,32 @@
-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 };
+import { r as bresenham3d, t as GridCell } from "../bresenham3d-DGc4nIb-.js";
+import { a as computeCaptureSize, i as computeAspectFitSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "../camera-blit-capture-BimSdyih.js";
+import { i as isFullySupported, n as CapabilitySupport, r as capabilityMessage, t as CapabilityMessageOptions } from "../capability-checker-BTTpygvZ.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-_BVfhpxv.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-C6yJLXz9.js";
+import { n as createDepthGridLookup, t as DepthGridLookup } from "../depth-grid-lookup-D5atpNZ3.js";
+import { a as wrapXRDepthInfo, i as DepthSamplerConfig, n as DepthSampler, r as DepthSamplerCallbacks, t as DepthInfo } from "../depth-sampler-CwObAwEA.js";
+import { n as createDepthUnprojector, r as unprojectDepthPoint, t as DepthUnprojector } from "../depth-unprojection-DRdBU90S.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-BMx2ko9-.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-Bp6Pd4Md.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-y3vaEd6x.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-BPURlh3S.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-q0eIDSRg.js";
+import { $ as stopImageCapture, B as setImageQualityAnalyzer, C as getImageCaptureFrameCount, D as initAR, H as setSessionEndCallback, I as setCameraFrameCallback, J as startCameraFrameCapture, K as setTrackingStore, L as setDepthCaptureCallback, Q as stopDepthCapture, R as setFrameCallback, S as getDepthSampleCount, T as getScene, U as setTrackingCallbacks, W as setTrackingLostCallback, X as startImageCapture, Y as startDepthCapture, Z as stopCameraFrameCapture, _ as getCamera, b as getCurrentArPose, f as endARSession, g as getArWorldGroup, i as CameraFrameCaptureConfig, o as SessionEndInfo, s as SessionFeatureOptions, w as getLiveCss3dManager, x as getDepthInfoFromFrame, y as getCameraFrameCount, z as setImageCaptureCallback } from "../webxr-session-cRG2SYAQ.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-DvGzBOrp.js";
+import { r as registerFrameUpdate, t as FrameUpdate } from "../frame-loop-7GBMBu68.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-DxiMqRUw.js";
+import { t as createQrSizeDepthContext } from "../qr-size-depth-context-apAOmbrZ.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-BwNWn8oV.js";
+import { n as createQrDebugView, t as QrDebugView } from "../qr-debug-view-BJooqbiP.js";
+import { a as createQrDetectionController, i as RawObservationSink, n as QrDetectionControllerDeps, r as QrScanStatus, t as QrDetectionController } from "../qr-detection-controller-Bo4XfQTP.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-CypnmjA-.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-cCQWuYqy.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-D7bc_rLX.js";
+import { n as OccupancyGridOptions, t as OccupancyGrid } from "../occupancy-grid-BV7RhB7I.js";
+import { a as meshOccupiedCells, i as OccupancyMeshResult, r as MeshOccupiedCellsOptions, t as Aabb } from "../occupancy-mesher-C2ecWhNp.js";
+import { i as registerXrFrameUpdate, n as XrFrameUpdate, t as XrFrameContext } from "../xr-frame-loop-DX3JPpAU.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-zJ8SFDjE.js";
+import { t as SCENE_NODE } from "../scene-node-names-CGb-ylBd.js";
+import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-CaCnYxuq.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-uVGDu9IX.js";
+export { Aabb, 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, MeshOccupiedCellsOptions, OccupancyGrid, OccupancyGridOptions, OccupancyMeshResult, 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, SessionEndInfo, 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, getDepthInfoFromFrame, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getScene, getXrErrorMessage, homographyFromCorrespondences, initAR, initReplayScene, intrinsicsFromProjection, invertPose, ippePoseCandidates, isFullySupported, localPlaneToEnu, meanLuminance, meshOccupiedCells, nearestRotation3x3, needsBaseLayerPersistence, offsetGeo, parseChromeVersion, parseQrLevel, projectViewPoint, qrInCameraFromOpenCv, registerFrameUpdate, registerXrFrameUpdate, reprojectionErrorPx, rgbaToGrayscale, rotationToRodrigues, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setSessionEndCallback, 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

@@ -13,19 +13,20 @@ 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 { 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-BqCudtqE.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 { B as setTrackingLostCallback, C as initAR, F as setImageCaptureCallback, G as startDepthCapture, H as setTrackingStore, I as setImageQualityAnalyzer, J as stopDepthCapture, K as startImageCapture, M as setCameraFrameCallback, N as setDepthCaptureCallback, P as setFrameCallback, R as setSessionEndCallback, W as startCameraFrameCapture, X as CameraFrameSource, Y as stopImageCapture, _ as getDepthInfoFromFrame, b as getLiveCss3dManager, c as endARSession, f as getArWorldGroup, g as getCurrentArPose, h as getCameraFrameCount, p as getCamera, q as stopCameraFrameCapture, v as getDepthSampleCount, x as getScene, y as getImageCaptureFrameCount, z as setTrackingCallbacks } from "../webxr-session-BCP2XK7k.js";
 import { PlanarPnpSquare, homographyFromCorrespondences, ippePoseCandidates, nearestRotation3x3, rotationToRodrigues, solveLinear } from "./planar-pnp.js";
 import { bresenham3d } from "./bresenham3d.js";
 import { OccupancyGrid } from "./occupancy-grid.js";
+import { meshOccupiedCells } from "./occupancy-mesher.js";
 import { registerFrameUpdate } from "./frame-loop.js";
 import { registerXrFrameUpdate } from "./xr-frame-loop.js";
-import { n as ImageCaptureManager, r as MIN_VALID_IMAGE_BYTES, t as DEFAULT_CAPTURE_CONFIG } from "../image-capture-B2-b6tKK.js";
+import { n as ImageCaptureManager, r as MIN_VALID_IMAGE_BYTES, t as DEFAULT_CAPTURE_CONFIG } from "../image-capture-DVcuqMtX.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, 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 };
+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, getDepthInfoFromFrame, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getScene, getXrErrorMessage, homographyFromCorrespondences, initAR, initReplayScene, intrinsicsFromProjection, invertPose, ippePoseCandidates, isFullySupported, localPlaneToEnu, meanLuminance, meshOccupiedCells, nearestRotation3x3, needsBaseLayerPersistence, offsetGeo, parseChromeVersion, parseQrLevel, projectViewPoint, qrInCameraFromOpenCv, registerFrameUpdate, registerXrFrameUpdate, reprojectionErrorPx, rgbaToGrayscale, rotationToRodrigues, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setSessionEndCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, sharpnessScore, signedQuadArea, solveLinear, solveQrPose, solveQrPoseFromObservation, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, transformPoint, unprojectDepthPoint, updateOrbitTarget, validateQuad, wrapXRDepthInfo };

package/dist/ar/occlusion-mesh-worker.d.ts

@@ -0,0 +1,58 @@
+import { t as GridCell } from "../bresenham3d-DGc4nIb-.js";
+import { n as MeshMode } from "../occupancy-mesher-C2ecWhNp.js";
+import { Vector3 } from "gps-plus-slam-js";
+
+//#region ../src/ar/occlusion-mesh-worker.d.ts
+/** Main-thread → worker: an occupied-cell snapshot to mesh. */
+interface MeshWorkerRequest {
+  /** Correlates a response with its request (the driver coalesces by newest id). */
+  readonly id: number;
+  /** Flat occupied cells `[x0,y0,z0, x1,y1,z1, …]`. */
+  readonly cells: Int32Array;
+  readonly cellSizeM: number;
+  readonly mode: MeshMode;
+  /**
+   * Per-cell measured surface point, flat and parallel to `cells`
+   * (`[cx,cy,cz, …]`), or `null` for the cube modes that ignore it. A `NaN`
+   * triple marks a cell whose `getCellPoint` was `null` (geometric fallback).
+   */
+  readonly centroids: Float64Array | null;
+}
+/** Worker → main thread: the meshed geometry (typed arrays, transferable). */
+interface MeshWorkerResponse {
+  readonly id: number;
+  readonly positions: Float32Array;
+  readonly indices: Uint32Array;
+}
+/**
+ * Pack an occupied-cell snapshot into a transferable {@link MeshWorkerRequest}
+ * (main thread). `transfer` is the list to pass as the second `postMessage` arg
+ * so the buffers move (not copy) to the worker.
+ *
+ * `cells` may be the classic tuple array or an already-flat
+ * `[x0,y0,z0, x1,y1,z1, …]` Int32Array (Step 1.3 of the 2026-07-03
+ * long-session fps plan — `OccupancyGrid.getOccupiedCellsFlat` hands the
+ * snapshot over flat, deleting the tuple intermediate this function used to
+ * re-flatten). A flat snapshot is used **zero-copy**: its buffer lands in
+ * `transfer` and is DETACHED after posting — callers must pass a fresh array
+ * they do not reuse. Throws `RangeError` when a flat snapshot's length is not
+ * a multiple of 3 (a truncated buffer must fail loudly, not mesh garbage).
+ *
+ * `getCellPoint` receives a **transient** cell tuple (a reused scratch on the
+ * flat path — see `MeshOccupiedCellsOptions.getCellPoint` for the contract):
+ * implementations must not retain the tuple beyond the call.
+ */
+declare function packMeshRequest(id: number, cells: readonly GridCell[] | Int32Array, cellSizeM: number, mode: MeshMode, getCellPoint?: (cell: GridCell) => Vector3 | null): {
+  request: MeshWorkerRequest;
+  transfer: ArrayBufferLike[];
+};
+/**
+ * Mesh a {@link MeshWorkerRequest} (worker side). Returns the geometry plus the
+ * transfer list for posting back. Byte-identical to a direct `meshOccupiedCells`.
+ */
+declare function runMeshRequest(request: MeshWorkerRequest): {
+  response: MeshWorkerResponse;
+  transfer: ArrayBufferLike[];
+};
+//#endregion
+export { MeshWorkerRequest, MeshWorkerResponse, packMeshRequest, runMeshRequest };

package/dist/ar/occlusion-mesh-worker.js

@@ -0,0 +1,129 @@
+import { a as packCellKey } from "../cell-key-DIB4rOTV.js";
+import { meshOccupiedCells } from "./occupancy-mesher.js";
+//#region ../src/ar/occlusion-mesh-worker.ts
+/** Only the surface-hugging modes read `getCellPoint`. */
+function needsCentroids(mode) {
+	return mode === "smooth" || mode === "corner-fit";
+}
+/**
+* Pack an occupied-cell snapshot into a transferable {@link MeshWorkerRequest}
+* (main thread). `transfer` is the list to pass as the second `postMessage` arg
+* so the buffers move (not copy) to the worker.
+*
+* `cells` may be the classic tuple array or an already-flat
+* `[x0,y0,z0, x1,y1,z1, …]` Int32Array (Step 1.3 of the 2026-07-03
+* long-session fps plan — `OccupancyGrid.getOccupiedCellsFlat` hands the
+* snapshot over flat, deleting the tuple intermediate this function used to
+* re-flatten). A flat snapshot is used **zero-copy**: its buffer lands in
+* `transfer` and is DETACHED after posting — callers must pass a fresh array
+* they do not reuse. Throws `RangeError` when a flat snapshot's length is not
+* a multiple of 3 (a truncated buffer must fail loudly, not mesh garbage).
+*
+* `getCellPoint` receives a **transient** cell tuple (a reused scratch on the
+* flat path — see `MeshOccupiedCellsOptions.getCellPoint` for the contract):
+* implementations must not retain the tuple beyond the call.
+*/
+function packMeshRequest(id, cells, cellSizeM, mode, getCellPoint) {
+	let flat;
+	let n;
+	if (cells instanceof Int32Array) {
+		if (cells.length % 3 !== 0) throw new RangeError(`flat cell snapshot length must be a multiple of 3, got ${cells.length}`);
+		flat = cells;
+		n = cells.length / 3;
+	} else {
+		n = cells.length;
+		flat = new Int32Array(n * 3);
+		for (let i = 0; i < n; i++) {
+			const c = cells[i];
+			flat[i * 3] = c[0];
+			flat[i * 3 + 1] = c[1];
+			flat[i * 3 + 2] = c[2];
+		}
+	}
+	let centroids = null;
+	if (needsCentroids(mode) && getCellPoint) {
+		centroids = new Float64Array(n * 3);
+		const scratch = [
+			0,
+			0,
+			0
+		];
+		for (let i = 0; i < n; i++) {
+			let cell;
+			if (cells instanceof Int32Array) {
+				scratch[0] = flat[i * 3];
+				scratch[1] = flat[i * 3 + 1];
+				scratch[2] = flat[i * 3 + 2];
+				cell = scratch;
+			} else cell = cells[i];
+			const cp = getCellPoint(cell);
+			if (cp) {
+				centroids[i * 3] = cp[0];
+				centroids[i * 3 + 1] = cp[1];
+				centroids[i * 3 + 2] = cp[2];
+			} else {
+				centroids[i * 3] = NaN;
+				centroids[i * 3 + 1] = NaN;
+				centroids[i * 3 + 2] = NaN;
+			}
+		}
+	}
+	const request = {
+		id,
+		cells: flat,
+		cellSizeM,
+		mode,
+		centroids
+	};
+	const transfer = [flat.buffer];
+	if (centroids) transfer.push(centroids.buffer);
+	return {
+		request,
+		transfer
+	};
+}
+/**
+* Mesh a {@link MeshWorkerRequest} (worker side). Returns the geometry plus the
+* transfer list for posting back. Byte-identical to a direct `meshOccupiedCells`.
+*/
+function runMeshRequest(request) {
+	const { id, cells: flat, cellSizeM, mode, centroids } = request;
+	const n = flat.length / 3;
+	const cells = [];
+	for (let i = 0; i < n; i++) cells.push([
+		flat[i * 3],
+		flat[i * 3 + 1],
+		flat[i * 3 + 2]
+	]);
+	let getCellPoint;
+	const pts = centroids;
+	if (pts) {
+		const indexByKey = /* @__PURE__ */ new Map();
+		for (let i = 0; i < n; i++) indexByKey.set(packCellKey(flat[i * 3], flat[i * 3 + 1], flat[i * 3 + 2]), i);
+		getCellPoint = (cell) => {
+			const i = indexByKey.get(packCellKey(cell[0], cell[1], cell[2]));
+			if (i === void 0) return null;
+			const cx = pts[i * 3];
+			if (Number.isNaN(cx)) return null;
+			return [
+				cx,
+				pts[i * 3 + 1],
+				pts[i * 3 + 2]
+			];
+		};
+	}
+	const mesh = meshOccupiedCells(cells, cellSizeM, {
+		mode,
+		getCellPoint
+	});
+	return {
+		response: {
+			id,
+			positions: mesh.positions,
+			indices: mesh.indices
+		},
+		transfer: [mesh.positions.buffer, mesh.indices.buffer]
+	};
+}
+//#endregion
+export { packMeshRequest, runMeshRequest };

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

@@ -1,2 +1,2 @@
-import { n as OccupancyGridOptions, t as OccupancyGrid } from "../occupancy-grid-DnOc-6PU.js";
-export { OccupancyGrid, OccupancyGridOptions };
+import { i as unpackCellKey, n as OccupancyGridOptions, r as cellKey, t as OccupancyGrid } from "../occupancy-grid-BV7RhB7I.js";
+export { OccupancyGrid, OccupancyGridOptions, cellKey, unpackCellKey };