gps-plus-slam-app-framework 1.7.0 → 1.9.0

package/dist/ar/webxr-nue-basis.d.ts

@@ -1,2 +1,2 @@
-import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-3nfjDJJp.js";
+import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-CaCnYxuq.js";
 export { WEBXR_TO_NUE };

package/dist/ar/webxr-session.d.ts

@@ -1,4 +1,4 @@
-import { i as DepthSample, t as ARPose } from "../ar-types-BFX2r1wk.js";
-import { n as CapturedImage } from "../image-capture-CNZDrQXG.js";
-import { A as setCamera, B as setTrackingStore, C as isWebXRSupported, D as resetWebXRState, E as nueQuaternionToWebXR, F as setImageQualityAnalyzer, G as stopCameraFrameCapture, H as startCameraFrameCapture, I as setScene, K as stopDepthCapture, L as setTrackingCallbacks, M as setDepthCaptureCallback, N as setFrameCallback, O as setArPose, P as setImageCaptureCallback, R as setTrackingLostCallback, S as initAR, T as nuePositionToWebXR, U as startDepthCapture, V as shouldLogCameraAccessDiagnostic, W as startImageCapture, _ as getDepthSampleCount, a as applyAlignmentMatrix, b as getScene, c as endARSession, d as getArPose, f as getArWorldGroup, g as getCurrentArPose, h as getCameraFrameCount, i as TrackingSubscribableStore, j as setCameraFrameCallback, k as setArWorldGroup, l as extractPoseFromViewer, m as getCameraFrameCaptureSize, n as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, o as buildSessionOptions, p as getCamera, q as stopImageCapture, r as SessionFeatureOptions, s as createSceneHierarchy, t as CameraFrameCaptureConfig, u as extractResetTransformData, v as getImageCaptureFrameCount, w as isXRCameraLike, x as getXrCameraFromPose, y as getLiveCss3dManager, z as setTrackingRecoveredCallback } from "../webxr-session-Do5L6G3B.js";
-export { ARPose, CameraFrameCaptureConfig, CapturedImage, DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, DepthSample, SessionFeatureOptions, TrackingSubscribableStore, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCameraFrameCaptureSize, getCameraFrameCount, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setScene, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, setTrackingStore, shouldLogCameraAccessDiagnostic, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture };
+import { i as DepthSample, t as ARPose } from "../ar-types-Cc5yvBwn.js";
+import { n as CapturedImage } from "../image-capture-Bp6Pd4Md.js";
+import { $ as stopImageCapture, A as nuePositionToWebXR, B as setImageQualityAnalyzer, C as getImageCaptureFrameCount, D as initAR, E as getXrCameraFromPose, F as setCamera, G as setTrackingRecoveredCallback, H as setSessionEndCallback, I as setCameraFrameCallback, J as startCameraFrameCapture, K as setTrackingStore, L as setDepthCaptureCallback, M as resetWebXRState, N as setArPose, O as isWebXRSupported, P as setArWorldGroup, Q as stopDepthCapture, R as setFrameCallback, S as getDepthSampleCount, T as getScene, U as setTrackingCallbacks, V as setScene, W as setTrackingLostCallback, X as startImageCapture, Y as startDepthCapture, Z as stopCameraFrameCapture, _ as getCamera, a as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, b as getCurrentArPose, c as TrackingSubscribableStore, d as createSceneHierarchy, f as endARSession, g as getArWorldGroup, h as getArPose, i as CameraFrameCaptureConfig, j as nueQuaternionToWebXR, k as isXRCameraLike, l as applyAlignmentMatrix, m as extractResetTransformData, n as AR_CAMERA_FOV, o as SessionEndInfo, p as extractPoseFromViewer, q as shouldLogCameraAccessDiagnostic, r as AR_CAMERA_NEAR, s as SessionFeatureOptions, t as AR_CAMERA_FAR, u as buildSessionOptions, v as getCameraFrameCaptureSize, w as getLiveCss3dManager, x as getDepthInfoFromFrame, y as getCameraFrameCount, z as setImageCaptureCallback } from "../webxr-session-BWCpGd-2.js";
+export { ARPose, AR_CAMERA_FAR, AR_CAMERA_FOV, AR_CAMERA_NEAR, CameraFrameCaptureConfig, CapturedImage, DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, DepthSample, SessionEndInfo, SessionFeatureOptions, TrackingSubscribableStore, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCameraFrameCaptureSize, getCameraFrameCount, getCurrentArPose, getDepthInfoFromFrame, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setScene, setSessionEndCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, setTrackingStore, shouldLogCameraAccessDiagnostic, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture };

package/dist/ar/webxr-session.js

@@ -1,2 +1,2 @@
-import { A as setFrameCallback, B as startDepthCapture, C as nueQuaternionToWebXR, D as setCamera, E as setArWorldGroup, F as setTrackingLostCallback, H as stopCameraFrameCapture, I as setTrackingRecoveredCallback, L as setTrackingStore, M as setImageQualityAnalyzer, N as setScene, O as setCameraFrameCallback, P as setTrackingCallbacks, R as shouldLogCameraAccessDiagnostic, S as nuePositionToWebXR, T as setArPose, U as stopDepthCapture, V as startImageCapture, W as stopImageCapture, _ as getScene, a as endARSession, b as isWebXRSupported, c as getArPose, d as getCameraFrameCaptureSize, f as getCameraFrameCount, g as getLiveCss3dManager, h as getImageCaptureFrameCount, i as createSceneHierarchy, j as setImageCaptureCallback, k as setDepthCaptureCallback, l as getArWorldGroup, m as getDepthSampleCount, n as applyAlignmentMatrix, o as extractPoseFromViewer, p as getCurrentArPose, r as buildSessionOptions, s as extractResetTransformData, t as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, u as getCamera, v as getXrCameraFromPose, w as resetWebXRState, x as isXRCameraLike, y as initAR, z as startCameraFrameCapture } from "../webxr-session-DG-eNfny.js";
-export { DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCameraFrameCaptureSize, getCameraFrameCount, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setScene, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, setTrackingStore, shouldLogCameraAccessDiagnostic, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture };
+import { A as setArWorldGroup, B as setTrackingLostCallback, C as initAR, D as nueQuaternionToWebXR, E as nuePositionToWebXR, F as setImageCaptureCallback, G as startDepthCapture, H as setTrackingStore, I as setImageQualityAnalyzer, J as stopDepthCapture, K as startImageCapture, L as setScene, M as setCameraFrameCallback, N as setDepthCaptureCallback, O as resetWebXRState, P as setFrameCallback, R as setSessionEndCallback, S as getXrCameraFromPose, T as isXRCameraLike, U as shouldLogCameraAccessDiagnostic, V as setTrackingRecoveredCallback, W as startCameraFrameCapture, Y as stopImageCapture, _ as getDepthInfoFromFrame, a as applyAlignmentMatrix, b as getLiveCss3dManager, c as endARSession, d as getArPose, f as getArWorldGroup, g as getCurrentArPose, h as getCameraFrameCount, i as DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, j as setCamera, k as setArPose, l as extractPoseFromViewer, m as getCameraFrameCaptureSize, n as AR_CAMERA_FOV, o as buildSessionOptions, p as getCamera, q as stopCameraFrameCapture, r as AR_CAMERA_NEAR, s as createSceneHierarchy, t as AR_CAMERA_FAR, u as extractResetTransformData, v as getDepthSampleCount, w as isWebXRSupported, x as getScene, y as getImageCaptureFrameCount, z as setTrackingCallbacks } from "../webxr-session-BCP2XK7k.js";
+export { AR_CAMERA_FAR, AR_CAMERA_FOV, AR_CAMERA_NEAR, DEFAULT_CAMERA_FRAME_CAPTURE_SIZE, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCameraFrameCaptureSize, getCameraFrameCount, getCurrentArPose, getDepthInfoFromFrame, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setCameraFrameCallback, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setImageQualityAnalyzer, setScene, setSessionEndCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, setTrackingStore, shouldLogCameraAccessDiagnostic, startCameraFrameCapture, startDepthCapture, startImageCapture, stopCameraFrameCapture, stopDepthCapture, stopImageCapture };

package/dist/ar/xr-camera-texture.d.ts

@@ -1,2 +1,2 @@
-import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-Cva1q3Qj.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-q0eIDSRg.js";
 export { CameraTextureResult, RendererLike, XRCameraLike, acquireCameraTexture };

package/dist/ar/xr-error-handler.d.ts

@@ -1,2 +1,2 @@
-import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-CtvHpjfm.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-uVGDu9IX.js";
 export { XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, getXrErrorMessage };

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

@@ -1,2 +1,2 @@
-import { a as runXrFrameUpdates, i as registerXrFrameUpdate, n as XrFrameUpdate, r as clearXrFrameUpdates, t as XrFrameContext } from "../xr-frame-loop-DIYtRcUa.js";
+import { a as runXrFrameUpdates, i as registerXrFrameUpdate, n as XrFrameUpdate, r as clearXrFrameUpdates, t as XrFrameContext } from "../xr-frame-loop-DX3JPpAU.js";
 export { XrFrameContext, XrFrameUpdate, clearXrFrameUpdates, registerXrFrameUpdate, runXrFrameUpdates };

package/dist/ar/xr-frame-loop.js

@@ -24,6 +24,13 @@ import { createLogger } from "../utils/logger.js";
 const log = createLogger("XrFrameLoop");
 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 XR-access callback. Returns an unregister function.
 *
 * Registration is idempotent — registering the same `fn` twice is a no-op
@@ -31,8 +38,10 @@ const updates = /* @__PURE__ */ new Set();
 */
 function registerXrFrameUpdate(fn) {
 	updates.add(fn);
+	snapshot = null;
 	return () => {
 		updates.delete(fn);
+		snapshot = null;
 	};
 }
 /**
@@ -51,8 +60,8 @@ function registerXrFrameUpdate(fn) {
 * loop continues — mirroring `runFrameUpdates`.
 */
 function runXrFrameUpdates(ctx) {
-	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(ctx);
 	} catch (error) {
 		log.error("A registered XrFrameUpdate threw; continuing the loop", error);
@@ -64,6 +73,7 @@ function runXrFrameUpdates(ctx) {
 */
 function clearXrFrameUpdates() {
 	updates.clear();
+	snapshot = null;
 }
 //#endregion
 export { clearXrFrameUpdates, registerXrFrameUpdate, runXrFrameUpdates };

package/dist/{ar-MFpFlV7j.js → ar-BqCudtqE.js}

@@ -11,11 +11,12 @@ import "./ar/webxr-nue-basis.js";
 import "./ar/qr-debug-view.js";
 import { n as createDetectionScheduler } from "./qr-detection-controller-B-tLVd-S.js";
 import "./qr-pose-aggregation-DBiaLW0O.js";
-import "./webxr-session-DG-eNfny.js";
+import "./webxr-session-BCP2XK7k.js";
 import "./ar/occupancy-grid.js";
+import "./ar/occupancy-mesher.js";
 import "./ar/frame-loop.js";
 import "./ar/xr-frame-loop.js";
-import "./image-capture-B2-b6tKK.js";
+import "./image-capture-DVcuqMtX.js";
 import "./ar/xr-camera-texture.js";
 import "./ar/enable-gps-ar.js";
 import "./ar/replay-scene.js";

package/dist/{ar-world-group-alignment-69fgnB39.d.ts → ar-world-group-alignment-Cfg0trC3.d.ts}

@@ -1,4 +1,4 @@
-import { t as SubscribableStore } from "./subscribe-to-selector-B6EUmQ3I.js";
+import { t as SubscribableStore } from "./subscribe-to-selector-dQV8SpsO.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/ar-world-group-alignment.d.ts

package/dist/{capture-motion-gate-4EscNZCw.js → capture-motion-gate-_NdTSwKi.js}

@@ -15,15 +15,27 @@ const ANGULAR_GLITCH_CEILING_RAD_S = 50;
 */
 const LINEAR_GLITCH_CEILING_M_S = 20;
 /**
-* Default motion-filter configuration. Enabled by default (plan §1). Thresholds
-* are PLACEHOLDERS pending on-device field tuning (plan §7) — record measured
-* values in implementation-progress.md once known. `maxWaitMs` of 4000 ms is
-* 2× the default 2000 ms image interval.
+* Default motion-filter configuration. Enabled by default (plan §1).
+*
+* `maxLinearVelocity` was raised `0.5 → 2.5` m/s on 2026-07-02 after a
+* 5-recording field analysis: at 0.5 m/s (~⅓ of a ~1.4 m/s walking pace) the
+* gate deferred ~90 % of captures to the never-calm `maxWaitMs` fallback,
+* collapsing the walking capture rate from the configured 0.5 Hz to ~0.17 Hz.
+* Measured 1 Hz-averaged walking speed was a tight band (median 1.38, max
+* 1.73 m/s); allowing for higher instantaneous per-frame stride peaks, 2.5 m/s
+* clears steady and brisk walking while still deferring genuine lunges/jogging
+* — demoting the (weak-at-scanning-distance) linear signal to a gross-motion
+* safety net and letting the well-behaved angular gate be the primary blur
+* selector. See
+* `GpsPlusSlamJs_Docs/docs/2026-07-02-image-capture-rate-motion-gate-finding.md`.
+*
+* `maxAngularVelocity` remains a PLACEHOLDER pending on-device field tuning
+* (plan §7). `maxWaitMs` of 4000 ms is 2× the default 2000 ms image interval.
 */
 const DEFAULT_MOTION_FILTER = {
 	enabled: true,
 	maxAngularVelocity: .6,
-	maxLinearVelocity: .5,
+	maxLinearVelocity: 2.5,
 	maxWaitMs: 4e3
 };
 /**

package/dist/cell-key-DIB4rOTV.js

@@ -0,0 +1,51 @@
+//#region ../src/ar/cell-key.ts
+/** Full-field envelope: direct cell keys are collision-free for `|c| ≤` this. */
+const CELL_KEY_LIMIT = 65535;
+/**
+* Mesher-tier envelope: leaves headroom for the derived half-lattice
+* (`2·coord ± 1`) and neighbour (`±1`) keys the meshers build from a cell.
+*/
+const HALF_LATTICE_CELL_KEY_LIMIT = 32767;
+const KEY_OFFSET = 65536;
+const KEY_FIELD = 131072;
+const KEY_FIELD_SQ = KEY_FIELD * KEY_FIELD;
+/**
+* Pack three integer coordinates into the numeric key. Collision-free only
+* within the caller's envelope (see the module header); scalar form so hot
+* loops need no tuple.
+*/
+function packCellKey(x, y, z) {
+	return (x + KEY_OFFSET) * KEY_FIELD_SQ + (y + KEY_OFFSET) * KEY_FIELD + (z + KEY_OFFSET);
+}
+/** Tuple convenience over {@link packCellKey}. */
+function cellKey(cell) {
+	return packCellKey(cell[0], cell[1], cell[2]);
+}
+/** One axis of {@link unpackCellKey} without allocating the tuple (hot paths). */
+function unpackCellCoord(key, axis) {
+	if (axis === 0) return Math.floor(key / KEY_FIELD_SQ) - KEY_OFFSET;
+	if (axis === 1) return Math.floor(key / KEY_FIELD) % KEY_FIELD - KEY_OFFSET;
+	return key % KEY_FIELD - KEY_OFFSET;
+}
+/**
+* Exact inverse of {@link cellKey} over the ±{@link CELL_KEY_LIMIT} envelope
+* (property-tested). Consumers that no longer store coordinate tuples recover
+* them from the key through this function.
+*/
+function unpackCellKey(key) {
+	return [
+		unpackCellCoord(key, 0),
+		unpackCellCoord(key, 1),
+		unpackCellCoord(key, 2)
+	];
+}
+/**
+* True iff every coordinate is within ±`limit` — the aliasing guard callers
+* must apply before keying untrusted coordinates. Defaults to the full-field
+* {@link CELL_KEY_LIMIT}; the meshers pass {@link HALF_LATTICE_CELL_KEY_LIMIT}.
+*/
+function cellCoordsInKeyRange(cell, limit = CELL_KEY_LIMIT) {
+	return Math.abs(cell[0]) <= limit && Math.abs(cell[1]) <= limit && Math.abs(cell[2]) <= limit;
+}
+//#endregion
+export { packCellKey as a, cellKey as i, HALF_LATTICE_CELL_KEY_LIMIT as n, unpackCellCoord as o, cellCoordsInKeyRange as r, unpackCellKey as s, CELL_KEY_LIMIT as t };

package/dist/core/index.d.ts

@@ -1,2 +1,2 @@
-import { _ as odometryTrackingRestarted, a as LibraryRootState, c as RootState, d as bearingDeltaDeg, f as calcGpsCoords, g as magneticHeadingFromEnuQuat, h as isIdentityMatrix4, i as LatLongAlt, l as Vector3, m as createGpsSlamStore, n as GpsPoint, o as Matrix4, p as calcRelativeCoordsInMeters, r as LatLong, s as Quaternion, t as ArImageCapture, u as arNorthBearingDeg, v as validateLicenseKey, y as webxrToNUE } from "../index-_Rhgoqkh.js";
-export { ArImageCapture, GpsPoint, LatLong, LatLongAlt, LibraryRootState, Matrix4, Quaternion, RootState, Vector3, arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };
+import { S as webxrToNUE, _ as createLoopClosureHandler, a as LibraryRootState, b as odometryTrackingRestarted, c as Matrix4, d as Vector3, f as arNorthBearingDeg, g as createGpsSlamStore, h as calcRelativeCoordsInMeters, i as LatLongAlt, l as Quaternion, m as calcGpsCoords, n as GpsPoint, o as LoopClosureHandler, p as bearingDeltaDeg, r as LatLong, s as LoopClosureHandlerConfig, t as ArImageCapture, u as RootState, v as isIdentityMatrix4, x as validateLicenseKey, y as magneticHeadingFromEnuQuat } from "../index-DXPVzOpP.js";
+export { ArImageCapture, GpsPoint, LatLong, LatLongAlt, LibraryRootState, LoopClosureHandler, LoopClosureHandlerConfig, Matrix4, Quaternion, RootState, Vector3, arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, createLoopClosureHandler, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };

package/dist/core/index.js

@@ -1,2 +1,2 @@
-import { arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey, webxrToNUE } from "gps-plus-slam-js";
-export { arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };
+import { arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, createLoopClosureHandler, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey, webxrToNUE } from "gps-plus-slam-js";
+export { arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, createLoopClosureHandler, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };

package/dist/{create-slam-app-store-n_VF63D5.d.ts → create-slam-app-store-D1QSMuKu.d.ts}

@@ -1,7 +1,7 @@
-import { a as TrackingSliceState } from "./tracking-slice-BuAZxXZ5.js";
-import { t as RecordingState } from "./recording-slice-DaxHZvNu.js";
-import { n as SessionMetadata } from "./opfs-storage-3VZh-qH6.js";
-import { n as StorageBackend } from "./storage-backend-BdVLD0dU.js";
+import { a as TrackingSliceState } from "./tracking-slice-DMkHlbny.js";
+import { t as RecordingState } from "./recording-slice-BW8SiLo1.js";
+import { n as SessionMetadata } from "./opfs-storage-CTkxvxN4.js";
+import { n as StorageBackend } from "./storage-backend-sEtmM4yW.js";
 import { GpsPoint, LatLong, Matrix4, RootState, Vector3 } from "gps-plus-slam-js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
 import { Middleware, Reducer, ReducersMapObject, configureStore } from "@reduxjs/toolkit";
@@ -138,11 +138,10 @@ declare function computeConvergence(snapshots: readonly AlignmentSnapshot[], opt
  * compute the Euclidean distance.
  *
  * This is the **single shared kernel** for the AppFramework reporter and
- * the Investigation harness (see §11 (a) of the tracking-quality plan).
- * `GpsPlusSlamJs_Investigation/src/investigation-helpers.ts` re-exports
- * `computeStabilityDelta` as a thin wrapper around this function so the
- * §6.1 corpus sweep and the runtime convergence score share one numeric
- * definition.
+ * the downstream corpus-analysis harness (see §11 (a) of the
+ * tracking-quality plan), which re-exports it as `computeStabilityDelta` —
+ * a thin wrapper around this function — so the §6.1 corpus sweep and the
+ * runtime convergence score share one numeric definition.
  */
 declare function matrixDelta(prev: readonly number[], curr: readonly number[]): {
   rotationDeltaDeg: number;

package/dist/{create-slam-app-store-DkCHOpvb.js → create-slam-app-store-DXiAnJwR.js}

@@ -97,13 +97,20 @@ const BUILTIN_PERSISTED_PREFIXES = [slicePrefixOf(setZeroPos.type), slicePrefixO
 function createSlamAppStore(options) {
 	const { storageBackend, extraReducers, extraMiddleware, persistedExtraPrefixes, onWriteFailure, enableDevChecks = true, licenseKey = COMMUNITY_LICENSE_KEY, trackingQualityOptions, enableCompassColdStartOverride = true, enableCompassRotationPrior = false, enableCompassWebXRConsistency = false } = options;
 	validateLicenseKey(licenseKey);
-	const reducer = {
+	const builtins = {
 		gpsData: gpsDataReducer,
 		gpsElements: gpsElementsReducer,
 		arElements: arElementsReducer,
 		recording: recordingReducer,
 		tracking: trackingReducer,
-		trackingQuality: trackingQualityReducer,
+		trackingQuality: trackingQualityReducer
+	};
+	if (extraReducers) {
+		const collisions = Object.keys(extraReducers).filter((key) => Object.prototype.hasOwnProperty.call(builtins, key));
+		if (collisions.length > 0) throw new Error(`extraReducers must not overwrite framework-reserved slice(s): ${collisions.join(", ")}. Reserved keys: ${Object.keys(builtins).join(", ")}.`);
+	}
+	const reducer = {
+		...builtins,
 		...extraReducers ?? {}
 	};
 	const trackingQualityMiddleware = createTrackingQualityListenerMiddleware(trackingQualityOptions);

package/dist/{depth-grid-lookup-DQ-IYhO3.d.ts → depth-grid-lookup-D5atpNZ3.d.ts}

@@ -1,4 +1,4 @@
-import { r as DepthPoint } from "./ar-types-BFX2r1wk.js";
+import { r as DepthPoint } from "./ar-types-Cc5yvBwn.js";
 
 //#region ../src/ar/depth-grid-lookup.d.ts
 interface DepthGridLookup {

package/dist/{depth-sampler-asc8exHt.d.ts → depth-sampler-CwObAwEA.d.ts}

@@ -1,4 +1,4 @@
-import { a as RgbTuple, i as DepthSample, t as ARPose } from "./ar-types-BFX2r1wk.js";
+import { a as RgbTuple, i as DepthSample, t as ARPose } from "./ar-types-Cc5yvBwn.js";
 import { Matrix4 } from "gps-plus-slam-js";
 
 //#region ../src/ar/depth-rgb-lookup.d.ts
@@ -66,6 +66,27 @@ interface DepthInfo {
   getDepthInMeters: (x: number, y: number) => number;
   /** Column-major projection matrix of the capturing XRView, if known. */
   projectionMatrix?: Matrix4;
+  /**
+   * Raw depth buffer (`XRCPUDepthInformation.data`) — a **live reference**
+   * valid only within the originating XR frame callback (NOT copied, unlike
+   * the matrices: the per-frame buffer is too large to clone and the live
+   * depth occluder uploads it synchronously). Absent when the source carries
+   * no `data` (e.g. the sparse-only path). Plumbed for the live depth occluder
+   * (2026-06-14-webxr-depth-occlusion-plan.md §2); the sparse sampler ignores it.
+   */
+  data?: ArrayBuffer;
+  /**
+   * `XRCPUDepthInformation.rawValueToMeters` — multiply a raw depth sample by
+   * this to get metres. Preserved only when a finite number. Occluder-only.
+   */
+  rawValueToMeters?: number;
+  /**
+   * The `.matrix` (column-major 16-tuple) of
+   * `XRDepthInformation.normDepthBufferFromNormView` — the screen-UV → depth-UV
+   * transform the occluder shader needs. Copied + validated like
+   * `projectionMatrix` (the UA may reuse the backing array). Occluder-only.
+   */
+  normDepthBufferFromNormView?: Matrix4;
 }
 /**
  * Wrap a raw browser XRDepthInformation object into a {@link DepthInfo}.
@@ -76,11 +97,22 @@ interface DepthInfo {
  *   the UA may reuse across frames) is defensively validated and copied into
  *   a plain serializable 16-tuple; invalid input (wrong length, non-finite
  *   entries) yields a DepthInfo without a matrix rather than an error.
+ * - The live-occluder metadata (`data`, `rawValueToMeters`,
+ *   `normDepthBufferFromNormView`) is preserved when present and valid: `data`
+ *   by live reference (no clone — see {@link DepthInfo.data}), the scale only
+ *   when finite, and the UV transform's `.matrix` copied like
+ *   `projectionMatrix`. The sparse grid sampler ignores all three; a source
+ *   lacking them (e.g. the existing test doubles) wraps exactly as before.
  */
 declare function wrapXRDepthInfo(raw: {
   width: number;
   height: number;
   getDepthInMeters: (x: number, y: number) => number;
+  data?: ArrayBuffer;
+  rawValueToMeters?: number;
+  normDepthBufferFromNormView?: {
+    matrix?: ArrayLike<number>;
+  } | null;
 }, projectionMatrix: ArrayLike<number> | undefined): DepthInfo;
 /**
  * Samples sparse depth points from WebXR depth sensing.

package/dist/{depth-unprojection-DjsbJW9L.d.ts → depth-unprojection-DRdBU90S.d.ts}

@@ -1,4 +1,4 @@
-import { r as DepthPoint } from "./ar-types-BFX2r1wk.js";
+import { r as DepthPoint } from "./ar-types-Cc5yvBwn.js";
 import { Matrix4, Quaternion, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/depth-unprojection.d.ts

package/dist/{enable-gps-ar-DkNhFv4Y.d.ts → enable-gps-ar-BBtRO2FJ.d.ts}

@@ -1,7 +1,7 @@
-import { t as ArCrashIsolationOptions } from "./recording-options-BPCpMHLK.js";
-import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-BBO3hKfT.js";
-import { n as PermissionStatus } from "./permission-checker-CDuI8BwC.js";
-import { r as SessionFeatureOptions } from "./webxr-session-Do5L6G3B.js";
+import { t as ArCrashIsolationOptions } from "./recording-options-DYKWVI93.js";
+import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CDKDQokE.js";
+import { n as PermissionStatus } from "./permission-checker-B-VtjnBA.js";
+import { s as SessionFeatureOptions } from "./webxr-session-BWCpGd-2.js";
 
 //#region ../src/ar/enable-gps-ar.d.ts
 /**

package/dist/{frame-conversions-DObhj8Wf.d.ts → frame-conversions-DDcNHkTb.d.ts}

@@ -1,4 +1,4 @@
-import { i as LatLongAlt, r as LatLong } from "./index-_Rhgoqkh.js";
+import { i as LatLongAlt, r as LatLong } from "./index-DXPVzOpP.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/frame-conversions.d.ts

package/dist/{fused-path-v6eOmLl3.d.ts → fused-path-C5pp0PJU.d.ts}

@@ -1,4 +1,4 @@
-import { t as GpsCoord } from "./geo-types-3Ip1NzVR.js";
+import { t as GpsCoord } from "./geo-types-DrGVu8nS.js";
 import { LatLong, Matrix4, Vector3, fusedGpsFromOdom } from "gps-plus-slam-js";
 
 //#region ../src/utils/fused-path.d.ts

package/dist/geo/h3-proximity.d.ts

@@ -1,2 +1,2 @@
-import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-C-j0pw1j.js";
+import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-D0GTHQmr.js";
 export { H3_RESOLUTION, KnownGeoAnchor, approxDistanceMetres, clusterCellsByZoom, findNearbyGeoAnchor, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, isH3Index };

package/dist/geo/index.d.ts

@@ -1,2 +1,2 @@
-import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-C-j0pw1j.js";
+import { a as findNearbyGeoAnchor, c as h3CellsMatch, i as clusterCellsByZoom, l as isH3Index, n as KnownGeoAnchor, o as gpsPathToCoverageCells, r as approxDistanceMetres, s as gpsToH3, t as H3_RESOLUTION } from "../h3-proximity-D0GTHQmr.js";
 export { H3_RESOLUTION, type KnownGeoAnchor, approxDistanceMetres, clusterCellsByZoom, findNearbyGeoAnchor, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, isH3Index };

package/dist/{gps-anchor-BeFO2RYa.d.ts → gps-anchor-CEjGqEVD.d.ts}

@@ -1,4 +1,4 @@
-import { i as LatLongAlt, r as LatLong } from "./index-_Rhgoqkh.js";
+import { i as LatLongAlt, r as LatLong } from "./index-DXPVzOpP.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/gps-anchor.d.ts

package/dist/{gps-ar-pose-sampler-DHMZmYAc.d.ts → gps-ar-pose-sampler-DEGNk2CI.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 { Quaternion, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/state/gps-ar-pose-sampler.d.ts

package/dist/{gps-event-coordinator-CjWW636x.d.ts → gps-event-coordinator-BWpgBrHq.d.ts}

@@ -1,7 +1,7 @@
-import { t as ARPose } from "./ar-types-BFX2r1wk.js";
-import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-BBO3hKfT.js";
-import { t as AbsoluteOrientationReading } from "./absolute-orientation-CAEh840t.js";
-import { i as SlamAppStore } from "./create-slam-app-store-n_VF63D5.js";
+import { t as ARPose } from "./ar-types-Cc5yvBwn.js";
+import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CDKDQokE.js";
+import { t as AbsoluteOrientationReading } from "./absolute-orientation-BAxc15J6.js";
+import { i as SlamAppStore } from "./create-slam-app-store-D1QSMuKu.js";
 import { Quaternion, RawAbsoluteOrientation, RawGpsPoint, RecordGpsEventPayload, Vector3, eulerToQuaternion } from "gps-plus-slam-js";
 import { ReducersMapObject } from "@reduxjs/toolkit";
 

package/dist/{image-capture-CNZDrQXG.d.ts → image-capture-Bp6Pd4Md.d.ts}

@@ -1,6 +1,6 @@
-import { o as WebXRQuaternion, s as WebXRVec3, t as ARPose } from "./ar-types-BFX2r1wk.js";
-import { t as MotionFilterConfig } from "./capture-motion-gate-0Yl2NpQG.js";
-import { a as QualityFilterConfig } from "./image-quality-smCBoFj1.js";
+import { o as WebXRQuaternion, s as WebXRVec3, t as ARPose } from "./ar-types-Cc5yvBwn.js";
+import { t as MotionFilterConfig } from "./capture-motion-gate-BGoAMkmf.js";
+import { a as QualityFilterConfig } from "./image-quality-BMx2ko9-.js";
 
 //#region ../src/ar/image-capture.d.ts
 /**

package/dist/{image-capture-B2-b6tKK.js → image-capture-DVcuqMtX.js}

@@ -1,6 +1,6 @@
 import { createLogger } from "./utils/logger.js";
 import { t as geodesicAngleRad } from "./geodesic-angle-BTldfFgs.js";
-import { n as MotionWindow, r as decideCapture, t as DEFAULT_MOTION_FILTER } from "./capture-motion-gate-4EscNZCw.js";
+import { n as MotionWindow, r as decideCapture, t as DEFAULT_MOTION_FILTER } from "./capture-motion-gate-_NdTSwKi.js";
 import { DEFAULT_QUALITY_FILTER } from "./ar/image-quality.js";
 import { quat } from "gl-matrix";
 //#region ../src/ar/pose-motion.ts

package/dist/{index-BODDUTvD.d.ts → index-B6iBnO_K.d.ts}

@@ -1,4 +1,4 @@
-import { N as CombinedRootState, m as TrackingQualityReport } from "./create-slam-app-store-n_VF63D5.js";
+import { N as CombinedRootState, m as TrackingQualityReport } from "./create-slam-app-store-D1QSMuKu.js";
 import { Add2dImagePayload, GpsPoint as GpsPoint$1, LatLong as LatLong$1, RawDeviceOrientation, RawGpsPoint as RawGpsPoint$1, RecordGpsEventPayload as RecordGpsEventPayload$1, add2dImage, calcRelativeCoordsInMeters, recordGpsEvent as recordGpsEvent$1, setZeroPos as setZeroPos$1 } from "gps-plus-slam-js";
 
 //#region ../src/state/onboarding-guidance.d.ts

package/dist/index-DXPVzOpP.d.ts

@@ -0,0 +1,2 @@
+import { ArImageCapture as ArImageCapture$1, GpsPoint as GpsPoint$1, LatLong as LatLong$1, LatLongAlt, LoopClosureHandler, LoopClosureHandlerConfig, Matrix4 as Matrix4$1, Quaternion as Quaternion$1, RootState as LibraryRootState, RootState as RootState$1, Vector3 as Vector3$1, arNorthBearingDeg, bearingDeltaDeg, calcGpsCoords as calcGpsCoords$1, calcRelativeCoordsInMeters, createGpsSlamStore, createLoopClosureHandler, isIdentityMatrix4, magneticHeadingFromEnuQuat, odometryTrackingRestarted, validateLicenseKey as validateLicenseKey$1, webxrToNUE } from "gps-plus-slam-js";
+export { webxrToNUE as S, createLoopClosureHandler as _, LibraryRootState as a, odometryTrackingRestarted as b, Matrix4$1 as c, Vector3$1 as d, arNorthBearingDeg as f, createGpsSlamStore as g, calcRelativeCoordsInMeters as h, LatLongAlt as i, Quaternion$1 as l, calcGpsCoords$1 as m, GpsPoint$1 as n, LoopClosureHandler as o, bearingDeltaDeg as p, LatLong$1 as r, LoopClosureHandlerConfig as s, ArImageCapture$1 as t, RootState$1 as u, isIdentityMatrix4 as v, validateLicenseKey$1 as x, magneticHeadingFromEnuQuat as y };

package/dist/{index-BneSj4_5.d.ts → index-cCQWuYqy.d.ts}

@@ -1,6 +1,6 @@
-import { t as GridCell } from "./bresenham3d-CU1Gv2W4.js";
-import { a as QrPoseSolution, i as Pose, r as Point2, t as CameraIntrinsics } from "./qr-pose-D2rfu5DA.js";
-import { a as QrFrontEnd, o as RgbaImage } from "./qr-frontend--fFX25mV.js";
+import { t as GridCell } from "./bresenham3d-DGc4nIb-.js";
+import { a as QrPoseSolution, i as Pose, r as Point2, t as CameraIntrinsics } from "./qr-pose-y3vaEd6x.js";
+import { a as QrFrontEnd, o as RgbaImage } from "./qr-frontend-BPURlh3S.js";
 import { Quaternion, RecordGpsEventPayload, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/qr-gps-vote.d.ts