gps-plus-slam-app-framework 1.9.0 → 1.10.0

package/dist/ar/replay-scene.d.ts

@@ -1,2 +1,2 @@
-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, s as getCss3dManager, t as CameraMode, u as toggleCameraMode } from "../replay-scene-zJ8SFDjE.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, s as getCss3dManager, t as CameraMode, u as toggleCameraMode } from "../replay-scene-CZdWgcpc.js";
 export { CameraMode, ReplaySceneState, disposeReplayScene, getAlignmentLerper, getCameraFollower, getCameraMode, getCss3dManager, getReplayState, initReplayScene, toggleCameraMode, updateOrbitTarget };

package/dist/ar/replay-scene.js

@@ -1,5 +1,5 @@
 import { createLogger } from "../utils/logger.js";
-import { A as setArWorldGroup, L as setScene, j as setCamera, k as setArPose, s as createSceneHierarchy } from "../webxr-session-BCP2XK7k.js";
+import { A as setArWorldGroup, L as setScene, j as setCamera, k as setArPose, s as createSceneHierarchy } from "../webxr-session-DWKUsCN9.js";
 import { createCss3dRendererManager } from "../visualization/css3d-renderer-manager.js";
 import { createCameraFollower } from "../visualization/camera-follower.js";
 import { createAlignmentLerper } from "../visualization/alignment-lerper.js";

package/dist/ar/scene-node-names.d.ts

@@ -1,2 +1,2 @@
-import { t as SCENE_NODE } from "../scene-node-names-CGb-ylBd.js";
+import { t as SCENE_NODE } from "../scene-node-names-DWzhE7Ro.js";
 export { SCENE_NODE };

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

@@ -1,2 +1,2 @@
-import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-CaCnYxuq.js";
+import { t as WEBXR_TO_NUE } from "../webxr-nue-basis-C3vTqkE2.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-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";
+import { i as DepthSample, t as ARPose } from "../ar-types-CBafnxhE.js";
+import { n as CapturedImage } from "../image-capture-Cr_rljeV.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-CGFZ429B.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 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";
+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-DWKUsCN9.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-q0eIDSRg.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-C6Z4d7RR.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-uVGDu9IX.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-D9y5r8ok.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-DX3JPpAU.js";
+import { a as runXrFrameUpdates, i as registerXrFrameUpdate, n as XrFrameUpdate, r as clearXrFrameUpdates, t as XrFrameContext } from "../xr-frame-loop-25gM4B0K.js";
 export { XrFrameContext, XrFrameUpdate, clearXrFrameUpdates, registerXrFrameUpdate, runXrFrameUpdates };

package/dist/{ar-BqCudtqE.js → ar-D-03Kso-.js}

@@ -1,25 +1,25 @@
 import "./ar/camera-blit-capture.js";
 import "./ar/chromium-camera-access-workaround.js";
 import "./ar/capture-failure-tracker.js";
-import "./ar/depth-sampler.js";
 import "./ar/depth-unprojection.js";
-import "./qr-size-measurer-DLb33geH.js";
+import "./qr-size-measurer-BVOIg-He.js";
 import "./ar/qr-size-depth-context.js";
 import { buildObjectPoints, transformPoint } from "./ar/qr-pose.js";
 import "./ar/qr-derived-pose.js";
 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-BCP2XK7k.js";
+import { n as createDetectionScheduler } from "./qr-detection-controller-bRTJXC6G.js";
+import "./qr-pose-aggregation-H-O_Jjz9.js";
+import "./webxr-session-DWKUsCN9.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-DVcuqMtX.js";
+import "./image-capture-BUqqsOi3.js";
 import "./ar/xr-camera-texture.js";
 import "./ar/enable-gps-ar.js";
 import "./ar/replay-scene.js";
+import { calcGpsCoords } from "gps-plus-slam-js";
 //#region ../src/ar/qr-level.ts
 /** Thrown when a fetched level file fails validation. */
 var QrLevelValidationError = class extends Error {
@@ -108,8 +108,6 @@ async function fetchQrLevel(url, options = {}) {
 }
 //#endregion
 //#region ../src/ar/qr-gps-vote.ts
-/** Mean meters per degree of latitude (WGS-84 average). */
-const METERS_PER_DEG_LAT = 111320;
 /**
 * `count` points evenly spaced on a circle of radius `baselineM` in the QR
 * plane (z = 0), starting at local +x. The symmetric ring's centroid is the QR
@@ -144,12 +142,18 @@ function localPlaneToEnu(localX, localY, headingDeg) {
 }
 /** Apply an ENU meter offset to a geo pose (equirectangular; exact enough for sub-meter QR corners). */
 function offsetGeo(center, enu) {
-	const dLat = enu.north / METERS_PER_DEG_LAT;
-	const metersPerDegLon = METERS_PER_DEG_LAT * Math.cos(center.lat * Math.PI / 180);
-	const dLon = Math.abs(metersPerDegLon) < 1e-9 ? 0 : enu.east / metersPerDegLon;
+	const nearPole = Math.abs(Math.cos(center.lat * Math.PI / 180)) < 1e-14;
+	const { lat, lon } = calcGpsCoords({
+		lat: center.lat,
+		lon: center.lon
+	}, [
+		enu.north,
+		enu.up,
+		nearPole ? 0 : enu.east
+	]);
 	return {
-		latitude: center.lat + dLat,
-		longitude: center.lon + dLon,
+		latitude: lat,
+		longitude: lon,
 		altitude: center.alt + enu.up
 	};
 }
@@ -380,4 +384,4 @@ function checkQrPlausibility(qrCenterWorld, cameraPosWorld, grid, options = {})
 	};
 }
 //#endregion
-export { localPlaneToEnu as a, fetchQrLevel as c, buildQrGpsVotes as i, parseQrLevel as l, createQrTrackingController as n, offsetGeo as o, METERS_PER_DEG_LAT as r, QrLevelValidationError as s, checkQrPlausibility as t };
+export { offsetGeo as a, parseQrLevel as c, localPlaneToEnu as i, createQrTrackingController as n, QrLevelValidationError as o, buildQrGpsVotes as r, fetchQrLevel as s, checkQrPlausibility as t };

package/dist/{ar-types-Cc5yvBwn.d.ts → ar-types-CBafnxhE.d.ts}

@@ -43,6 +43,21 @@ interface ARPose {
   readonly position: WebXRVec3;
   readonly orientation: WebXRQuaternion;
 }
+/**
+ * Extract the raw odometry position tuple from an {@link ARPose}.
+ *
+ * Returns the raw WebXR position without coordinate conversion — the reducer
+ * applies the WebXR→NUE transform when storing into state (raw-storage
+ * pattern, see docs/2026-04-09-raw-storage-convert-on-read.md).
+ * WebXR local-floor frame: X=East, Y=Up, Z=South (toward viewer / backward).
+ *
+ * Lives next to the type (quality-review G-8 — it used to sit in
+ * `state/gps-event-coordinator.ts`, forcing an ar→state import in
+ * `ar/depth-sampler.ts`).
+ */
+declare function extractOdomPosition(arPose: ARPose): Vector3;
+/** Extract the raw odometry rotation tuple from an {@link ARPose}. */
+declare function extractOdomRotation(arPose: ARPose): Quaternion;
 /**
  * An sRGB color triple, 0–255 integers per channel. Kept as plain ints so
  * persisted JSON stays compact (~3 bytes/point in practice).
@@ -102,4 +117,4 @@ interface DepthSample {
   readonly projectionMatrix?: Matrix4;
 }
 //#endregion
-export { RgbTuple as a, DepthSample as i, ArPoseTuples as n, WebXRQuaternion as o, DepthPoint as r, WebXRVec3 as s, ARPose as t };
+export { RgbTuple as a, extractOdomPosition as c, DepthSample as i, extractOdomRotation as l, ArPoseTuples as n, WebXRQuaternion as o, DepthPoint as r, WebXRVec3 as s, ARPose as t };

package/dist/{ar-world-group-alignment-Cfg0trC3.d.ts → ar-world-group-alignment-B6XiA1cT.d.ts}

@@ -1,4 +1,4 @@
-import { t as SubscribableStore } from "./subscribe-to-selector-dQV8SpsO.js";
+import { t as SubscribableStore } from "./subscribe-to-selector-Cgo9JTfS.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/ar-world-group-alignment.d.ts

package/dist/core/index.d.ts

@@ -1,2 +1,2 @@
-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";
+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-CjxbDm8W.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/{create-slam-app-store-D1QSMuKu.d.ts → create-slam-app-store-CH31erpP.d.ts}

@@ -1,7 +1,7 @@
-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 { a as TrackingSliceState } from "./tracking-slice-Bt2OEQhA.js";
+import { t as RecordingState } from "./recording-slice-DziOl7P5.js";
+import { n as SessionMetadata } from "./opfs-storage-S_odkCk1.js";
+import { n as StorageBackend } from "./storage-backend-BX7egQKi.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";

package/dist/{create-slam-app-store-DXiAnJwR.js → create-slam-app-store-DLv5ZwqU.js}

@@ -132,8 +132,8 @@ function createSlamAppStore(options) {
 	const store = configureStore({
 		reducer,
 		middleware: (getDefaultMiddleware) => getDefaultMiddleware({
-			serializableCheck: enableDevChecks,
-			immutableCheck: enableDevChecks
+			serializableCheck: enableDevChecks ? { ignoredActions: ["tracking/poseReceived"] } : false,
+			immutableCheck: enableDevChecks ? { ignoredPaths: ["tracking"] } : false
 		}).prepend(...prependedListeners).concat(createPersistenceMiddleware({
 			storageBackend,
 			onWriteFailure,

package/dist/{depth-grid-lookup-D5atpNZ3.d.ts → depth-grid-lookup-DY6zYTLx.d.ts}

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

package/dist/{depth-sampler-CwObAwEA.d.ts → depth-sampler-txG8evgQ.d.ts}

@@ -1,4 +1,4 @@
-import { a as RgbTuple, i as DepthSample, t as ARPose } from "./ar-types-Cc5yvBwn.js";
+import { a as RgbTuple, i as DepthSample, t as ARPose } from "./ar-types-CBafnxhE.js";
 import { Matrix4 } from "gps-plus-slam-js";
 
 //#region ../src/ar/depth-rgb-lookup.d.ts
@@ -169,12 +169,22 @@ declare class DepthSampler {
    */
   updateConfig(config: Partial<DepthSamplerConfig>): void;
   /**
-   * Called each frame with depth information.
+   * Called each frame with a LAZY depth provider (quality-review E-4: the
+   * caller used to acquire + wrap the depth info every frame while this
+   * method threw ~59 of 60 acquisitions away at the interval check — the
+   * provider is now invoked only when a sample is due).
+   *
+   * Unavailability detection is preserved by construction:
+   * `lastSampleTime` only advances when a sample is EMITTED, so while depth
+   * is unavailable the sampler stays "due" and probes the provider every
+   * frame — exactly the cadence the old per-frame acquisition gave
+   * `checkDepthUnavailability` (Field Test Readiness Issue #8).
    *
    * @param timestamp - Current frame timestamp in milliseconds
-   * @param depthInfo - WebXR depth information, or null if unavailable
+   * @param acquireDepthInfo - Returns the frame's depth info, or null if
+   *   unavailable. Only invoked when a sample is due.
    */
-  onFrame(timestamp: number, depthInfo: DepthInfo | null): void;
+  onFrame(timestamp: number, acquireDepthInfo: () => DepthInfo | null): void;
   /**
    * Acquire the per-sample RGB lookup, gated by `config.rgb` and guarded so
    * a failing acquisition (e.g. GL context loss during the blit) can never

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

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

package/dist/device-orientation-cache-BjEaEAmh.js

@@ -0,0 +1,20 @@
+//#region ../src/sensors/device-orientation-cache.ts
+let lastDeviceOrientation = null;
+/**
+* Update the cached device orientation.
+* Called by the host's orientation watch; read when a GPS event arrives and
+* by the XR frame loop's orientation snapshot.
+*/
+function updateDeviceOrientation(orientation) {
+	lastDeviceOrientation = orientation;
+}
+/** Get the current cached device orientation (null before the first reading). */
+function getLastDeviceOrientation() {
+	return lastDeviceOrientation;
+}
+/** Clear the cache (testing / session reset). */
+function resetDeviceOrientationCache() {
+	lastDeviceOrientation = null;
+}
+//#endregion
+export { resetDeviceOrientationCache as n, updateDeviceOrientation as r, getLastDeviceOrientation as t };

package/dist/{enable-gps-ar-BBtRO2FJ.d.ts → enable-gps-ar-BbNWyqp5.d.ts}

@@ -1,7 +1,7 @@
-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";
+import { t as ArCrashIsolationOptions } from "./recording-options-Cai9D14V.js";
+import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CX5b9g3s.js";
+import { n as PermissionStatus } from "./permission-checker-D1C5zvo-.js";
+import { s as SessionFeatureOptions } from "./webxr-session-CGFZ429B.js";
 
 //#region ../src/ar/enable-gps-ar.d.ts
 /**

package/dist/{frame-conversions-DDcNHkTb.d.ts → frame-conversions-CH7E2Iv_.d.ts}

@@ -1,4 +1,4 @@
-import { i as LatLongAlt, r as LatLong } from "./index-DXPVzOpP.js";
+import { i as LatLongAlt, r as LatLong } from "./index-CjxbDm8W.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/frame-conversions.d.ts

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

@@ -1,4 +1,4 @@
-import { t as GpsCoord } from "./geo-types-DrGVu8nS.js";
+import { t as GpsCoord } from "./geo-types-BfDK8kJu.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-D0GTHQmr.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-pFluGfwL.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-D0GTHQmr.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-pFluGfwL.js";
 export { H3_RESOLUTION, type KnownGeoAnchor, approxDistanceMetres, clusterCellsByZoom, findNearbyGeoAnchor, gpsPathToCoverageCells, gpsToH3, h3CellsMatch, isH3Index };

package/dist/{gps-CDKDQokE.d.ts → gps-CX5b9g3s.d.ts}

@@ -47,7 +47,14 @@ declare function startOrientationWatch(onOrientation: OrientationCallback): void
  */
 declare function stopOrientationWatch(): void;
 /**
- * Request permission for device orientation (required on iOS 13+)
+ * Request permission for device orientation (required on iOS 13+).
+ *
+ * Boolean-contract wrapper around the permission-checker's
+ * `requestOrientationPermission` superset (quality-review A-4 — the two
+ * public implementations had already drifted once; this one lacked the
+ * missing-API guard and threw a ReferenceError where `DeviceOrientationEvent`
+ * does not exist). `true` only for an explicit grant (or the non-iOS
+ * no-permission-needed case); denied, failed, or unsupported → `false`.
  */
 declare function requestOrientationPermission(): Promise<boolean>;
 //#endregion

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

@@ -1,4 +1,4 @@
-import { i as LatLongAlt, r as LatLong } from "./index-DXPVzOpP.js";
+import { i as LatLongAlt, r as LatLong } from "./index-CjxbDm8W.js";
 import * as THREE from "three";
 
 //#region ../src/visualization/gps-anchor.d.ts
@@ -19,8 +19,19 @@ interface GpsAnchorOptions {
   readonly skipBootstrap?: boolean;
   readonly getAlignmentMatrix: () => readonly number[] | null;
   readonly getGpsZeroRef: () => LatLong | null;
-  /** Returns the current GPS reading at "now", or null when no fix yet. */
-  readonly getCurrentGpsPoint: () => GpsAnchorSamplePoint | null;
+  /**
+   * Returns the current bootstrap sample, or null to skip this tick.
+   *
+   * OPTIONAL since quality-review G-6: when omitted, the anchor samples the
+   * OBJECT's own world pose converted to GPS via `worldNueToGps` (the
+   * "object-pose" source) — pinning the anchor to the placed point, not the
+   * device. This was previously hand-built (scratch vector + zero/alignment
+   * guards) in every consumer and was the subtlest piece of anchor wiring:
+   * re-deriving it incorrectly anchored silently wrong. Provide a custom
+   * reader only when the samples should come from somewhere else (e.g. the
+   * phone's GPS fix).
+   */
+  readonly getCurrentGpsPoint?: () => GpsAnchorSamplePoint | null;
   /**
    * Optional callback invoked whenever the bootstrap median is committed (the
    * anchor's GPS reference is (re)assigned). Receives the exact committed point
@@ -36,7 +47,6 @@ interface GpsAnchorOptions {
   readonly floorY?: () => number | null;
   readonly distanceThreshold?: number;
   readonly angleThresholdInDegrees?: number;
-  readonly targetPosRefreshRateInSec?: number;
   /** Number of 1 Hz samples collected during bootstrap. Default 7. */
   readonly secondsToAccumulateGpsPose?: number;
   /** Wait window (seconds) at phase entry during which no samples are taken. Default 0. */

package/dist/{gps-ar-pose-sampler-DEGNk2CI.d.ts → gps-ar-pose-sampler-BOOV0jJk.d.ts}

@@ -1,4 +1,4 @@
-import { t as ARPose } from "./ar-types-Cc5yvBwn.js";
+import { t as ARPose } from "./ar-types-CBafnxhE.js";
 import { Quaternion, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/state/gps-ar-pose-sampler.d.ts

package/dist/{gps-event-coordinator-BWpgBrHq.d.ts → gps-event-coordinator-03rVh_us.d.ts}

@@ -1,10 +1,20 @@
-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 { t as ARPose } from "./ar-types-CBafnxhE.js";
+import { n as RawDeviceOrientation, t as GpsPosition } from "./gps-CX5b9g3s.js";
+import { t as AbsoluteOrientationReading } from "./absolute-orientation-C_IxDR_j.js";
+import { i as SlamAppStore } from "./create-slam-app-store-CH31erpP.js";
+import { RawAbsoluteOrientation, RawGpsPoint, RecordGpsEventPayload, eulerToQuaternion } from "gps-plus-slam-js";
 import { ReducersMapObject } from "@reduxjs/toolkit";
 
+//#region ../src/sensors/device-orientation-cache.d.ts
+/**
+ * Update the cached device orientation.
+ * Called by the host's orientation watch; read when a GPS event arrives and
+ * by the XR frame loop's orientation snapshot.
+ */
+declare function updateDeviceOrientation(orientation: RawDeviceOrientation): void;
+/** Get the current cached device orientation (null before the first reading). */
+declare function getLastDeviceOrientation(): RawDeviceOrientation | null;
+//#endregion
 //#region ../src/state/gps-event-coordinator.d.ts
 /**
  * Configuration for the recording coordinator
@@ -15,33 +25,10 @@ interface RecordingCoordinatorConfig {
   /** Function to get current AR pose (from WebXR module) */
   getArPose: () => ARPose | null;
 }
-/**
- * Update the cached device orientation.
- * Called by orientation watch, used when GPS event arrives.
- */
-declare function updateDeviceOrientation(orientation: RawDeviceOrientation): void;
-/**
- * Get the current cached device orientation.
- */
-declare function getLastDeviceOrientation(): RawDeviceOrientation | null;
 /**
  * Clear cached state (for testing or session reset)
  */
 declare function resetCoordinatorState(): void;
-/**
- * Extract raw odometry position tuple from ARPose.
- *
- * Returns the raw WebXR position without coordinate conversion.
- * The reducer applies the WebXR→NUE transform when storing into state
- * (raw-storage pattern, see docs/2026-04-09-raw-storage-convert-on-read.md).
- *
- * WebXR local-floor frame: X=East, Y=Up, Z=South (toward viewer / backward).
- */
-declare function extractOdomPosition(arPose: ARPose): Vector3;
-/**
- * Extract odometry rotation tuple from ARPose.
- */
-declare function extractOdomRotation(arPose: ARPose): Quaternion;
 /**
  * Build a RawGpsPoint from GPS position data.
  * Returns only raw sensor fields — no derived fields (coordinates, weight,
@@ -89,4 +76,4 @@ declare function buildRecordGpsEventPayload(gpsPosition: GpsPosition, arPose: AR
  */
 declare function createGpsPositionHandler(config: RecordingCoordinatorConfig): (position: GpsPosition) => void;
 //#endregion
-export { eulerToQuaternion as a, getLastDeviceOrientation as c, updateDeviceOrientation as d, createGpsPositionHandler as i, resetCoordinatorState as l, buildRawGpsPoint as n, extractOdomPosition as o, buildRecordGpsEventPayload as r, extractOdomRotation as s, RecordingCoordinatorConfig as t, toRawAbsoluteOrientation as u };
+export { eulerToQuaternion as a, getLastDeviceOrientation as c, createGpsPositionHandler as i, updateDeviceOrientation as l, buildRawGpsPoint as n, resetCoordinatorState as o, buildRecordGpsEventPayload as r, toRawAbsoluteOrientation as s, RecordingCoordinatorConfig as t };

package/dist/{image-capture-DVcuqMtX.js → image-capture-BUqqsOi3.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-_NdTSwKi.js";
+import { t as geodesicAngleRad } from "./geodesic-angle-HXBWiXiI.js";
+import { n as MotionWindow, r as decideCapture, t as DEFAULT_MOTION_FILTER } from "./capture-motion-gate-D1eyGC_o.js";
 import { DEFAULT_QUALITY_FILTER } from "./ar/image-quality.js";
 import { quat } from "gl-matrix";
 //#region ../src/ar/pose-motion.ts
@@ -21,14 +21,16 @@ import { quat } from "gl-matrix";
 * Angular velocity reuses the shared `geodesicAngleRad` kernel rather than a
 * fresh `acos` (CLAUDE.md: search first, prefer refactor over re-implementation).
 */
+const _scratchQuatPrev = quat.create();
+const _scratchQuatCur = quat.create();
 /**
-* Convert a WebXR object-form quaternion to a normalized gl-matrix quaternion.
-* Normalizing defends against slightly non-unit inputs (the gate must not throw
-* on imperfect tracking data).
+* Write a WebXR object-form quaternion into `out`, normalized. Normalizing
+* defends against slightly non-unit inputs (the gate must not throw on
+* imperfect tracking data).
 */
-function toGlQuat(q) {
-	const g = quat.fromValues(q.x, q.y, q.z, q.w);
-	return quat.normalize(g, g);
+function toGlQuat(q, out) {
+	quat.set(out, q.x, q.y, q.z, q.w);
+	return quat.normalize(out, out);
 }
 /**
 * Angular velocity in radians/second between two orientations.
@@ -43,7 +45,7 @@ function toGlQuat(q) {
 */
 function angularVelocity(qPrev, qCur, dtSeconds) {
 	if (!(dtSeconds > 0)) return 0;
-	return geodesicAngleRad(toGlQuat(qPrev), toGlQuat(qCur)) / dtSeconds;
+	return geodesicAngleRad(toGlQuat(qPrev, _scratchQuatPrev), toGlQuat(qCur, _scratchQuatCur)) / dtSeconds;
 }
 /**
 * Linear velocity in metres/second between two positions.

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

@@ -1,6 +1,6 @@
-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";
+import { o as WebXRQuaternion, s as WebXRVec3, t as ARPose } from "./ar-types-CBafnxhE.js";
+import { t as MotionFilterConfig } from "./capture-motion-gate-BmjiWUJv.js";
+import { a as QualityFilterConfig } from "./image-quality-BjBLoTec.js";
 
 //#region ../src/ar/image-capture.d.ts
 /**

package/dist/{index-cCQWuYqy.d.ts → index-C2Bo0buN.d.ts}

@@ -1,11 +1,9 @@
-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 { t as GridCell } from "./bresenham3d-D-t9i_b5.js";
+import { a as QrPoseSolution, i as Pose, r as Point2, t as CameraIntrinsics } from "./qr-pose-CCTF1PP0.js";
+import { a as QrFrontEnd, o as RgbaImage } from "./qr-frontend-61SKPSyU.js";
 import { Quaternion, RecordGpsEventPayload, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/qr-gps-vote.d.ts
-/** Mean meters per degree of latitude (WGS-84 average). */
-declare const METERS_PER_DEG_LAT = 111320;
 /** Absolute geo pose of the printed QR, from the level file. */
 interface QrGeoPose {
   lat: number;
@@ -396,4 +394,4 @@ interface QrPlausibilityOptions {
  */
 declare function checkQrPlausibility(qrCenterWorld: Vector3, cameraPosWorld: Vector3, grid: OccupancySurface, options?: QrPlausibilityOptions): QrPlausibility;
 //#endregion
-export { QrGpsVoteInput as A, QrLevel as C, Enu as D, parseQrLevel as E, localPlaneToEnu as M, offsetGeo as N, METERS_PER_DEG_LAT as O, FetchQrLevelOptions as S, fetchQrLevel as T, QrTrackingController as _, checkQrPlausibility as a, createQrTrackingController as b, QrDetectionScheduler as c, createQrDetectionScheduler as d, CameraFrameSource as f, QrSolvePoseInput as g, QrDetectionEvent as h, QrPlausibilityVerdict as i, buildQrGpsVotes as j, QrGeoPose as k, QrDetectionSchedulerConfig as l, CameraFrameSourceConfig as m, QrPlausibility as n, DetectionScheduler as o, CameraFrameSourceCallbacks as p, QrPlausibilityOptions as r, DetectionSchedulerConfig as s, OccupancySurface as t, createDetectionScheduler as u, QrTrackingControllerConfig as v, QrLevelValidationError as w, FetchLike as x, QrTrackingStatus as y };
+export { buildQrGpsVotes as A, QrLevel as C, Enu as D, parseQrLevel as E, offsetGeo as M, QrGeoPose as O, FetchQrLevelOptions as S, fetchQrLevel as T, QrTrackingController as _, checkQrPlausibility as a, createQrTrackingController as b, QrDetectionScheduler as c, createQrDetectionScheduler as d, CameraFrameSource as f, QrSolvePoseInput as g, QrDetectionEvent as h, QrPlausibilityVerdict as i, localPlaneToEnu as j, QrGpsVoteInput as k, QrDetectionSchedulerConfig as l, CameraFrameSourceConfig as m, QrPlausibility as n, DetectionScheduler as o, CameraFrameSourceCallbacks as p, QrPlausibilityOptions as r, DetectionSchedulerConfig as s, OccupancySurface as t, createDetectionScheduler as u, QrTrackingControllerConfig as v, QrLevelValidationError as w, FetchLike as x, QrTrackingStatus as y };

package/dist/{index-B6iBnO_K.d.ts → index-CuHaGY0F.d.ts}

@@ -1,4 +1,4 @@
-import { N as CombinedRootState, m as TrackingQualityReport } from "./create-slam-app-store-D1QSMuKu.js";
+import { N as CombinedRootState, m as TrackingQualityReport } from "./create-slam-app-store-CH31erpP.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