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

package/dist/{qr-pose-aggregation-DBiaLW0O.js → qr-pose-aggregation-H-O_Jjz9.js}

@@ -1,4 +1,5 @@
-import { t as geodesicAngleRad } from "./geodesic-angle-BTldfFgs.js";
+import { n as lowerMedian } from "./median-Bla_W50f.js";
+import { t as geodesicAngleRad } from "./geodesic-angle-HXBWiXiI.js";
 import { quat } from "gl-matrix";
 //#region ../src/ar/qr-pose-aggregation.ts
 /**
@@ -118,17 +119,11 @@ function averageRotation(quats, options = {}) {
 		maxAngleDeg: refined.maxAngleRad * RAD2DEG
 	};
 }
-/** Per-axis median of a numeric list (lower-middle for even n, matching
-* `medianQrPosition` in the slice so the two agree on the same data). */
-function medianOf(values) {
-	const sorted = [...values].sort((a, b) => a - b);
-	return sorted[Math.floor((sorted.length - 1) / 2)];
-}
 function medianPosition(positions) {
 	return [
-		medianOf(positions.map((p) => p[0])),
-		medianOf(positions.map((p) => p[1])),
-		medianOf(positions.map((p) => p[2]))
+		lowerMedian(positions.map((p) => p[0])),
+		lowerMedian(positions.map((p) => p[1])),
+		lowerMedian(positions.map((p) => p[2]))
 	];
 }
 /** Max absolute per-axis deviation from `center` across all positions. */

package/dist/{qr-size-depth-context-apAOmbrZ.d.ts → qr-size-depth-context-DJsYqbqY.d.ts}

@@ -1,5 +1,5 @@
-import { i as DepthSample } from "./ar-types-Cc5yvBwn.js";
-import { n as QrSizeDepthContext } from "./qr-size-measurer-DxiMqRUw.js";
+import { i as DepthSample } from "./ar-types-CBafnxhE.js";
+import { n as QrSizeDepthContext } from "./qr-size-measurer-Bl_i-umk.js";
 
 //#region ../src/ar/qr-size-depth-context.d.ts
 /**

package/dist/{qr-size-measurer-DLb33geH.js → qr-size-measurer-BVOIg-He.js}

@@ -1,3 +1,4 @@
+import { t as interpolatingMedian } from "./median-Bla_W50f.js";
 import { vec3 } from "gl-matrix";
 //#region ../src/ar/qr-size-from-depth.ts
 /**
@@ -40,13 +41,6 @@ const PLANE_INLIER_FLOOR_M = .005;
 function dist(a, b) {
 	return Math.hypot(a[0] - b[0], a[1] - b[1], a[2] - b[2]);
 }
-/** Median of a numeric list (mean of the middle two for even n). */
-function median(values) {
-	const sorted = [...values].sort((a, b) => a - b);
-	const n = sorted.length;
-	const mid = n >> 1;
-	return n % 2 === 1 ? sorted[mid] : (sorted[mid - 1] + sorted[mid]) / 2;
-}
 /**
 * Estimate a QR's physical side length from one detection's depth samples.
 *
@@ -109,7 +103,7 @@ function estimateQrSizeFromDepth(corners, interiorSamples, unprojector) {
 	const planeErr = maxPlaneOffset / meanEdge;
 	const quality = Math.max(0, Math.min(1, 1 - Math.max(edgeErr, diagErr, planeErr)));
 	return {
-		sizeM: median(edges),
+		sizeM: interpolatingMedian(edges),
 		quality
 	};
 }
@@ -250,7 +244,7 @@ function fitPlaneRobust(points) {
 		nx /= len;
 		ny /= len;
 		nz /= len;
-		const medSq = median(points.map((p) => {
+		const medSq = interpolatingMedian(points.map((p) => {
 			const d = nx * (p[0] - a[0]) + ny * (p[1] - a[1]) + nz * (p[2] - a[2]);
 			return d * d;
 		}));
@@ -353,7 +347,7 @@ function estimateQrSizeFromDepthDense(cornerScreens, samples, unprojector) {
 	const planeErr = plane.rms / meanEdge;
 	const quality = Math.max(0, Math.min(1, 1 - Math.max(edgeErr, diagErr, planeErr)));
 	return {
-		sizeM: median(edges),
+		sizeM: interpolatingMedian(edges),
 		quality
 	};
 }
@@ -369,8 +363,8 @@ function createQrSizeAccumulator(options = {}) {
 	let everConverged = false;
 	function estimate() {
 		if (sizes.length === 0) return { ...UNKNOWN };
-		const med = median(sizes);
-		const spreadM = 1.4826 * median(sizes.map((s) => Math.abs(s - med))) / Math.sqrt(sizes.length);
+		const med = interpolatingMedian(sizes);
+		const spreadM = 1.4826 * interpolatingMedian(sizes.map((s) => Math.abs(s - med))) / Math.sqrt(sizes.length);
 		if (sizes.length >= minSamples && spreadM <= maxSpreadM) everConverged = true;
 		return {
 			status: everConverged ? "estimated" : "measuring",

package/dist/{qr-size-measurer-DxiMqRUw.d.ts → qr-size-measurer-Bl_i-umk.d.ts}

@@ -1,6 +1,6 @@
-import { r as DepthPoint } from "./ar-types-Cc5yvBwn.js";
-import { t as DepthUnprojector } from "./depth-unprojection-DRdBU90S.js";
-import { r as Point2 } from "./qr-pose-y3vaEd6x.js";
+import { r as DepthPoint } from "./ar-types-CBafnxhE.js";
+import { t as DepthUnprojector } from "./depth-unprojection-JKkeqJrV.js";
+import { r as Point2 } from "./qr-pose-CCTF1PP0.js";
 import { Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/qr-size-from-depth.d.ts

package/dist/{recording-options-DYKWVI93.d.ts → recording-options-Cai9D14V.d.ts}

@@ -1,5 +1,5 @@
-import { t as MotionFilterConfig } from "./capture-motion-gate-BGoAMkmf.js";
-import { a as QualityFilterConfig } from "./image-quality-BMx2ko9-.js";
+import { t as MotionFilterConfig } from "./capture-motion-gate-BmjiWUJv.js";
+import { a as QualityFilterConfig } from "./image-quality-BjBLoTec.js";
 
 //#region ../src/state/recording-options.d.ts
 /**
@@ -440,12 +440,23 @@ declare const DEPTH_CONSTRAINTS: {
     readonly step: 1;
   };
 };
-/** Validation constraints for image options */
+/**
+ * Validation constraints for image options.
+ *
+ * `intervalMs` min/step lowered 1000/500 → 250/250 (2026-07-10) so
+ * splat-style object scans can capture up to 4 Hz — at the old 1 Hz floor a
+ * slow orbit yields ~1 frame/m, too sparse for Gaussian-splat reconstruction
+ * (50–150+ frames/object). An interval faster than the readback+encode path
+ * cannot overlap captures: `captureInProgress` serialises them and the
+ * interval is measured from the actual capture time, so the pipeline
+ * self-limits. See
+ * GpsPlusSlamJs_Docs/docs/2026-07-10-splat-orbit-capture-rate-finding.md.
+ */
 declare const IMAGE_CONSTRAINTS: {
   readonly intervalMs: {
-    readonly min: 1000;
+    readonly min: 250;
     readonly max: 10000;
-    readonly step: 500;
+    readonly step: 250;
   };
   readonly quality: {
     readonly min: 0.3;
@@ -589,10 +600,6 @@ declare const QR_CONSTRAINTS: {
     readonly step: 128;
   };
 };
-/**
- * Validate and normalize AR crash isolation flags.
- * Missing or invalid values fall back to defaults.
- */
 declare function validateArCrashIsolationOptions(options: Partial<ArCrashIsolationOptions>): ArCrashIsolationOptions;
 /**
  * Validate and normalize the compass alignment debug toggles. Boolean-or-default

package/dist/{recording-replayer-BJ8Lf0QY.d.ts → recording-replayer-DyIN13nG.d.ts}

@@ -1,5 +1,5 @@
-import { N as CombinedRootState } from "./create-slam-app-store-D1QSMuKu.js";
-import { i as RecordedAction } from "./zip-reader-BzENzMH6.js";
+import { N as CombinedRootState } from "./create-slam-app-store-CH31erpP.js";
+import { i as RecordedAction } from "./zip-reader-BHc_b_iA.js";
 
 //#region ../src/state/recording-replayer.d.ts
 /**

package/dist/{recording-slice-BW8SiLo1.d.ts → recording-slice-DziOl7P5.d.ts}

@@ -1,5 +1,5 @@
-import { i as DepthSample } from "./ar-types-Cc5yvBwn.js";
-import { y as RecordingOptions } from "./recording-options-DYKWVI93.js";
+import { i as DepthSample } from "./ar-types-CBafnxhE.js";
+import { y as RecordingOptions } from "./recording-options-Cai9D14V.js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
 
 //#region ../src/state/recording-slice.d.ts

package/dist/{replay-engine-DmCAc7WM.d.ts → replay-engine-DAymjsd1.d.ts}

@@ -1,4 +1,4 @@
-import { i as SlamAppStore } from "./create-slam-app-store-D1QSMuKu.js";
+import { i as SlamAppStore } from "./create-slam-app-store-CH31erpP.js";
 import { ReducersMapObject } from "@reduxjs/toolkit";
 
 //#region ../src/state/replay-engine.d.ts

package/dist/{replay-scene-zJ8SFDjE.d.ts → replay-scene-CZdWgcpc.d.ts}

@@ -1,6 +1,6 @@
-import { t as Css3dRendererManager } from "./css3d-renderer-manager-CPpVtvgs.js";
-import { t as CameraFollower } from "./camera-follower-DfBm2J5i.js";
-import { t as AlignmentLerper } from "./alignment-lerper-gD70k7Fq.js";
+import { t as Css3dRendererManager } from "./css3d-renderer-manager-DbrSY7Mh.js";
+import { t as CameraFollower } from "./camera-follower-B6zA3dy9.js";
+import { t as AlignmentLerper } from "./alignment-lerper-B4COh_0p.js";
 import * as THREE from "three";
 import { OrbitControls } from "three/addons/controls/OrbitControls.js";
 

package/dist/sensors/absolute-orientation.d.ts

@@ -1,2 +1,2 @@
-import { a as startAbsoluteOrientationWatch, i as isAbsoluteOrientationAvailable, n as AbsoluteOrientationStatus, o as stopAbsoluteOrientationWatch, r as getLatestAbsoluteOrientation, t as AbsoluteOrientationReading } from "../absolute-orientation-BAxc15J6.js";
+import { a as startAbsoluteOrientationWatch, i as isAbsoluteOrientationAvailable, n as AbsoluteOrientationStatus, o as stopAbsoluteOrientationWatch, r as getLatestAbsoluteOrientation, t as AbsoluteOrientationReading } from "../absolute-orientation-C_IxDR_j.js";
 export { AbsoluteOrientationReading, AbsoluteOrientationStatus, getLatestAbsoluteOrientation, isAbsoluteOrientationAvailable, startAbsoluteOrientationWatch, stopAbsoluteOrientationWatch };

package/dist/sensors/gps-error-handler.d.ts

@@ -1,2 +1,2 @@
-import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-C34GQuTu.js";
+import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-DjVuLXve.js";
 export { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, createGpsErrorHandler, getGpsErrorMessage };

package/dist/sensors/gps.d.ts

@@ -1,2 +1,2 @@
-import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-CDKDQokE.js";
+import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-CX5b9g3s.js";
 export { GpsPosition, RawDeviceOrientation, requestOrientationPermission, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch };

package/dist/sensors/gps.js

@@ -1,4 +1,5 @@
 import { createLogger } from "../utils/logger.js";
+import { requestOrientationPermission as requestOrientationPermission$1 } from "./permission-checker.js";
 //#region ../src/sensors/gps.ts
 /**
 * GPS Module
@@ -78,16 +79,17 @@ function stopOrientationWatch() {
 	}
 }
 /**
-* 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`.
 */
 async function requestOrientationPermission() {
-	const DeviceOrientationEventWithPermission = DeviceOrientationEvent;
-	if (typeof DeviceOrientationEventWithPermission.requestPermission === "function") try {
-		return await DeviceOrientationEventWithPermission.requestPermission() === "granted";
-	} catch {
-		return false;
-	}
-	return true;
+	return (await requestOrientationPermission$1()).granted === true;
 }
 //#endregion
 export { requestOrientationPermission, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch };

package/dist/sensors/index.d.ts

@@ -1,5 +1,5 @@
-import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-CDKDQokE.js";
-import { a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission$1, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-B-VtjnBA.js";
-import { a as startAbsoluteOrientationWatch, i as isAbsoluteOrientationAvailable, n as AbsoluteOrientationStatus, o as stopAbsoluteOrientationWatch, r as getLatestAbsoluteOrientation, t as AbsoluteOrientationReading } from "../absolute-orientation-BAxc15J6.js";
-import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-C34GQuTu.js";
+import { a as startOrientationWatch, i as startGpsWatch, n as RawDeviceOrientation, o as stopGpsWatch, r as requestOrientationPermission, s as stopOrientationWatch, t as GpsPosition } from "../gps-CX5b9g3s.js";
+import { a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission$1, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-D1C5zvo-.js";
+import { a as startAbsoluteOrientationWatch, i as isAbsoluteOrientationAvailable, n as AbsoluteOrientationStatus, o as stopAbsoluteOrientationWatch, r as getLatestAbsoluteOrientation, t as AbsoluteOrientationReading } from "../absolute-orientation-C_IxDR_j.js";
+import { a as getGpsErrorMessage, i as createGpsErrorHandler, n as GPS_ERROR_MESSAGES, r as GPS_ERROR_MESSAGE_UNKNOWN, t as GPS_ERROR_CODES } from "../gps-error-handler-DjVuLXve.js";
 export { type AbsoluteOrientationReading, type AbsoluteOrientationStatus, GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, type GpsPosition, type PermissionCheckResult, type PermissionStatus, type RawDeviceOrientation, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, createGpsErrorHandler, getGpsErrorMessage, getLatestAbsoluteOrientation, isAbsoluteOrientationAvailable, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState, startAbsoluteOrientationWatch, startGpsWatch, startOrientationWatch, stopAbsoluteOrientationWatch, stopGpsWatch, stopOrientationWatch };

package/dist/sensors/index.js

@@ -1,5 +1,5 @@
-import { getLatestAbsoluteOrientation, isAbsoluteOrientationAvailable, startAbsoluteOrientationWatch, stopAbsoluteOrientationWatch } from "./absolute-orientation.js";
 import { checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, requestAllPermissions, requestCameraPermission, requestGeolocationPermission, requestOrientationPermission as requestOrientationPermission$1, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState } from "./permission-checker.js";
 import { requestOrientationPermission, startGpsWatch, startOrientationWatch, stopGpsWatch, stopOrientationWatch } from "./gps.js";
+import { getLatestAbsoluteOrientation, isAbsoluteOrientationAvailable, startAbsoluteOrientationWatch, stopAbsoluteOrientationWatch } from "./absolute-orientation.js";
 import { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, createGpsErrorHandler, getGpsErrorMessage } from "./gps-error-handler.js";
 export { GPS_ERROR_CODES, GPS_ERROR_MESSAGES, GPS_ERROR_MESSAGE_UNKNOWN, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, createGpsErrorHandler, getGpsErrorMessage, getLatestAbsoluteOrientation, isAbsoluteOrientationAvailable, requestAllPermissions, requestCameraPermission, requestOrientationPermission as requestDeviceOrientationPermission, requestGeolocationPermission, requestOrientationPermission$1 as requestOrientationPermission, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState, startAbsoluteOrientationWatch, startGpsWatch, startOrientationWatch, stopAbsoluteOrientationWatch, stopGpsWatch, stopOrientationWatch };

package/dist/sensors/permission-checker.d.ts

@@ -1,2 +1,2 @@
-import { _ as subscribePermissionChanges, a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission, r as PermissionSubscription, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-B-VtjnBA.js";
+import { _ as subscribePermissionChanges, a as checkCameraPermission, c as checkOrientationPermission, d as requestCameraPermission, f as requestGeolocationPermission, g as setFileSystemState, h as resetFileSystemState, i as checkAllPermissions, l as checkWebXRSupport, m as requestWebXRWithDepthPermission, n as PermissionStatus, o as checkFileSystemPermission, p as requestOrientationPermission, r as PermissionSubscription, s as checkGeolocationPermission, t as PermissionCheckResult, u as requestAllPermissions } from "../permission-checker-D1C5zvo-.js";
 export { PermissionCheckResult, PermissionStatus, PermissionSubscription, checkAllPermissions, checkCameraPermission, checkFileSystemPermission, checkGeolocationPermission, checkOrientationPermission, checkWebXRSupport, requestAllPermissions, requestCameraPermission, requestGeolocationPermission, requestOrientationPermission, requestWebXRWithDepthPermission, resetFileSystemState, setFileSystemState, subscribePermissionChanges };

package/dist/sensors/permission-checker.js

@@ -100,17 +100,19 @@ async function checkWebXRSupport() {
 	}
 }
 /**
-* Check geolocation permission status without triggering a prompt.
-* Uses the Permissions API if available, otherwise returns unknown state.
+* Shared Permissions-API status checker (quality-review C-2): probe-free
+* query with the standard supported/granted/denied/prompt mapping. The two
+* former copies (geolocation/camera) differed only in the API guard and the
+* user-facing strings.
 */
-async function checkGeolocationPermission() {
-	if (!navigator.geolocation) return {
+async function checkPermissionViaQuery(options) {
+	if (!options.apiAvailable) return {
 		supported: false,
 		granted: null,
-		error: "Geolocation API not available in this browser."
+		error: options.unsupportedError
 	};
 	if (navigator.permissions) try {
-		const result = await navigator.permissions.query({ name: "geolocation" });
+		const result = await navigator.permissions.query({ name: options.name });
 		if (result.state === "granted") return {
 			supported: true,
 			granted: true
@@ -118,7 +120,7 @@ async function checkGeolocationPermission() {
 		else if (result.state === "denied") return {
 			supported: true,
 			granted: false,
-			error: "Location access denied. Please enable in browser settings."
+			error: options.deniedError
 		};
 		return {
 			supported: true,
@@ -131,6 +133,18 @@ async function checkGeolocationPermission() {
 	};
 }
 /**
+* Check geolocation permission status without triggering a prompt.
+* Uses the Permissions API if available, otherwise returns unknown state.
+*/
+async function checkGeolocationPermission() {
+	return checkPermissionViaQuery({
+		name: "geolocation",
+		apiAvailable: !!navigator.geolocation,
+		unsupportedError: "Geolocation API not available in this browser.",
+		deniedError: "Location access denied. Please enable in browser settings."
+	});
+}
+/**
 * Request geolocation permission by triggering a position request.
 * This will show the browser's permission prompt if not already granted.
 *
@@ -179,31 +193,12 @@ async function requestGeolocationPermission(timeoutMs = 1e4) {
 * Uses the Permissions API if available.
 */
 async function checkCameraPermission() {
-	if (!navigator.mediaDevices || !navigator.mediaDevices.getUserMedia) return {
-		supported: false,
-		granted: null,
-		error: "Camera API not available. Use HTTPS and a modern browser."
-	};
-	if (navigator.permissions) try {
-		const result = await navigator.permissions.query({ name: "camera" });
-		if (result.state === "granted") return {
-			supported: true,
-			granted: true
-		};
-		else if (result.state === "denied") return {
-			supported: true,
-			granted: false,
-			error: "Camera access denied. Please enable in browser settings."
-		};
-		return {
-			supported: true,
-			granted: null
-		};
-	} catch {}
-	return {
-		supported: true,
-		granted: null
-	};
+	return checkPermissionViaQuery({
+		name: "camera",
+		apiAvailable: !!navigator.mediaDevices?.getUserMedia,
+		unsupportedError: "Camera API not available. Use HTTPS and a modern browser.",
+		deniedError: "Camera access denied. Please enable in browser settings."
+	});
 }
 /**
 * Request camera permission by triggering getUserMedia.
@@ -246,16 +241,33 @@ async function requestCameraPermission() {
 	}
 }
 /**
+* DeviceOrientationEvent availability + iOS 13+ permission-API probe
+* (quality-review C-2 — this preamble used to be duplicated between the
+* check and request paths). `available: false` ⇒ no orientation support at
+* all; `requestPermission: null` ⇒ orientation works without a permission.
+* The returned function is bound to `DeviceOrientationEvent` (it is a static
+* method — an unbound call would lose `this`).
+*/
+function getIosOrientationPermissionApi() {
+	if (typeof DeviceOrientationEvent === "undefined") return { available: false };
+	const withPermission = DeviceOrientationEvent;
+	return {
+		available: true,
+		requestPermission: typeof withPermission.requestPermission === "function" ? withPermission.requestPermission.bind(DeviceOrientationEvent) : null
+	};
+}
+/**
 * Check device orientation permission status.
 * On iOS 13+, this requires explicit permission request.
 */
 function checkOrientationPermission() {
-	if (typeof DeviceOrientationEvent === "undefined") return Promise.resolve({
+	const api = getIosOrientationPermissionApi();
+	if (!api.available) return Promise.resolve({
 		supported: false,
 		granted: null,
 		error: "Device orientation not supported."
 	});
-	if (typeof DeviceOrientationEvent.requestPermission === "function") return Promise.resolve({
+	if (api.requestPermission) return Promise.resolve({
 		supported: true,
 		granted: null
 	});
@@ -269,14 +281,14 @@ function checkOrientationPermission() {
 * On other platforms, this is a no-op that returns granted.
 */
 async function requestOrientationPermission() {
-	if (typeof DeviceOrientationEvent === "undefined") return {
+	const api = getIosOrientationPermissionApi();
+	if (!api.available) return {
 		supported: false,
 		granted: null,
 		error: "Device orientation not supported."
 	};
-	const DeviceOrientationEventWithPermission = DeviceOrientationEvent;
-	if (typeof DeviceOrientationEventWithPermission.requestPermission === "function") try {
-		if (await DeviceOrientationEventWithPermission.requestPermission() === "granted") {
+	if (api.requestPermission) try {
+		if (await api.requestPermission() === "granted") {
 			log.info("Orientation permission granted");
 			return {
 				supported: true,
@@ -317,10 +329,29 @@ async function checkAllPermissions() {
 		camera,
 		orientation,
 		fileSystem,
-		allMandatoryReady: webxr.supported && webxr.granted === true && geolocation.supported && geolocation.granted === true && camera.supported && camera.granted === true && fileSystem.supported && fileSystem.granted === true
+		allMandatoryReady: computeAllMandatoryReady({
+			webxr,
+			geolocation,
+			camera,
+			fileSystem
+		})
 	};
 }
 /**
+* The mandatory-set gate, written once (quality-review C-2 — the 8-clause
+* boolean used to be spelled out twice and could drift): WebXR, Geolocation,
+* Camera and FileSystem must all be supported AND granted. Orientation is
+* deliberately not part of the mandatory set.
+*/
+function computeAllMandatoryReady(result) {
+	return [
+		result.webxr,
+		result.geolocation,
+		result.camera,
+		result.fileSystem
+	].every((p) => p.supported && p.granted === true);
+}
+/**
 * Subscribe to out-of-band permission changes.
 *
 * Today the recorder app only re-runs `checkAllPermissions()` at startup
@@ -414,7 +445,7 @@ async function requestAllPermissions() {
 	if (result.orientation.supported && result.orientation.granted !== true) result.orientation = await requestOrientationPermission();
 	if (result.geolocation.supported && result.geolocation.granted !== true) result.geolocation = await requestGeolocationPermission();
 	result.fileSystem = checkFileSystemPermission();
-	result.allMandatoryReady = result.webxr.supported && result.webxr.granted === true && result.geolocation.supported && result.geolocation.granted === true && result.camera.supported && result.camera.granted === true && result.fileSystem.supported && result.fileSystem.granted === true;
+	result.allMandatoryReady = computeAllMandatoryReady(result);
 	return result;
 }
 /**

package/dist/state/app-selectors.d.ts

@@ -1,2 +1,2 @@
-import { a as selectOdometryRotations, i as selectOdometryPositions, n as selectFrameTilesInWebXR, o as selectZeroReference, r as selectGpsPositions, t as selectAlignmentMatrix } from "../app-selectors-BbAiCRUT.js";
+import { a as selectOdometryRotations, i as selectOdometryPositions, n as selectFrameTilesInWebXR, o as selectZeroReference, r as selectGpsPositions, t as selectAlignmentMatrix } from "../app-selectors-CV7ggGoo.js";
 export { selectAlignmentMatrix, selectFrameTilesInWebXR, selectGpsPositions, selectOdometryPositions, selectOdometryRotations, selectZeroReference };

package/dist/state/combined-root-state.d.ts

@@ -1,2 +1,2 @@
-import { N as CombinedRootState } from "../create-slam-app-store-D1QSMuKu.js";
+import { N as CombinedRootState } from "../create-slam-app-store-CH31erpP.js";
 export { CombinedRootState };

package/dist/state/create-slam-app-store.d.ts

@@ -1,2 +1,2 @@
-import { a as SlamAppStoreOptions, i as SlamAppStore, n as SlamAppMiddleware, o as createSlamAppStore, r as SlamAppRootState, t as SlamAppCombinedState } from "../create-slam-app-store-D1QSMuKu.js";
+import { a as SlamAppStoreOptions, i as SlamAppStore, n as SlamAppMiddleware, o as createSlamAppStore, r as SlamAppRootState, t as SlamAppCombinedState } from "../create-slam-app-store-CH31erpP.js";
 export { SlamAppCombinedState, SlamAppMiddleware, SlamAppRootState, SlamAppStore, SlamAppStoreOptions, createSlamAppStore };

package/dist/state/create-slam-app-store.js

@@ -1,2 +1,2 @@
-import { t as createSlamAppStore } from "../create-slam-app-store-DXiAnJwR.js";
+import { t as createSlamAppStore } from "../create-slam-app-store-DLv5ZwqU.js";
 export { createSlamAppStore };

package/dist/state/gps-ar-pose-sampler.d.ts

@@ -1,4 +1,3 @@
-import { t as ARPose } from "../ar-types-Cc5yvBwn.js";
-import { o as extractOdomPosition, s as extractOdomRotation } from "../gps-event-coordinator-BWpgBrHq.js";
-import { i as captureGpsAnchorSample, n as GpsAnchorSample, r as GpsAnchorSampleGpsPoint, t as CaptureGpsAnchorSampleOptions } from "../gps-ar-pose-sampler-DEGNk2CI.js";
+import { c as extractOdomPosition, l as extractOdomRotation, t as ARPose } from "../ar-types-CBafnxhE.js";
+import { i as captureGpsAnchorSample, n as GpsAnchorSample, r as GpsAnchorSampleGpsPoint, t as CaptureGpsAnchorSampleOptions } from "../gps-ar-pose-sampler-BOOV0jJk.js";
 export { ARPose, CaptureGpsAnchorSampleOptions, GpsAnchorSample, GpsAnchorSampleGpsPoint, captureGpsAnchorSample, extractOdomPosition, extractOdomRotation };

package/dist/state/gps-ar-pose-sampler.js

@@ -1,4 +1,4 @@
-import { extractOdomPosition, extractOdomRotation } from "./gps-event-coordinator.js";
+import { extractOdomPosition, extractOdomRotation } from "../types/ar-types.js";
 //#region ../src/state/gps-ar-pose-sampler.ts
 /**
 * Capture a GPS-AR pose snapshot. Extracts `odomPosition`/`odomRotation`

package/dist/state/gps-event-coordinator.d.ts

@@ -1,2 +1,3 @@
-import { a as eulerToQuaternion, c as getLastDeviceOrientation, d as updateDeviceOrientation, i as createGpsPositionHandler, l as resetCoordinatorState, n as buildRawGpsPoint, o as extractOdomPosition, r as buildRecordGpsEventPayload, s as extractOdomRotation, t as RecordingCoordinatorConfig, u as toRawAbsoluteOrientation } from "../gps-event-coordinator-BWpgBrHq.js";
+import { c as extractOdomPosition, l as extractOdomRotation } from "../ar-types-CBafnxhE.js";
+import { a as eulerToQuaternion, c as getLastDeviceOrientation, i as createGpsPositionHandler, l as updateDeviceOrientation, n as buildRawGpsPoint, o as resetCoordinatorState, r as buildRecordGpsEventPayload, s as toRawAbsoluteOrientation, t as RecordingCoordinatorConfig } from "../gps-event-coordinator-03rVh_us.js";
 export { RecordingCoordinatorConfig, buildRawGpsPoint, buildRecordGpsEventPayload, createGpsPositionHandler, eulerToQuaternion, extractOdomPosition, extractOdomRotation, getLastDeviceOrientation, resetCoordinatorState, toRawAbsoluteOrientation, updateDeviceOrientation };

package/dist/state/gps-event-coordinator.js

@@ -1,4 +1,6 @@
 import { createLogger } from "../utils/logger.js";
+import { extractOdomPosition, extractOdomRotation } from "../types/ar-types.js";
+import { n as resetDeviceOrientationCache, r as updateDeviceOrientation, t as getLastDeviceOrientation } from "../device-orientation-cache-BjEaEAmh.js";
 import { getLatestAbsoluteOrientation } from "../sensors/absolute-orientation.js";
 import { eulerToQuaternion, getOdometryPositions, getZeroReference, recordGpsEvent, setZeroPos } from "gps-plus-slam-js";
 //#region ../src/state/gps-event-coordinator.ts
@@ -6,57 +8,13 @@ const log = createLogger("RecordingCoordinator");
 /** Counter for generating unique GPS point IDs */
 let gpsEventCounter = 0;
 /**
-* State for device orientation (captured separately from GPS)
-*/
-let lastDeviceOrientation = null;
-/**
-* Update the cached device orientation.
-* Called by orientation watch, used when GPS event arrives.
-*/
-function updateDeviceOrientation(orientation) {
-	lastDeviceOrientation = orientation;
-}
-/**
-* Get the current cached device orientation.
-*/
-function getLastDeviceOrientation() {
-	return lastDeviceOrientation;
-}
-/**
 * Clear cached state (for testing or session reset)
 */
 function resetCoordinatorState() {
-	lastDeviceOrientation = null;
+	resetDeviceOrientationCache();
 	gpsEventCounter = 0;
 }
 /**
-* 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).
-*/
-function extractOdomPosition(arPose) {
-	return [
-		arPose.position.x,
-		arPose.position.y,
-		arPose.position.z
-	];
-}
-/**
-* Extract odometry rotation tuple from ARPose.
-*/
-function extractOdomRotation(arPose) {
-	return [
-		arPose.orientation.x,
-		arPose.orientation.y,
-		arPose.orientation.z,
-		arPose.orientation.w
-	];
-}
-/**
 * Build a RawGpsPoint from GPS position data.
 * Returns only raw sensor fields — no derived fields (coordinates, weight,
 * zeroRef). Derived fields are computed by the library reducer when the
@@ -149,7 +107,7 @@ function createGpsPositionHandler(config) {
 			log.error("Failed to get zero reference");
 			return;
 		}
-		const payload = buildRecordGpsEventPayload(position, arPose, lastDeviceOrientation, getLatestAbsoluteOrientation());
+		const payload = buildRecordGpsEventPayload(position, arPose, getLastDeviceOrientation(), getLatestAbsoluteOrientation());
 		store.dispatch(recordGpsEvent(payload));
 		const eventCount = getOdometryPositions(store.getState()).length;
 		log.info(`Recorded GPS event #${eventCount}`);