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

package/dist/state/index.d.ts

@@ -1,20 +1,20 @@
-import { i as DepthSample, r as DepthPoint } from "../ar-types-Cc5yvBwn.js";
-import { C as cloneRecordingOptions, E as saveRecordingOptions, L as validateRecordingOptions, T as resetRecordingOptions, a as DepthCaptureOptions, b as RecordingOptionsInput, c as IMAGE_CONSTRAINTS, i as DEPTH_CONSTRAINTS, j as validateImageOptions, k as validateDepthOptions, l as ImageCaptureOptions, r as DEFAULT_RECORDING_OPTIONS, w as loadRecordingOptions, x as STORAGE_KEY } from "../recording-options-DYKWVI93.js";
-import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-DMkHlbny.js";
-import { d as QrSizeStatus, l as QrSizeEstimate } from "../qr-size-measurer-DxiMqRUw.js";
-import { a as QrPoseStability, o as QrPoseStabilityOptions, s as QrPoseStabilityStatus } from "../qr-pose-aggregation-CypnmjA-.js";
-import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata$1, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-BW8SiLo1.js";
-import { C as setQrMaxHistory, S as selectStableQrPose, _ as selectQrPoseStability, a as RootWithQrDetected, b as selectResolvedQrSizeM, c as medianQrPosition, d as recordQrDetection, f as recordQrSizeEstimate, g as selectQrMarkers, h as selectQrMarker, i as QrMarkerState, l as pruneQrDetections, m as selectLatestQrDetection, n as QrDetectedState, o as clearAllQrMarkers, p as selectDerivedQrPlacement, r as QrDetectionEntry, s as clearQrMarker, t as DEFAULT_QR_MAX_HISTORY, u as qrDetectedReducer, v as selectQrRawObservations, x as selectSolvedQrPose, y as selectQrSize } from "../qr-detected-slice-TzVb8bij.js";
-import { n as SessionMetadata } from "../opfs-storage-CTkxvxN4.js";
-import { n as StorageBackend } from "../storage-backend-sEtmM4yW.js";
-import { A as snapshotPushed, C as createTrackingQualityListenerMiddleware, D as resetTrackingQuality, E as reportUpdated, M as trackingQualityReducer, O as selectRecentAlignments, S as computeTrackingQualityReport, T as matrixDelta, _ as computeConvergence, a as SlamAppStoreOptions, b as computeGpsVsFusedDivergence, g as TrackingQualityState, h as TrackingQualitySliceState, i as SlamAppStore, j as snapshotsTrimmed, k as selectTrackingQuality, m as TrackingQualityReport, n as SlamAppMiddleware, o as createSlamAppStore, p as TrackingQualityOptions, r as SlamAppRootState, s as AlignmentSnapshot, t as SlamAppCombinedState, u as DEFAULT_TRACKING_QUALITY_OPTIONS, v as computeCoverage, w as degradedCountUpdated, x as computeResidualConsensus, y as computeGpsAccuracy } from "../create-slam-app-store-D1QSMuKu.js";
-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 } 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 { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-BJ8Lf0QY.js";
-import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-CG-t08X4.js";
-import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-DmCAc7WM.js";
-import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-dQV8SpsO.js";
-import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-DJUErW-o.js";
-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 RawGpsPoint, c as calcRelativeCoordsInMeters, d as OnboardingGuidance, f as OnboardingPhase, i as RawDeviceOrientation, l as recordGpsEvent, m as selectOnboardingGuidance, n as GpsPoint, o as RecordGpsEventPayload, p as computeOnboardingGuidance, r as LatLong, s as add2dImage, t as Add2dImagePayload, u as setZeroPos } from "../index-B6iBnO_K.js";
+import { c as extractOdomPosition, i as DepthSample, l as extractOdomRotation, r as DepthPoint } from "../ar-types-CBafnxhE.js";
+import { C as cloneRecordingOptions, E as saveRecordingOptions, L as validateRecordingOptions, T as resetRecordingOptions, a as DepthCaptureOptions, b as RecordingOptionsInput, c as IMAGE_CONSTRAINTS, i as DEPTH_CONSTRAINTS, j as validateImageOptions, k as validateDepthOptions, l as ImageCaptureOptions, r as DEFAULT_RECORDING_OPTIONS, w as loadRecordingOptions, x as STORAGE_KEY } from "../recording-options-Cai9D14V.js";
+import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-Bt2OEQhA.js";
+import { d as QrSizeStatus, l as QrSizeEstimate } from "../qr-size-measurer-Bl_i-umk.js";
+import { a as QrPoseStability, o as QrPoseStabilityOptions, s as QrPoseStabilityStatus } from "../qr-pose-aggregation-BL6gfl0s.js";
+import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata$1, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-DziOl7P5.js";
+import { C as setQrMaxHistory, S as selectStableQrPose, _ as selectQrPoseStability, a as RootWithQrDetected, b as selectResolvedQrSizeM, c as medianQrPosition, d as recordQrDetection, f as recordQrSizeEstimate, g as selectQrMarkers, h as selectQrMarker, i as QrMarkerState, l as pruneQrDetections, m as selectLatestQrDetection, n as QrDetectedState, o as clearAllQrMarkers, p as selectDerivedQrPlacement, r as QrDetectionEntry, s as clearQrMarker, t as DEFAULT_QR_MAX_HISTORY, u as qrDetectedReducer, v as selectQrRawObservations, x as selectSolvedQrPose, y as selectQrSize } from "../qr-detected-slice-CPEkGbxh.js";
+import { n as SessionMetadata } from "../opfs-storage-S_odkCk1.js";
+import { n as StorageBackend } from "../storage-backend-BX7egQKi.js";
+import { A as snapshotPushed, C as createTrackingQualityListenerMiddleware, D as resetTrackingQuality, E as reportUpdated, M as trackingQualityReducer, O as selectRecentAlignments, S as computeTrackingQualityReport, T as matrixDelta, _ as computeConvergence, a as SlamAppStoreOptions, b as computeGpsVsFusedDivergence, g as TrackingQualityState, h as TrackingQualitySliceState, i as SlamAppStore, j as snapshotsTrimmed, k as selectTrackingQuality, m as TrackingQualityReport, n as SlamAppMiddleware, o as createSlamAppStore, p as TrackingQualityOptions, r as SlamAppRootState, s as AlignmentSnapshot, t as SlamAppCombinedState, u as DEFAULT_TRACKING_QUALITY_OPTIONS, v as computeCoverage, w as degradedCountUpdated, x as computeResidualConsensus, y as computeGpsAccuracy } from "../create-slam-app-store-CH31erpP.js";
+import { a as eulerToQuaternion, c as getLastDeviceOrientation, i as createGpsPositionHandler, l as updateDeviceOrientation, n as buildRawGpsPoint, o as resetCoordinatorState, r as buildRecordGpsEventPayload, t as RecordingCoordinatorConfig } from "../gps-event-coordinator-03rVh_us.js";
+import { i as captureGpsAnchorSample, n as GpsAnchorSample, r as GpsAnchorSampleGpsPoint, t as CaptureGpsAnchorSampleOptions } from "../gps-ar-pose-sampler-BOOV0jJk.js";
+import { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-DyIN13nG.js";
+import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-CI4Cetnl.js";
+import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-DAymjsd1.js";
+import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-Cgo9JTfS.js";
+import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-DtwakLrQ.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";
+import { a as RawGpsPoint, c as calcRelativeCoordsInMeters, d as OnboardingGuidance, f as OnboardingPhase, i as RawDeviceOrientation, l as recordGpsEvent, m as selectOnboardingGuidance, n as GpsPoint, o as RecordGpsEventPayload, p as computeOnboardingGuidance, r as LatLong, s as add2dImage, t as Add2dImagePayload, u as setZeroPos } from "../index-CuHaGY0F.js";
 export { Add2dImagePayload, AlignmentSnapshot, CaptureGpsAnchorSampleOptions, CompleteCallback, DEFAULT_MAX_DELAY_MS, DEFAULT_QR_MAX_HISTORY, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEPTH_CONSTRAINTS, DepthCaptureOptions, DepthPoint, DepthSample, DeviceOrientation, ErrorCallback, GpsAnchorSample, GpsAnchorSampleGpsPoint, GpsPoint, IMAGE_CONSTRAINTS, ImageCaptureOptions, LatLong, OnboardingGuidance, OnboardingPhase, SessionMetadata as OpfsSessionMetadata, PersistenceMiddlewareOptions, PoseReceivedPayload, ProgressCallback, QrDetectedState, QrDetectionEntry, QrMarkerState, QrPoseStability, QrPoseStabilityOptions, QrPoseStabilityStatus, QrSizeEstimate, QrSizeStatus, RawDeviceOrientation, RawGpsPoint, RecordGpsEventPayload, RecordingCoordinatorConfig, RecordingOptionsInput, RecordingState, ReplayAction, ReplayEngine, ReplayRecordingOptions, ReplayState, ResetTransformData, RootWithQrDetected, STORAGE_KEY, SessionMetadata$1 as SessionMetadata, SlamAppCombinedState, SlamAppMiddleware, SlamAppRootState, SlamAppStore, SlamAppStoreOptions, StorageBackend, StoreSubscriberDeps, SubscribableStore, TrackingPhase, TrackingQualityOptions, TrackingQualityReport, TrackingQualitySliceState, TrackingQualityState, TrackingSliceState, add2dImage, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, captureGpsAnchorSample, clearAllQrMarkers, clearLastRestartedPayload, clearQrMarker, cloneRecordingOptions, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeOnboardingGuidance, computeResidualConsensus, computeTrackingQualityReport, createGpsPositionHandler, createPersistenceMiddleware, createSlamAppStore, createTrackingQualityListenerMiddleware, degradedCountUpdated, endSession, eulerToQuaternion, extractActionTimestamp, extractOdomPosition, extractOdomRotation, getLastDeviceOrientation, loadRecordingOptions, matrixDelta, medianQrPosition, originReset, poseLost, poseReceived, pruneQrDetections, qrDetectedReducer, recordDepthSample, recordGpsEvent, recordQrDetection, recordQrSizeEstimate, recordWriteFailure, recordingReducer, replayRecording, reportUpdated, resetCoordinatorState, resetRecordingOptions, resetTracking, resetTrackingQuality, saveRecordingOptions, selectAlignmentMatrix, selectDerivedQrPlacement, selectFrameTilesInWebXR, selectGpsPositions, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLatestQrDetection, selectLostFrameCount, selectOdometryPositions, selectOdometryRotations, selectOnboardingGuidance, selectQrMarker, selectQrMarkers, selectQrPoseStability, selectQrRawObservations, selectQrSize, selectRecentAlignments, selectResolvedQrSizeM, selectSolvedQrPose, selectStableQrPose, selectTrackingPhase, selectTrackingQuality, selectZeroReference, setQrMaxHistory, setZeroPos, slicePrefixOf, snapshotPushed, snapshotsTrimmed, startSession, subscribeToSelector, trackingQualityReducer, trackingReducer, updateDeviceOrientation, validateDepthOptions, validateImageOptions, validateRecordingOptions, wireStoreSubscribers };

package/dist/state/index.js

@@ -1,16 +1,18 @@
-import { buildRawGpsPoint, buildRecordGpsEventPayload, createGpsPositionHandler, eulerToQuaternion, extractOdomPosition, extractOdomRotation, getLastDeviceOrientation, resetCoordinatorState, updateDeviceOrientation } from "./gps-event-coordinator.js";
+import { extractOdomPosition, extractOdomRotation } from "../types/ar-types.js";
 import { clearLastRestartedPayload, originReset, poseLost, poseReceived, resetTracking, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectTrackingPhase, trackingReducer } from "./tracking-slice.js";
+import { r as updateDeviceOrientation, t as getLastDeviceOrientation } from "../device-orientation-cache-BjEaEAmh.js";
 import { DEFAULT_RECORDING_OPTIONS, DEPTH_CONSTRAINTS, IMAGE_CONSTRAINTS, STORAGE_KEY, cloneRecordingOptions, loadRecordingOptions, resetRecordingOptions, saveRecordingOptions, validateDepthOptions, validateImageOptions, validateRecordingOptions } from "./recording-options.js";
 import { endSession, recordDepthSample, recordWriteFailure, recordingReducer, startSession } from "./recording-slice.js";
 import { DEFAULT_QR_MAX_HISTORY, clearAllQrMarkers, clearQrMarker, medianQrPosition, pruneQrDetections, qrDetectedReducer, recordQrDetection, recordQrSizeEstimate, selectDerivedQrPlacement, selectLatestQrDetection, selectQrMarker, selectQrMarkers, selectQrPoseStability, selectQrRawObservations, selectQrSize, selectResolvedQrSizeM, selectSolvedQrPose, selectStableQrPose, setQrMaxHistory } from "./qr-detected-slice.js";
+import { buildRawGpsPoint, buildRecordGpsEventPayload, createGpsPositionHandler, eulerToQuaternion, resetCoordinatorState } from "./gps-event-coordinator.js";
 import { captureGpsAnchorSample } from "./gps-ar-pose-sampler.js";
 import { selectAlignmentMatrix, selectFrameTilesInWebXR, selectGpsPositions, selectOdometryPositions, selectOdometryRotations, selectZeroReference } from "./app-selectors.js";
 import { DEFAULT_TRACKING_QUALITY_OPTIONS, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeResidualConsensus, computeTrackingQualityReport, createTrackingQualityListenerMiddleware, degradedCountUpdated, matrixDelta, reportUpdated, resetTrackingQuality, selectRecentAlignments, selectTrackingQuality, snapshotPushed, snapshotsTrimmed, trackingQualityReducer } from "./tracking-quality.js";
 import { createPersistenceMiddleware, slicePrefixOf } from "./persistence-middleware.js";
-import { t as createSlamAppStore } from "../create-slam-app-store-DXiAnJwR.js";
+import { t as createSlamAppStore } from "../create-slam-app-store-DLv5ZwqU.js";
 import { replayRecording } from "./recording-replayer.js";
 import { DEFAULT_MAX_DELAY_MS, ReplayEngine, computeInterActionDelay, extractActionTimestamp } from "./replay-engine.js";
 import { subscribeToSelector } from "./subscribe-to-selector.js";
 import { wireStoreSubscribers } from "./store-subscribers.js";
-import { a as computeOnboardingGuidance, i as setZeroPos, n as calcRelativeCoordsInMeters, o as selectOnboardingGuidance, r as recordGpsEvent, t as add2dImage } from "../state-BeKvn4B-.js";
+import { a as computeOnboardingGuidance, i as setZeroPos, n as calcRelativeCoordsInMeters, o as selectOnboardingGuidance, r as recordGpsEvent, t as add2dImage } from "../state-U45ioVyB.js";
 export { DEFAULT_MAX_DELAY_MS, DEFAULT_QR_MAX_HISTORY, DEFAULT_RECORDING_OPTIONS, DEFAULT_TRACKING_QUALITY_OPTIONS, DEPTH_CONSTRAINTS, IMAGE_CONSTRAINTS, ReplayEngine, STORAGE_KEY, add2dImage, buildRawGpsPoint, buildRecordGpsEventPayload, calcRelativeCoordsInMeters, captureGpsAnchorSample, clearAllQrMarkers, clearLastRestartedPayload, clearQrMarker, cloneRecordingOptions, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeInterActionDelay, computeOnboardingGuidance, computeResidualConsensus, computeTrackingQualityReport, createGpsPositionHandler, createPersistenceMiddleware, createSlamAppStore, createTrackingQualityListenerMiddleware, degradedCountUpdated, endSession, eulerToQuaternion, extractActionTimestamp, extractOdomPosition, extractOdomRotation, getLastDeviceOrientation, loadRecordingOptions, matrixDelta, medianQrPosition, originReset, poseLost, poseReceived, pruneQrDetections, qrDetectedReducer, recordDepthSample, recordGpsEvent, recordQrDetection, recordQrSizeEstimate, recordWriteFailure, recordingReducer, replayRecording, reportUpdated, resetCoordinatorState, resetRecordingOptions, resetTracking, resetTrackingQuality, saveRecordingOptions, selectAlignmentMatrix, selectDerivedQrPlacement, selectFrameTilesInWebXR, selectGpsPositions, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLatestQrDetection, selectLostFrameCount, selectOdometryPositions, selectOdometryRotations, selectOnboardingGuidance, selectQrMarker, selectQrMarkers, selectQrPoseStability, selectQrRawObservations, selectQrSize, selectRecentAlignments, selectResolvedQrSizeM, selectSolvedQrPose, selectStableQrPose, selectTrackingPhase, selectTrackingQuality, selectZeroReference, setQrMaxHistory, setZeroPos, slicePrefixOf, snapshotPushed, snapshotsTrimmed, startSession, subscribeToSelector, trackingQualityReducer, trackingReducer, updateDeviceOrientation, validateDepthOptions, validateImageOptions, validateRecordingOptions, wireStoreSubscribers };

package/dist/state/persistence-middleware.d.ts

@@ -1,2 +1,2 @@
-import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-CG-t08X4.js";
+import { n as createPersistenceMiddleware, r as slicePrefixOf, t as PersistenceMiddlewareOptions } from "../persistence-middleware-CI4Cetnl.js";
 export { PersistenceMiddlewareOptions, createPersistenceMiddleware, slicePrefixOf };

package/dist/state/qr-detected-slice.d.ts

@@ -1,4 +1,4 @@
-import { d as QrSizeStatus, l as QrSizeEstimate } from "../qr-size-measurer-DxiMqRUw.js";
-import { a as QrPoseStability, o as QrPoseStabilityOptions, s as QrPoseStabilityStatus } from "../qr-pose-aggregation-CypnmjA-.js";
-import { C as setQrMaxHistory, S as selectStableQrPose, _ as selectQrPoseStability, a as RootWithQrDetected, b as selectResolvedQrSizeM, c as medianQrPosition, d as recordQrDetection, f as recordQrSizeEstimate, g as selectQrMarkers, h as selectQrMarker, i as QrMarkerState, l as pruneQrDetections, m as selectLatestQrDetection, n as QrDetectedState, o as clearAllQrMarkers, p as selectDerivedQrPlacement, r as QrDetectionEntry, s as clearQrMarker, t as DEFAULT_QR_MAX_HISTORY, u as qrDetectedReducer, v as selectQrRawObservations, x as selectSolvedQrPose, y as selectQrSize } from "../qr-detected-slice-TzVb8bij.js";
+import { d as QrSizeStatus, l as QrSizeEstimate } from "../qr-size-measurer-Bl_i-umk.js";
+import { a as QrPoseStability, o as QrPoseStabilityOptions, s as QrPoseStabilityStatus } from "../qr-pose-aggregation-BL6gfl0s.js";
+import { C as setQrMaxHistory, S as selectStableQrPose, _ as selectQrPoseStability, a as RootWithQrDetected, b as selectResolvedQrSizeM, c as medianQrPosition, d as recordQrDetection, f as recordQrSizeEstimate, g as selectQrMarkers, h as selectQrMarker, i as QrMarkerState, l as pruneQrDetections, m as selectLatestQrDetection, n as QrDetectedState, o as clearAllQrMarkers, p as selectDerivedQrPlacement, r as QrDetectionEntry, s as clearQrMarker, t as DEFAULT_QR_MAX_HISTORY, u as qrDetectedReducer, v as selectQrRawObservations, x as selectSolvedQrPose, y as selectQrSize } from "../qr-detected-slice-CPEkGbxh.js";
 export { DEFAULT_QR_MAX_HISTORY, QrDetectedState, QrDetectionEntry, QrMarkerState, QrPoseStability, QrPoseStabilityOptions, QrPoseStabilityStatus, QrSizeEstimate, QrSizeStatus, RootWithQrDetected, clearAllQrMarkers, clearQrMarker, medianQrPosition, pruneQrDetections, qrDetectedReducer, recordQrDetection, recordQrSizeEstimate, selectDerivedQrPlacement, selectLatestQrDetection, selectQrMarker, selectQrMarkers, selectQrPoseStability, selectQrRawObservations, selectQrSize, selectResolvedQrSizeM, selectSolvedQrPose, selectStableQrPose, setQrMaxHistory };

package/dist/state/qr-detected-slice.js

@@ -1,5 +1,6 @@
+import { n as lowerMedian } from "../median-Bla_W50f.js";
 import { deriveQrPlacement, deriveSolvedQrPose } from "../ar/qr-derived-pose.js";
-import { i as evaluateQrPoseStability } from "../qr-pose-aggregation-DBiaLW0O.js";
+import { i as evaluateQrPoseStability } from "../qr-pose-aggregation-H-O_Jjz9.js";
 import { createSlice } from "@reduxjs/toolkit";
 //#region ../src/state/qr-detected-slice.ts
 /**
@@ -201,11 +202,6 @@ function selectResolvedQrSizeM(state, text) {
 	const size = state.qrDetected.markers[text]?.size;
 	return size?.status === "estimated" ? size.estimateM : null;
 }
-/** Per-axis median of a numeric list (returns the lower-middle for even n). */
-function medianOf(values) {
-	const sorted = [...values].sort((a, b) => a - b);
-	return sorted[Math.floor((sorted.length - 1) / 2)];
-}
 /**
 * Robust per-axis median of the world positions across a marker's detection
 * window — the "running estimate" the bounded buffer enables (Note 3). Outliers
@@ -220,9 +216,9 @@ function medianQrPosition(entries) {
 	const ys = poses.map((p) => p.position[1]);
 	const zs = poses.map((p) => p.position[2]);
 	return [
-		medianOf(xs),
-		medianOf(ys),
-		medianOf(zs)
+		lowerMedian(xs),
+		lowerMedian(ys),
+		lowerMedian(zs)
 	];
 }
 /**

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

@@ -1,2 +1,2 @@
-import { A as validateFrameTileDisplayOptions, C as cloneRecordingOptions, D as validateArCrashIsolationOptions, E as saveRecordingOptions, F as validateQrOptions, I as validateQualityFilterOptions, L as validateRecordingOptions, M as validateLoopClosureDebugOptions, N as validateMotionFilterOptions, O as validateCompassDebugOptions, P as validateOccupancyOptions, R as validateVisualizationOptions, S as VisualizationOptions, T as resetRecordingOptions, _ as QUALITY_FILTER_CONSTRAINTS, a as DepthCaptureOptions, b as RecordingOptionsInput, c as IMAGE_CONSTRAINTS, d as MOTION_FILTER_CONSTRAINTS, f as OCCUPANCY_CONSTRAINTS, g as QR_CONSTRAINTS, h as OccupancyOptions, i as DEPTH_CONSTRAINTS, j as validateImageOptions, k as validateDepthOptions, l as ImageCaptureOptions, m as OccluderMeshMode, n as CompassDebugOptions, o as FRAME_TILE_DISPLAY_CONSTRAINTS, p as OccluderDebugStyle, r as DEFAULT_RECORDING_OPTIONS, s as FrameTileDisplayOptions, t as ArCrashIsolationOptions, u as LoopClosureDebugOptions, v as QrCaptureOptions, w as loadRecordingOptions, x as STORAGE_KEY, y as RecordingOptions } from "../recording-options-DYKWVI93.js";
+import { A as validateFrameTileDisplayOptions, C as cloneRecordingOptions, D as validateArCrashIsolationOptions, E as saveRecordingOptions, F as validateQrOptions, I as validateQualityFilterOptions, L as validateRecordingOptions, M as validateLoopClosureDebugOptions, N as validateMotionFilterOptions, O as validateCompassDebugOptions, P as validateOccupancyOptions, R as validateVisualizationOptions, S as VisualizationOptions, T as resetRecordingOptions, _ as QUALITY_FILTER_CONSTRAINTS, a as DepthCaptureOptions, b as RecordingOptionsInput, c as IMAGE_CONSTRAINTS, d as MOTION_FILTER_CONSTRAINTS, f as OCCUPANCY_CONSTRAINTS, g as QR_CONSTRAINTS, h as OccupancyOptions, i as DEPTH_CONSTRAINTS, j as validateImageOptions, k as validateDepthOptions, l as ImageCaptureOptions, m as OccluderMeshMode, n as CompassDebugOptions, o as FRAME_TILE_DISPLAY_CONSTRAINTS, p as OccluderDebugStyle, r as DEFAULT_RECORDING_OPTIONS, s as FrameTileDisplayOptions, t as ArCrashIsolationOptions, u as LoopClosureDebugOptions, v as QrCaptureOptions, w as loadRecordingOptions, x as STORAGE_KEY, y as RecordingOptions } from "../recording-options-Cai9D14V.js";
 export { ArCrashIsolationOptions, CompassDebugOptions, DEFAULT_RECORDING_OPTIONS, DEPTH_CONSTRAINTS, DepthCaptureOptions, FRAME_TILE_DISPLAY_CONSTRAINTS, FrameTileDisplayOptions, IMAGE_CONSTRAINTS, ImageCaptureOptions, LoopClosureDebugOptions, MOTION_FILTER_CONSTRAINTS, OCCUPANCY_CONSTRAINTS, OccluderDebugStyle, OccluderMeshMode, OccupancyOptions, QR_CONSTRAINTS, QUALITY_FILTER_CONSTRAINTS, QrCaptureOptions, RecordingOptions, RecordingOptionsInput, STORAGE_KEY, VisualizationOptions, cloneRecordingOptions, loadRecordingOptions, resetRecordingOptions, saveRecordingOptions, validateArCrashIsolationOptions, validateCompassDebugOptions, validateDepthOptions, validateFrameTileDisplayOptions, validateImageOptions, validateLoopClosureDebugOptions, validateMotionFilterOptions, validateOccupancyOptions, validateQrOptions, validateQualityFilterOptions, validateRecordingOptions, validateVisualizationOptions };

package/dist/state/recording-options.js

@@ -1,5 +1,5 @@
 import { createLogger } from "../utils/logger.js";
-import { t as DEFAULT_MOTION_FILTER } from "../capture-motion-gate-_NdTSwKi.js";
+import { t as DEFAULT_MOTION_FILTER } from "../capture-motion-gate-D1eyGC_o.js";
 import { DEFAULT_QUALITY_FILTER } from "../ar/image-quality.js";
 //#region ../src/state/recording-options.ts
 /**
@@ -140,12 +140,23 @@ const DEPTH_CONSTRAINTS = {
 		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.
+*/
 const IMAGE_CONSTRAINTS = {
 	intervalMs: {
-		min: 1e3,
+		min: 250,
 		max: 1e4,
-		step: 500
+		step: 250
 	},
 	quality: {
 		min: .3,
@@ -293,15 +304,33 @@ const QR_CONSTRAINTS = {
 * Validate and normalize AR crash isolation flags.
 * Missing or invalid values fall back to defaults.
 */
+/**
+* Boolean-or-default (quality-review C-1): persisted/external values are
+* untrusted, so anything that is not a real boolean falls back to the
+* default. Shared by every validator below — the ~30 hand-rolled copies of
+* this ternary are exactly the drift a helper prevents.
+*/
+function boolOr(value, fallback) {
+	return typeof value === "boolean" ? value : fallback;
+}
+/**
+* Finite-number-or-default (quality-review C-1): anything that is not a
+* FINITE number falls back to the default. The finiteness guard was applied
+* inconsistently across the hand-rolled validators; it is now uniform.
+* Range/step constraints beyond finiteness stay at the call sites.
+*/
+function numOr(value, fallback) {
+	return typeof value === "number" && Number.isFinite(value) ? value : fallback;
+}
 function validateArCrashIsolationOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.arCrashIsolation;
 	return {
-		enableDomOverlay: typeof options.enableDomOverlay === "boolean" ? options.enableDomOverlay : defaults.enableDomOverlay,
-		enableCameraAccess: typeof options.enableCameraAccess === "boolean" ? options.enableCameraAccess : defaults.enableCameraAccess,
-		enableDepthSensingFeature: typeof options.enableDepthSensingFeature === "boolean" ? options.enableDepthSensingFeature : defaults.enableDepthSensingFeature,
-		enableCss3dRenderer: typeof options.enableCss3dRenderer === "boolean" ? options.enableCss3dRenderer : defaults.enableCss3dRenderer,
-		enableCameraTextureAcquisition: typeof options.enableCameraTextureAcquisition === "boolean" ? options.enableCameraTextureAcquisition : defaults.enableCameraTextureAcquisition,
-		applyChromiumProjectionLayerWorkaround: typeof options.applyChromiumProjectionLayerWorkaround === "boolean" ? options.applyChromiumProjectionLayerWorkaround : defaults.applyChromiumProjectionLayerWorkaround
+		enableDomOverlay: boolOr(options.enableDomOverlay, defaults.enableDomOverlay),
+		enableCameraAccess: boolOr(options.enableCameraAccess, defaults.enableCameraAccess),
+		enableDepthSensingFeature: boolOr(options.enableDepthSensingFeature, defaults.enableDepthSensingFeature),
+		enableCss3dRenderer: boolOr(options.enableCss3dRenderer, defaults.enableCss3dRenderer),
+		enableCameraTextureAcquisition: boolOr(options.enableCameraTextureAcquisition, defaults.enableCameraTextureAcquisition),
+		applyChromiumProjectionLayerWorkaround: boolOr(options.applyChromiumProjectionLayerWorkaround, defaults.applyChromiumProjectionLayerWorkaround)
 	};
 }
 /**
@@ -312,9 +341,9 @@ function validateArCrashIsolationOptions(options) {
 function validateCompassDebugOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.compassDebug;
 	return {
-		coldStartOverride: typeof options.coldStartOverride === "boolean" ? options.coldStartOverride : defaults.coldStartOverride,
-		rotationPrior: typeof options.rotationPrior === "boolean" ? options.rotationPrior : defaults.rotationPrior,
-		webXRConsistency: typeof options.webXRConsistency === "boolean" ? options.webXRConsistency : defaults.webXRConsistency
+		coldStartOverride: boolOr(options.coldStartOverride, defaults.coldStartOverride),
+		rotationPrior: boolOr(options.rotationPrior, defaults.rotationPrior),
+		webXRConsistency: boolOr(options.webXRConsistency, defaults.webXRConsistency)
 	};
 }
 /**
@@ -324,7 +353,7 @@ function validateCompassDebugOptions(options) {
 */
 function validateLoopClosureDebugOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.loopClosureDebug;
-	return { detectorEnabled: typeof options.detectorEnabled === "boolean" ? options.detectorEnabled : defaults.detectorEnabled };
+	return { detectorEnabled: boolOr(options.detectorEnabled, defaults.detectorEnabled) };
 }
 /**
 * Validate and normalize the live debug-overlay visibility toggles.
@@ -335,12 +364,12 @@ function validateLoopClosureDebugOptions(options) {
 function validateVisualizationOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.visualization;
 	return {
-		frameTiles: typeof options.frameTiles === "boolean" ? options.frameTiles : defaults.frameTiles,
-		occupancyCubes: typeof options.occupancyCubes === "boolean" ? options.occupancyCubes : defaults.occupancyCubes,
-		gpsAlignmentMarkers: typeof options.gpsAlignmentMarkers === "boolean" ? options.gpsAlignmentMarkers : defaults.gpsAlignmentMarkers,
-		compassCubes: typeof options.compassCubes === "boolean" ? options.compassCubes : defaults.compassCubes,
-		headingUpMap: typeof options.headingUpMap === "boolean" ? options.headingUpMap : defaults.headingUpMap,
-		statsOverlay: typeof options.statsOverlay === "boolean" ? options.statsOverlay : defaults.statsOverlay
+		frameTiles: boolOr(options.frameTiles, defaults.frameTiles),
+		occupancyCubes: boolOr(options.occupancyCubes, defaults.occupancyCubes),
+		gpsAlignmentMarkers: boolOr(options.gpsAlignmentMarkers, defaults.gpsAlignmentMarkers),
+		compassCubes: boolOr(options.compassCubes, defaults.compassCubes),
+		headingUpMap: boolOr(options.headingUpMap, defaults.headingUpMap),
+		statsOverlay: boolOr(options.statsOverlay, defaults.statsOverlay)
 	};
 }
 /**
@@ -360,9 +389,9 @@ function clamp(value, min, max) {
 function validateQrOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.qr;
 	return {
-		enabled: typeof options.enabled === "boolean" ? options.enabled : defaults.enabled,
-		intervalMs: clamp(typeof options.intervalMs === "number" && Number.isFinite(options.intervalMs) ? options.intervalMs : defaults.intervalMs, QR_CONSTRAINTS.intervalMs.min, QR_CONSTRAINTS.intervalMs.max),
-		captureSize: clamp(typeof options.captureSize === "number" && Number.isFinite(options.captureSize) ? options.captureSize : defaults.captureSize, QR_CONSTRAINTS.captureSize.min, QR_CONSTRAINTS.captureSize.max)
+		enabled: boolOr(options.enabled, defaults.enabled),
+		intervalMs: clamp(numOr(options.intervalMs, defaults.intervalMs), QR_CONSTRAINTS.intervalMs.min, QR_CONSTRAINTS.intervalMs.max),
+		captureSize: clamp(numOr(options.captureSize, defaults.captureSize), QR_CONSTRAINTS.captureSize.min, QR_CONSTRAINTS.captureSize.max)
 	};
 }
 /**
@@ -372,10 +401,10 @@ function validateQrOptions(options) {
 function validateDepthOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.depth;
 	return {
-		enabled: typeof options.enabled === "boolean" ? options.enabled : defaults.enabled,
-		intervalMs: clamp(typeof options.intervalMs === "number" ? options.intervalMs : defaults.intervalMs, DEPTH_CONSTRAINTS.intervalMs.min, DEPTH_CONSTRAINTS.intervalMs.max),
-		gridSize: clamp(typeof options.gridSize === "number" && Number.isFinite(options.gridSize) ? Math.round(options.gridSize) : defaults.gridSize, DEPTH_CONSTRAINTS.gridSize.min, DEPTH_CONSTRAINTS.gridSize.max),
-		rgb: typeof options.rgb === "boolean" ? options.rgb : defaults.rgb
+		enabled: boolOr(options.enabled, defaults.enabled),
+		intervalMs: clamp(numOr(options.intervalMs, defaults.intervalMs), DEPTH_CONSTRAINTS.intervalMs.min, DEPTH_CONSTRAINTS.intervalMs.max),
+		gridSize: clamp(Math.round(numOr(options.gridSize, defaults.gridSize)), DEPTH_CONSTRAINTS.gridSize.min, DEPTH_CONSTRAINTS.gridSize.max),
+		rgb: boolOr(options.rgb, defaults.rgb)
 	};
 }
 /**
@@ -389,10 +418,10 @@ function validateDepthOptions(options) {
 function validateMotionFilterOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.images.motionFilter;
 	return {
-		enabled: typeof options.enabled === "boolean" ? options.enabled : defaults.enabled,
-		maxAngularVelocity: clamp(typeof options.maxAngularVelocity === "number" && Number.isFinite(options.maxAngularVelocity) ? options.maxAngularVelocity : defaults.maxAngularVelocity, MOTION_FILTER_CONSTRAINTS.maxAngularVelocity.min, MOTION_FILTER_CONSTRAINTS.maxAngularVelocity.max),
-		maxLinearVelocity: clamp(typeof options.maxLinearVelocity === "number" && Number.isFinite(options.maxLinearVelocity) ? options.maxLinearVelocity : defaults.maxLinearVelocity, MOTION_FILTER_CONSTRAINTS.maxLinearVelocity.min, MOTION_FILTER_CONSTRAINTS.maxLinearVelocity.max),
-		maxWaitMs: clamp(typeof options.maxWaitMs === "number" && Number.isFinite(options.maxWaitMs) ? options.maxWaitMs : defaults.maxWaitMs, MOTION_FILTER_CONSTRAINTS.maxWaitMs.min, MOTION_FILTER_CONSTRAINTS.maxWaitMs.max)
+		enabled: boolOr(options.enabled, defaults.enabled),
+		maxAngularVelocity: clamp(numOr(options.maxAngularVelocity, defaults.maxAngularVelocity), MOTION_FILTER_CONSTRAINTS.maxAngularVelocity.min, MOTION_FILTER_CONSTRAINTS.maxAngularVelocity.max),
+		maxLinearVelocity: clamp(numOr(options.maxLinearVelocity, defaults.maxLinearVelocity), MOTION_FILTER_CONSTRAINTS.maxLinearVelocity.min, MOTION_FILTER_CONSTRAINTS.maxLinearVelocity.max),
+		maxWaitMs: clamp(numOr(options.maxWaitMs, defaults.maxWaitMs), MOTION_FILTER_CONSTRAINTS.maxWaitMs.min, MOTION_FILTER_CONSTRAINTS.maxWaitMs.max)
 	};
 }
 /**
@@ -407,10 +436,10 @@ function validateMotionFilterOptions(options) {
 function validateQualityFilterOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.images.qualityFilter;
 	return {
-		enabled: typeof options.enabled === "boolean" ? options.enabled : defaults.enabled,
-		blurRelativeThreshold: clamp(typeof options.blurRelativeThreshold === "number" && Number.isFinite(options.blurRelativeThreshold) ? options.blurRelativeThreshold : defaults.blurRelativeThreshold, QUALITY_FILTER_CONSTRAINTS.blurRelativeThreshold.min, QUALITY_FILTER_CONSTRAINTS.blurRelativeThreshold.max),
-		minMeanLuminance: clamp(typeof options.minMeanLuminance === "number" && Number.isFinite(options.minMeanLuminance) ? options.minMeanLuminance : defaults.minMeanLuminance, QUALITY_FILTER_CONSTRAINTS.minMeanLuminance.min, QUALITY_FILTER_CONSTRAINTS.minMeanLuminance.max),
-		maxWaitMs: clamp(typeof options.maxWaitMs === "number" && Number.isFinite(options.maxWaitMs) ? options.maxWaitMs : defaults.maxWaitMs, QUALITY_FILTER_CONSTRAINTS.maxWaitMs.min, QUALITY_FILTER_CONSTRAINTS.maxWaitMs.max)
+		enabled: boolOr(options.enabled, defaults.enabled),
+		blurRelativeThreshold: clamp(numOr(options.blurRelativeThreshold, defaults.blurRelativeThreshold), QUALITY_FILTER_CONSTRAINTS.blurRelativeThreshold.min, QUALITY_FILTER_CONSTRAINTS.blurRelativeThreshold.max),
+		minMeanLuminance: clamp(numOr(options.minMeanLuminance, defaults.minMeanLuminance), QUALITY_FILTER_CONSTRAINTS.minMeanLuminance.min, QUALITY_FILTER_CONSTRAINTS.minMeanLuminance.max),
+		maxWaitMs: clamp(numOr(options.maxWaitMs, defaults.maxWaitMs), QUALITY_FILTER_CONSTRAINTS.maxWaitMs.min, QUALITY_FILTER_CONSTRAINTS.maxWaitMs.max)
 	};
 }
 /**
@@ -420,10 +449,10 @@ function validateQualityFilterOptions(options) {
 function validateImageOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.images;
 	return {
-		enabled: typeof options.enabled === "boolean" ? options.enabled : defaults.enabled,
-		intervalMs: clamp(typeof options.intervalMs === "number" ? options.intervalMs : defaults.intervalMs, IMAGE_CONSTRAINTS.intervalMs.min, IMAGE_CONSTRAINTS.intervalMs.max),
-		quality: clamp(typeof options.quality === "number" ? options.quality : defaults.quality, IMAGE_CONSTRAINTS.quality.min, IMAGE_CONSTRAINTS.quality.max),
-		resolutionDivisor: clamp(typeof options.resolutionDivisor === "number" ? options.resolutionDivisor : defaults.resolutionDivisor, IMAGE_CONSTRAINTS.resolutionDivisor.min, IMAGE_CONSTRAINTS.resolutionDivisor.max),
+		enabled: boolOr(options.enabled, defaults.enabled),
+		intervalMs: clamp(numOr(options.intervalMs, defaults.intervalMs), IMAGE_CONSTRAINTS.intervalMs.min, IMAGE_CONSTRAINTS.intervalMs.max),
+		quality: clamp(numOr(options.quality, defaults.quality), IMAGE_CONSTRAINTS.quality.min, IMAGE_CONSTRAINTS.quality.max),
+		resolutionDivisor: clamp(numOr(options.resolutionDivisor, defaults.resolutionDivisor), IMAGE_CONSTRAINTS.resolutionDivisor.min, IMAGE_CONSTRAINTS.resolutionDivisor.max),
 		motionFilter: validateMotionFilterOptions(options.motionFilter ?? {}),
 		qualityFilter: validateQualityFilterOptions(options.qualityFilter ?? {})
 	};
@@ -478,13 +507,13 @@ function validateOccupancyOptions(options) {
 	const legacyOcclusionMeshEnabled = options.occlusionMeshEnabled;
 	const legacyOccluderDebugViz = options.occluderDebugViz;
 	return {
-		cellSizeM: clamp(typeof options.cellSizeM === "number" && Number.isFinite(options.cellSizeM) ? options.cellSizeM : defaults.cellSizeM, OCCUPANCY_CONSTRAINTS.cellSizeM.min, OCCUPANCY_CONSTRAINTS.cellSizeM.max),
-		minConfidence: clamp(typeof options.minConfidence === "number" && Number.isFinite(options.minConfidence) ? Math.round(options.minConfidence) : defaults.minConfidence, OCCUPANCY_CONSTRAINTS.minConfidence.min, OCCUPANCY_CONSTRAINTS.minConfidence.max),
+		cellSizeM: clamp(numOr(options.cellSizeM, defaults.cellSizeM), OCCUPANCY_CONSTRAINTS.cellSizeM.min, OCCUPANCY_CONSTRAINTS.cellSizeM.max),
+		minConfidence: clamp(Math.round(numOr(options.minConfidence, defaults.minConfidence)), OCCUPANCY_CONSTRAINTS.minConfidence.min, OCCUPANCY_CONSTRAINTS.minConfidence.max),
 		persistentOcclusion: resolvePersistentOcclusion(options, legacyOcclusionMeshEnabled, defaults.persistentOcclusion),
-		liveOcclusion: typeof options.liveOcclusion === "boolean" ? options.liveOcclusion : defaults.liveOcclusion,
+		liveOcclusion: boolOr(options.liveOcclusion, defaults.liveOcclusion),
 		occluderDebugStyle: resolveOccluderDebugStyle(options, legacyOccluderDebugViz, defaults.occluderDebugStyle),
 		occluderMeshMode: OCCLUDER_MESH_MODES.includes(options.occluderMeshMode) ? options.occluderMeshMode : defaults.occluderMeshMode,
-		occluderRadiusM: clamp(typeof options.occluderRadiusM === "number" && Number.isFinite(options.occluderRadiusM) ? Math.round(options.occluderRadiusM) : defaults.occluderRadiusM, OCCUPANCY_CONSTRAINTS.occluderRadiusM.min, OCCUPANCY_CONSTRAINTS.occluderRadiusM.max)
+		occluderRadiusM: clamp(Math.round(numOr(options.occluderRadiusM, defaults.occluderRadiusM)), OCCUPANCY_CONSTRAINTS.occluderRadiusM.min, OCCUPANCY_CONSTRAINTS.occluderRadiusM.max)
 	};
 }
 /**
@@ -497,8 +526,8 @@ function validateOccupancyOptions(options) {
 function validateFrameTileDisplayOptions(options) {
 	const defaults = DEFAULT_RECORDING_OPTIONS.frameTileDisplay;
 	return {
-		divisor: clamp(typeof options.divisor === "number" && Number.isFinite(options.divisor) ? Math.round(options.divisor) : defaults.divisor, FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.min, FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.max),
-		maxTiles: clamp(typeof options.maxTiles === "number" && Number.isFinite(options.maxTiles) ? Math.round(options.maxTiles) : defaults.maxTiles, FRAME_TILE_DISPLAY_CONSTRAINTS.maxTiles.min, FRAME_TILE_DISPLAY_CONSTRAINTS.maxTiles.max)
+		divisor: clamp(Math.round(numOr(options.divisor, defaults.divisor)), FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.min, FRAME_TILE_DISPLAY_CONSTRAINTS.divisor.max),
+		maxTiles: clamp(Math.round(numOr(options.maxTiles, defaults.maxTiles)), FRAME_TILE_DISPLAY_CONSTRAINTS.maxTiles.min, FRAME_TILE_DISPLAY_CONSTRAINTS.maxTiles.max)
 	};
 }
 /**

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

@@ -1,3 +1,3 @@
-import { N as CombinedRootState } from "../create-slam-app-store-D1QSMuKu.js";
-import { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-BJ8Lf0QY.js";
+import { N as CombinedRootState } from "../create-slam-app-store-CH31erpP.js";
+import { n as replayRecording, t as ReplayRecordingOptions } from "../recording-replayer-DyIN13nG.js";
 export { CombinedRootState, ReplayRecordingOptions, replayRecording };

package/dist/state/recording-replayer.js

@@ -1,6 +1,6 @@
 import { loadActionsFromZip } from "../storage/zip-reader.js";
 import { NullStorageBackend } from "../storage/null-storage-backend.js";
-import { t as createSlamAppStore } from "../create-slam-app-store-DXiAnJwR.js";
+import { t as createSlamAppStore } from "../create-slam-app-store-DLv5ZwqU.js";
 //#region ../src/state/recording-replayer.ts
 /**
 * Recording Replayer

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

@@ -1,2 +1,2 @@
-import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-BW8SiLo1.js";
+import { a as recordWriteFailure, i as recordDepthSample, n as SessionMetadata, o as recordingReducer, r as endSession, s as startSession, t as RecordingState } from "../recording-slice-DziOl7P5.js";
 export { RecordingState, SessionMetadata, endSession, recordDepthSample, recordWriteFailure, recordingReducer, startSession };

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

@@ -1,2 +1,2 @@
-import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-DmCAc7WM.js";
+import { a as ReplayAction, c as computeInterActionDelay, i as ProgressCallback, l as extractActionTimestamp, n as DEFAULT_MAX_DELAY_MS, o as ReplayEngine, r as ErrorCallback, s as ReplayState, t as CompleteCallback } from "../replay-engine-DAymjsd1.js";
 export { CompleteCallback, DEFAULT_MAX_DELAY_MS, ErrorCallback, ProgressCallback, ReplayAction, ReplayEngine, ReplayState, computeInterActionDelay, extractActionTimestamp };

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

@@ -1,3 +1,3 @@
-import { t as SubscribableStore } from "../subscribe-to-selector-dQV8SpsO.js";
-import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-DJUErW-o.js";
+import { t as SubscribableStore } from "../subscribe-to-selector-Cgo9JTfS.js";
+import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-DtwakLrQ.js";
 export { StoreSubscriberDeps, SubscribableStore, wireStoreSubscribers };

package/dist/state/store-subscribers.js

@@ -1,9 +1,9 @@
 import { createLogger } from "../utils/logger.js";
 import { selectAlignmentMatrix, selectGpsPositions, selectOdometryPositions, selectOdometryRotations, selectZeroReference } from "./app-selectors.js";
-import { t as buildMapData } from "../map-data-1tF5gcYV.js";
+import { t as buildMapData } from "../map-data-D3oE8AQP.js";
 import { subscribeToSelector } from "./subscribe-to-selector.js";
-import { calcGpsCoords } from "gps-plus-slam-js";
 import { mat4, vec3 } from "gl-matrix";
+import { calcGpsCoords } from "gps-plus-slam-js";
 //#region ../src/state/store-subscribers.ts
 const log = createLogger("StoreSubscribers");
 /**
@@ -42,21 +42,38 @@ function wireStoreSubscribers(store, deps) {
 	* fused-dot feedback, Slice B), or `null` when there is no overlay or it
 	* has no `render` (the minimal `setGpsPosition`-only dep shape).
 	*/
+	let lastGpsPositionsRef = null;
+	let lastOdomPositionsRef = null;
+	let lastMatrixRef = null;
+	let lastZeroRef = null;
+	let lastSnapshotCount = -1;
+	let lastMapData = null;
 	function rebuildMap() {
 		if (!deps.mapOverlay?.render) return null;
 		const state = store.getState();
+		const gpsPositions = selectGpsPositions(state);
+		const odometryPositions = selectOdometryPositions(state);
+		const alignmentMatrix = selectAlignmentMatrix(state);
+		const zeroRef = selectZeroReference(state);
+		if (gpsPositions === lastGpsPositionsRef && odometryPositions === lastOdomPositionsRef && alignmentMatrix === lastMatrixRef && zeroRef === lastZeroRef && alignmentSnapshotGps.length === lastSnapshotCount) return lastMapData;
 		const data = buildMapData({
-			rawGpsPath: selectGpsPositions(state).map((p) => ({
+			rawGpsPath: gpsPositions.map((p) => ({
 				lat: p.latitude,
 				lng: p.longitude,
 				accuracy: p.latLongAccuracy
 			})),
-			odometryPositions: selectOdometryPositions(state),
+			odometryPositions,
 			odometryRotations: selectOdometryRotations(state),
-			alignmentMatrix: selectAlignmentMatrix(state),
-			zeroRef: selectZeroReference(state),
+			alignmentMatrix,
+			zeroRef,
 			alignmentSnapshots: alignmentSnapshotGps
 		});
+		lastGpsPositionsRef = gpsPositions;
+		lastOdomPositionsRef = odometryPositions;
+		lastMatrixRef = alignmentMatrix;
+		lastZeroRef = zeroRef;
+		lastSnapshotCount = alignmentSnapshotGps.length;
+		lastMapData = data;
 		try {
 			deps.mapOverlay.render(data);
 		} catch (err) {

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

@@ -1,2 +1,2 @@
-import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-dQV8SpsO.js";
+import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-Cgo9JTfS.js";
 export { SubscribableStore, subscribeToSelector };

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

@@ -1,2 +1,2 @@
-import { A as snapshotPushed, C as createTrackingQualityListenerMiddleware, D as resetTrackingQuality, E as reportUpdated, M as trackingQualityReducer, O as selectRecentAlignments, S as computeTrackingQualityReport, T as matrixDelta, _ as computeConvergence, b as computeGpsVsFusedDivergence, c as ConvergenceResult, d as GpsAccuracyResult, f as ResidualConsensusResult, g as TrackingQualityState, h as TrackingQualitySliceState, j as snapshotsTrimmed, k as selectTrackingQuality, l as CoverageResult, m as TrackingQualityReport, p as TrackingQualityOptions, s as AlignmentSnapshot, u as DEFAULT_TRACKING_QUALITY_OPTIONS, v as computeCoverage, w as degradedCountUpdated, x as computeResidualConsensus, y as computeGpsAccuracy } from "../create-slam-app-store-D1QSMuKu.js";
+import { A as snapshotPushed, C as createTrackingQualityListenerMiddleware, D as resetTrackingQuality, E as reportUpdated, M as trackingQualityReducer, O as selectRecentAlignments, S as computeTrackingQualityReport, T as matrixDelta, _ as computeConvergence, b as computeGpsVsFusedDivergence, c as ConvergenceResult, d as GpsAccuracyResult, f as ResidualConsensusResult, g as TrackingQualityState, h as TrackingQualitySliceState, j as snapshotsTrimmed, k as selectTrackingQuality, l as CoverageResult, m as TrackingQualityReport, p as TrackingQualityOptions, s as AlignmentSnapshot, u as DEFAULT_TRACKING_QUALITY_OPTIONS, v as computeCoverage, w as degradedCountUpdated, x as computeResidualConsensus, y as computeGpsAccuracy } from "../create-slam-app-store-CH31erpP.js";
 export { AlignmentSnapshot, ConvergenceResult, CoverageResult, DEFAULT_TRACKING_QUALITY_OPTIONS, GpsAccuracyResult, ResidualConsensusResult, TrackingQualityOptions, TrackingQualityReport, TrackingQualitySliceState, TrackingQualityState, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeResidualConsensus, computeTrackingQualityReport, createTrackingQualityListenerMiddleware, degradedCountUpdated, matrixDelta, reportUpdated, resetTrackingQuality, selectRecentAlignments, selectTrackingQuality, snapshotPushed, snapshotsTrimmed, trackingQualityReducer };

package/dist/state/tracking-quality.js

@@ -1,8 +1,9 @@
-import { t as geodesicAngleRad } from "../geodesic-angle-BTldfFgs.js";
+import { t as interpolatingMedian } from "../median-Bla_W50f.js";
+import { t as geodesicAngleRad } from "../geodesic-angle-HXBWiXiI.js";
 import { selectTrackingPhase } from "./tracking-slice.js";
 import { selectAlignmentMatrix, selectGpsPositions, selectOdometryPositions, selectZeroReference } from "./app-selectors.js";
-import { calcGpsCoords, distanceInMeters } from "gps-plus-slam-js";
 import { mat4, quat, vec3 } from "gl-matrix";
+import { calcGpsCoords, distanceInMeters } from "gps-plus-slam-js";
 import { createListenerMiddleware, createSlice } from "@reduxjs/toolkit";
 //#region ../src/state/tracking-quality.ts
 const DEFAULT_TRACKING_QUALITY_OPTIONS = {
@@ -19,7 +20,7 @@ const DEFAULT_TRACKING_QUALITY_OPTIONS = {
 	residualConfidenceTargetM: 3,
 	gpsAccuracyFloorM: 1,
 	degradedHoldoff: 3,
-	convergenceEmaAlpha: .3
+	convergenceEmaAlpha: .25
 };
 const initialState = {
 	recentAlignments: [],
@@ -49,12 +50,6 @@ function bearingDeg(north, east) {
 	if (deg < 0) deg += 360;
 	return deg;
 }
-function median(values) {
-	if (values.length === 0) return 0;
-	const sorted = [...values].sort((a, b) => a - b);
-	const mid = Math.floor(sorted.length / 2);
-	return sorted.length % 2 === 0 ? (sorted[mid - 1] + sorted[mid]) / 2 : sorted[mid];
-}
 /**
 * Linear ramp: `value ≤ low` → 1, `value ≥ high` → 0, linear between.
 * Used by sub-scores whose underlying physical quantity grows as
@@ -238,7 +233,7 @@ function computeResidualConsensus(alignmentMatrix, gpsPositions, odometryPositio
 		medianResidualM: rawResidualCount > 0 ? rawResidualSum / rawResidualCount : 0,
 		count: normalised.length
 	};
-	const medianNorm = median(normalised);
+	const medianNorm = interpolatingMedian(normalised);
 	const medianResidualM = rawResidualSum / rawResidualCount;
 	return {
 		score: clamp01(1 / (1 + medianNorm / options.residualConfidenceTargetM)),
@@ -280,7 +275,7 @@ function computeGpsAccuracy(gpsPositions, options = {}) {
 		countAccurate: 0,
 		countTotal: gpsPositions.length - start
 	};
-	const medianM = median(accs);
+	const medianM = interpolatingMedian(accs);
 	return {
 		score: rampDown(medianM, goodMedianM, badMedianM),
 		medianM,
@@ -597,15 +592,23 @@ function createTrackingQualityListenerMiddleware(options = {}) {
 		...options
 	};
 	const listenerMiddleware = createListenerMiddleware();
+	let lastPoseActionPhase = null;
 	listenerMiddleware.startListening({
 		predicate: (action) => inputActionPredicate(action),
 		effect: (action, api) => {
 			const state = api.getState();
 			if (action.type === TRACKING_QUALITY_INPUT_ACTIONS.startSession || action.type === TRACKING_QUALITY_INPUT_ACTIONS.resetTracking) {
+				lastPoseActionPhase = null;
 				const tq = state.trackingQuality;
 				if (tq && (tq.recentAlignments.length > 0 || tq.report !== null || tq.degradedConsecutiveCount > 0)) api.dispatch(resetTrackingQuality());
 				return;
 			}
+			if (action.type === TRACKING_QUALITY_INPUT_ACTIONS.poseReceived || action.type === TRACKING_QUALITY_INPUT_ACTIONS.poseLost) {
+				const phase = selectTrackingPhase(state);
+				const existingReport = state.trackingQuality?.report ?? null;
+				if (phase === lastPoseActionPhase && existingReport !== null) return;
+				lastPoseActionPhase = phase;
+			}
 			if (action.type === TRACKING_QUALITY_INPUT_ACTIONS.gpsRecorded || action.type === TRACKING_QUALITY_INPUT_ACTIONS.setZeroPos) {
 				const alignment = selectAlignmentMatrix(state);
 				if (alignment) {

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

@@ -1,2 +1,2 @@
-import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-DMkHlbny.js";
+import { a as TrackingSliceState, c as poseLost, d as selectLastRestartedPayload, f as selectLastSensorOrientation, g as trackingReducer, h as selectTrackingPhase, i as TrackingPhase, l as poseReceived, m as selectLostFrameCount, n as PoseReceivedPayload, o as clearLastRestartedPayload, p as selectLastValidPose, r as ResetTransformData, s as originReset, t as DeviceOrientation, u as resetTracking } from "../tracking-slice-Bt2OEQhA.js";
 export { DeviceOrientation, PoseReceivedPayload, ResetTransformData, TrackingPhase, TrackingSliceState, clearLastRestartedPayload, originReset, poseLost, poseReceived, resetTracking, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectTrackingPhase, trackingReducer };

package/dist/{state-BeKvn4B-.js → state-U45ioVyB.js}

@@ -1,13 +1,12 @@
-import "./state/gps-event-coordinator.js";
 import "./state/tracking-slice.js";
 import "./state/recording-options.js";
 import "./state/recording-slice.js";
 import "./state/qr-detected-slice.js";
-import "./state/gps-ar-pose-sampler.js";
+import "./state/gps-event-coordinator.js";
 import "./state/app-selectors.js";
 import { selectTrackingQuality } from "./state/tracking-quality.js";
 import "./state/persistence-middleware.js";
-import "./create-slam-app-store-DXiAnJwR.js";
+import "./create-slam-app-store-DLv5ZwqU.js";
 import "./state/recording-replayer.js";
 import "./state/store-subscribers.js";
 import { add2dImage, calcRelativeCoordsInMeters, recordGpsEvent as recordGpsEvent$1, setZeroPos as setZeroPos$1 } from "gps-plus-slam-js";

package/dist/storage/file-system-utils.d.ts

@@ -1,2 +1,2 @@
-import { a as formatTimestamp, i as formatFrameFilename, n as SESSION_IMAGES_DIR, r as formatActionFilename, t as LEGACY_SESSION_IMAGES_DIR } from "../file-system-utils-DueXHxo9.js";
+import { a as formatTimestamp, i as formatFrameFilename, n as SESSION_IMAGES_DIR, r as formatActionFilename, t as LEGACY_SESSION_IMAGES_DIR } from "../file-system-utils-CfLTj5Ra.js";
 export { LEGACY_SESSION_IMAGES_DIR, SESSION_IMAGES_DIR, formatActionFilename, formatFrameFilename, formatTimestamp };

package/dist/storage/index.d.ts

@@ -1,9 +1,9 @@
-import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, n as SessionMetadata, o as getSessionHandle, r as checkStorageQuota, s as getSessionsRootHandle, u as resetOpfsStorage } from "../opfs-storage-CTkxvxN4.js";
-import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-sEtmM4yW.js";
-import { a as ZipActionEntry, c as loadActionsFromZip, d as loadSessionMetadata, f as loadSessionMetadataFromBlob, i as RecordedAction, l as loadEntriesFromSubdir, n as GpsPathCoord, p as readZipEntries, r as MAX_ACTION_FILE_SIZE, s as ZipSubdirEntry, t as Entry, u as loadGpsPathFromBlob } from "../zip-reader-BzENzMH6.js";
-import { t as NullStorageBackend } from "../null-storage-backend-B1-jlpin.js";
-import { t as OpfsStorageBackend } from "../opfs-storage-backend-D6Z03fML.js";
-import { a as formatTimestamp, i as formatFrameFilename, r as formatActionFilename } from "../file-system-utils-DueXHxo9.js";
-import { a as downloadZip, c as syncToExternalZip, i as ZipExportResult, n as ZipContributorAddFile, o as exportSessionAsZip, r as ZipExportContributor, s as exportSessionHandleAsZip, t as ExportSessionAsZipOptions } from "../zip-export-CtiUnAlJ.js";
-import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-ncVbaZAz.js";
+import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, n as SessionMetadata, o as getSessionHandle, r as checkStorageQuota, s as getSessionsRootHandle, u as resetOpfsStorage } from "../opfs-storage-S_odkCk1.js";
+import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-BX7egQKi.js";
+import { a as ZipActionEntry, c as loadActionsFromZip, d as loadSessionMetadata, f as loadSessionMetadataFromBlob, i as RecordedAction, l as loadEntriesFromSubdir, n as GpsPathCoord, p as readZipEntries, r as MAX_ACTION_FILE_SIZE, s as ZipSubdirEntry, t as Entry, u as loadGpsPathFromBlob } from "../zip-reader-BHc_b_iA.js";
+import { t as NullStorageBackend } from "../null-storage-backend-DXXuwG8T.js";
+import { t as OpfsStorageBackend } from "../opfs-storage-backend-D1ZpeNEL.js";
+import { a as formatTimestamp, i as formatFrameFilename, r as formatActionFilename } from "../file-system-utils-CfLTj5Ra.js";
+import { a as downloadZip, c as syncToExternalZip, i as ZipExportResult, n as ZipContributorAddFile, o as exportSessionAsZip, r as ZipExportContributor, s as exportSessionHandleAsZip, t as ExportSessionAsZipOptions } from "../zip-export-CuBimX1J.js";
+import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-BrodRLq0.js";
 export { type CreateSessionResult, type Entry, type ExportSessionAsZipOptions, type GpsPathCoord, MAX_ACTION_FILE_SIZE, NullStorageBackend, OpfsStorageBackend, type RecordedAction, type SessionMetadata, type StorageBackend, type ZipActionEntry, type ZipContributorAddFile, type ZipExportContributor, type ZipExportResult, type ZipSubdirEntry, checkStorageQuota, createSession, downloadZip, embedCoverageInSessionJson, exportSessionAsZip, exportSessionHandleAsZip, formatActionFilename, formatFrameFilename, formatTimestamp, getAppRootHandle, getSessionHandle, getSessionsRootHandle, initOpfsStorage, listSessions, loadActionsFromZip, loadEntriesFromSubdir, loadGpsPathFromBlob, loadSessionMetadataFromBlob, loadSessionMetadata as loadSessionMetadataFromZip, readZipEntries, resetOpfsStorage, resetSessionHandles, syncToExternalZip, writeSessionMetadata };