gps-plus-slam-app-framework 1.9.1 → 1.11.0

package/dist/{occupancy-grid-BV7RhB7I.d.ts → occupancy-grid-CYBdmMOo.d.ts}

@@ -1,5 +1,5 @@
-import { t as GridCell } from "./bresenham3d-DGc4nIb-.js";
-import { a as RgbTuple, i as DepthSample } from "./ar-types-Cc5yvBwn.js";
+import { t as GridCell } from "./bresenham3d-D-t9i_b5.js";
+import { a as RgbTuple, i as DepthSample } from "./ar-types-D6PYS4bc.js";
 import { Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/cell-key.d.ts
@@ -51,7 +51,7 @@ declare class OccupancyGrid {
    * an already-settled cell (count `> MAX_RELEVANT_COUNT`) does NOT bump it, so a
    * consumer can cheaply skip a full re-derive (cube refresh / occluder re-mesh)
    * when the revision is unchanged — the dominant idle-time saving over a long
-   * session (see `2026-06-30-occluder-tuning-followups.md`).
+   * session (see `2026-06-30-0829-occluder-tuning-followups.md`).
    */
   private revision;
   /**

package/dist/{occupancy-mesher-C2ecWhNp.d.ts → occupancy-mesher-B4Bv4BTk.d.ts}

@@ -1,4 +1,4 @@
-import { t as GridCell } from "./bresenham3d-DGc4nIb-.js";
+import { t as GridCell } from "./bresenham3d-D-t9i_b5.js";
 import { Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/ar/occupancy-mesher.d.ts
@@ -51,14 +51,9 @@ type MeshMode = 'per-face' | 'greedy' | 'smooth' | 'corner-fit';
 /** Options for {@link meshOccupiedCells}. */
 interface MeshOccupiedCellsOptions {
   /**
-   * @deprecated Prefer {@link MeshOccupiedCellsOptions.mode}. Back-compat shim:
-   * when `mode` is unset, `greedy:true` → `'greedy'`, otherwise `'per-face'`.
-   * Kept so existing callers/tests keep working unchanged.
-   */
-  readonly greedy?: boolean;
-  /**
-   * The mesher strategy. Takes precedence over {@link greedy}. Default resolves
-   * via the `greedy` shim above (so omitting both ⇒ `'per-face'`).
+   * The mesher strategy. Default `'per-face'`. (The deprecated boolean
+   * `greedy` shim was removed 2026-07-10, quality-review C-3 — it had zero
+   * production callers; use `{ mode: 'greedy' }`.)
    *
    * Note: every mode still returns one `aabbs` box per cell (a 3-D greedy box
    * merge for fewer colliders is a separate follow-on — see the plan §3E).

package/dist/{opfs-storage-backend-D6Z03fML.d.ts → opfs-storage-backend-D1ZpeNEL.d.ts}

@@ -1,5 +1,5 @@
-import { n as SessionMetadata } from "./opfs-storage-CTkxvxN4.js";
-import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-sEtmM4yW.js";
+import { n as SessionMetadata } from "./opfs-storage-S_odkCk1.js";
+import { n as StorageBackend, t as CreateSessionResult } from "./storage-backend-BX7egQKi.js";
 
 //#region ../src/storage/opfs-storage-backend.d.ts
 declare class OpfsStorageBackend implements StorageBackend {

package/dist/{persistence-middleware-CG-t08X4.d.ts → persistence-middleware-Cun4aF5M.d.ts}

@@ -1,4 +1,4 @@
-import { n as StorageBackend } from "./storage-backend-sEtmM4yW.js";
+import { n as StorageBackend } from "./storage-backend-BX7egQKi.js";
 import { Middleware } from "@reduxjs/toolkit";
 
 //#region ../src/state/persistence-middleware.d.ts
@@ -50,6 +50,16 @@ declare function slicePrefixOf(actionType: string): string;
  * - Uses 1-based indexing for action files (000001.json, 000002.json, …).
  * - Each middleware instance maintains its own action index (Bug 10 fix).
  */
-declare function createPersistenceMiddleware(options: PersistenceMiddlewareOptions): Middleware;
+/**
+ * The persistence middleware plus its drain hook: `flushPendingWrites`
+ * resolves once every queued action write has settled. The stop flow MUST
+ * await it before anything reads the session's `actions/` (final sync, ZIP
+ * export) — the queue is async, so a write enqueued moments before Stop
+ * could otherwise land after the export enumerated the directory.
+ */
+type PersistenceMiddleware = Middleware & {
+  flushPendingWrites: () => Promise<void>;
+};
+declare function createPersistenceMiddleware(options: PersistenceMiddlewareOptions): PersistenceMiddleware;
 //#endregion
-export { createPersistenceMiddleware as n, slicePrefixOf as r, PersistenceMiddlewareOptions as t };
+export { slicePrefixOf as i, PersistenceMiddlewareOptions as n, createPersistenceMiddleware as r, PersistenceMiddleware as t };

package/dist/{planar-pnp-D7bc_rLX.d.ts → planar-pnp-ByxwDEyM.d.ts}

@@ -1,7 +1,7 @@
-import { n as OpenCvPnpResult, r as Point2, s as SolvePnpSquare, t as CameraIntrinsics } from "./qr-pose-y3vaEd6x.js";
+import { n as OpenCvPnpResult, r as Point2, s as SolvePnpSquare, t as CameraIntrinsics } from "./qr-pose-21fRDcFO.js";
 import { Vector3 } from "gps-plus-slam-js";
 
-//#region ../src/ar/planar-pnp.d.ts
+//#region ../src/ar/qr/planar-pnp.d.ts
 /** A 3×3 matrix in ROW-MAJOR order: [r00,r01,r02, r10,r11,r12, r20,r21,r22]. */
 type Mat3 = readonly [number, number, number, number, number, number, number, number, number];
 /** A 3×3 homography in row-major order (same layout as {@link Mat3}). */

package/dist/{ar-BqCudtqE.js → qr-CTp5xI83.js}

@@ -1,26 +1,12 @@
-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 "./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 "./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 "./ar/xr-camera-texture.js";
-import "./ar/enable-gps-ar.js";
-import "./ar/replay-scene.js";
-//#region ../src/ar/qr-level.ts
+import "./qr-size-measurer-zZB9S1va.js";
+import "./ar/qr/qr-size-depth-context.js";
+import { buildObjectPoints, transformPoint } from "./ar/qr/qr-pose.js";
+import "./ar/qr/qr-derived-pose.js";
+import "./ar/qr/qr-debug-view.js";
+import { n as createDetectionScheduler } from "./qr-detection-controller-DXc1yHRf.js";
+import "./qr-pose-aggregation-Cp0Mtg_j.js";
+import { calcGpsCoords } from "gps-plus-slam-js";
+//#region ../src/ar/qr/qr-level.ts
 /** Thrown when a fetched level file fails validation. */
 var QrLevelValidationError = class extends Error {
 	constructor(message) {
@@ -107,9 +93,7 @@ async function fetchQrLevel(url, options = {}) {
 	return parseQrLevel(body);
 }
 //#endregion
-//#region ../src/ar/qr-gps-vote.ts
-/** Mean meters per degree of latitude (WGS-84 average). */
-const METERS_PER_DEG_LAT = 111320;
+//#region ../src/ar/qr/qr-gps-vote.ts
 /**
 * `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 +128,18 @@ 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
 	};
 }
@@ -189,7 +179,7 @@ function buildQrGpsVotes(input) {
 	});
 }
 //#endregion
-//#region ../src/ar/qr-tracking-controller.ts
+//#region ../src/ar/qr/qr-tracking-controller.ts
 function createQrTrackingController(config) {
 	const { frontEnd, solvePose, fetchLevel, dispatchVotes, onDetection, resolveSizeM, resolveStablePose, getCameraPose, getIntrinsics, syntheticAccuracyM, voteBaselineM, voteCount, isPlausible, onStatus, onLocked, onError, minIntervalMs = 150, requiredLockCount = 3, now } = config;
 	const timestampNow = now ?? (() => Date.now());
@@ -304,7 +294,7 @@ function createQrTrackingController(config) {
 	};
 }
 //#endregion
-//#region ../src/ar/qr-occupancy-check.ts
+//#region ../src/ar/qr/qr-occupancy-check.ts
 const DEFAULTS = {
 	surfaceToleranceCells: 1.5,
 	minObservations: 1,
@@ -380,4 +370,4 @@ 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/{qr-debug-view-BJooqbiP.d.ts → qr-debug-view-CGlITU09.d.ts}

@@ -1,7 +1,7 @@
-import { i as Pose } from "./qr-pose-y3vaEd6x.js";
+import { i as Pose } from "./qr-pose-21fRDcFO.js";
 import { Object3D } from "three";
 
-//#region ../src/ar/qr-debug-view.d.ts
+//#region ../src/ar/qr/qr-debug-view.d.ts
 interface QrDebugView {
   /**
    * Glue the debug objects to a solved pose. The **axis** is placed from the

package/dist/{qr-derived-pose-BwNWn8oV.d.ts → qr-derived-pose-DZPxZd9C.d.ts}

@@ -1,8 +1,8 @@
-import { i as Pose, r as Point2, s as SolvePnpSquare } from "./qr-pose-y3vaEd6x.js";
-import { a as QrSizeMeasurerOptions, n as QrSizeDepthContext } from "./qr-size-measurer-DxiMqRUw.js";
+import { i as Pose, r as Point2, s as SolvePnpSquare } from "./qr-pose-21fRDcFO.js";
+import { a as QrSizeMeasurerOptions, n as QrSizeDepthContext } from "./qr-size-measurer-rVFf4AdM.js";
 import { Matrix4 } from "gps-plus-slam-js";
 
-//#region ../src/ar/qr-derived-pose.d.ts
+//#region ../src/ar/qr/qr-derived-pose.d.ts
 /**
  * One RAW QR observation — the authoritative recorded shape (D-A). Everything
  * the derive layer needs to recompute size + pose is here EXCEPT depth (injected

package/dist/{qr-detected-slice-TzVb8bij.d.ts → qr-detected-slice-mfyxD2-M.d.ts}

@@ -1,9 +1,10 @@
-import { i as Pose, r as Point2 } from "./qr-pose-y3vaEd6x.js";
-import { l as QrSizeEstimate } from "./qr-size-measurer-DxiMqRUw.js";
-import { i as RawQrObservation, n as DerivedQrPlacement, t as DeriveQrPoseDeps } from "./qr-derived-pose-BwNWn8oV.js";
-import { a as QrPoseStability, o as QrPoseStabilityOptions } from "./qr-pose-aggregation-CypnmjA-.js";
+import { i as Pose, r as Point2 } from "./qr-pose-21fRDcFO.js";
+import { l as QrSizeEstimate } from "./qr-size-measurer-rVFf4AdM.js";
+import { i as RawQrObservation, n as DerivedQrPlacement, t as DeriveQrPoseDeps } from "./qr-derived-pose-DZPxZd9C.js";
+import { a as QrPoseStability, o as QrPoseStabilityOptions } from "./qr-pose-aggregation-mABSN0AW.js";
 import { Matrix4, Vector3 } from "gps-plus-slam-js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
+import * as _$redux from "redux";
 
 //#region ../src/state/qr-detected-slice.d.ts
 /**
@@ -27,7 +28,7 @@ interface QrDetectionEntry {
    * this MUST be **EPOCH ms** (`Date.now()`), because the depth stream it joins
    * against is epoch (`DepthSample.timestamp = performance.timeOrigin + frameTs`,
    * `ar/depth-sampler.ts`) and the size as-of join pairs this with the depth
-   * sample whose timestamp is `≤` this one (`ar/qr-derived-pose`). A relative
+   * sample whose timestamp is `≤` this one (`ar/qr/qr-derived-pose`). A relative
    * `performance.now()` stamp (~1e5) never satisfies that join, so the size — and
    * the debug cube — never resolve. See the recorder live-QR plan open topic A.
    */
@@ -71,7 +72,7 @@ declare const recordQrDetection: _$_reduxjs_toolkit0.ActionCreatorWithPayload<Qr
   }, "qrDetected/pruneQrDetections">, clearQrMarker: _$_reduxjs_toolkit0.ActionCreatorWithPayload<{
     text: string;
   }, "qrDetected/clearQrMarker">, clearAllQrMarkers: _$_reduxjs_toolkit0.ActionCreatorWithoutPayload<"qrDetected/clearAllQrMarkers">, setQrMaxHistory: _$_reduxjs_toolkit0.ActionCreatorWithPayload<number, "qrDetected/setQrMaxHistory">;
-declare const qrDetectedReducer: _$_reduxjs_toolkit0.Reducer<QrDetectedState>;
+declare const qrDetectedReducer: _$redux.Reducer<QrDetectedState>;
 /** Minimal root shape the selectors need (avoids a store import cycle). */
 interface RootWithQrDetected {
   qrDetected: QrDetectedState;
@@ -117,7 +118,7 @@ declare function medianQrPosition(entries: readonly QrDetectionEntry[]): Vector3
  * buffer (NOT stored separately — the detections are the source of truth, unlike
  * the depth-measured size which is accumulated outside the buffer). Mirrors the
  * size lifecycle's `unknown → measuring → stable` shape so the HUD can show
- * "converging…" vs "stable". See `ar/qr-pose-aggregation.ts`.
+ * "converging…" vs "stable". See `ar/qr/qr-pose-aggregation.ts`.
  */
 declare function selectQrPoseStability(state: RootWithQrDetected, text: string, options?: QrPoseStabilityOptions): QrPoseStability;
 /**
@@ -141,7 +142,7 @@ declare function selectStableQrPose(state: RootWithQrDetected, text: string, opt
  * `null` when the marker is unknown, has no raw observations, cannot be sized
  * yet, or PnP rejects the latest quad — the re-test-friendly replacement for the
  * once-stored solved pose. Runs identically live and on replay (only
- * `deps.resolveDepthAt` differs). See `ar/qr-derived-pose.ts`.
+ * `deps.resolveDepthAt` differs). See `ar/qr/qr-derived-pose.ts`.
  */
 declare function selectSolvedQrPose(state: RootWithQrDetected, text: string, deps: DeriveQrPoseDeps): Pose | null;
 /**

package/dist/{qr-detection-controller-Bo4XfQTP.d.ts → qr-detection-controller-C5NII-vs.d.ts}

@@ -1,9 +1,9 @@
-import { i as Pose } from "./qr-pose-y3vaEd6x.js";
-import { i as QrDetection, o as RgbaImage } from "./qr-frontend-BPURlh3S.js";
-import { i as RawQrObservation } from "./qr-derived-pose-BwNWn8oV.js";
+import { i as Pose } from "./qr-pose-21fRDcFO.js";
+import { i as QrDetection, o as RgbaImage } from "./qr-frontend-QzKZSqB-.js";
+import { i as RawQrObservation } from "./qr-derived-pose-DZPxZd9C.js";
 import { Matrix4 } from "gps-plus-slam-js";
 
-//#region ../src/ar/qr-detection-controller.d.ts
+//#region ../src/ar/qr/qr-detection-controller.d.ts
 /** Minimal scan-status machine (NO QR detail — per the recorder scope). */
 type QrScanStatus = 'idle' | 'scanning' | 'tracking';
 /** Sink for one recorded RAW observation — e.g. dispatch `recordQrDetection`. */

package/dist/{qr-detection-controller-B-tLVd-S.js → qr-detection-controller-DXc1yHRf.js}

@@ -1,6 +1,6 @@
 import { createLogger } from "./utils/logger.js";
-import { validateQuad } from "./ar/qr-pose.js";
-//#region ../src/ar/detection-scheduler.ts
+import { validateQuad } from "./ar/qr/qr-pose.js";
+//#region ../src/ar/qr/detection-scheduler.ts
 const log = createLogger("DetectionScheduler");
 const defaultNow = () => typeof performance !== "undefined" && typeof performance.now === "function" ? performance.now() : Date.now();
 function createDetectionScheduler(config) {
@@ -58,7 +58,7 @@ function createQrDetectionScheduler(config) {
 	return createDetectionScheduler(config);
 }
 //#endregion
-//#region ../src/ar/qr-detection-controller.ts
+//#region ../src/ar/qr/qr-detection-controller.ts
 /**
 * Create the thin RAW producer. On each accepted decode it emits a
 * {@link RawQrObservation} via `recordDetection`; it does not size or solve.

package/dist/{qr-frontend-BPURlh3S.d.ts → qr-frontend-QzKZSqB-.d.ts}

@@ -1,6 +1,6 @@
-import { r as Point2 } from "./qr-pose-y3vaEd6x.js";
+import { r as Point2 } from "./qr-pose-21fRDcFO.js";
 
-//#region ../src/ar/qr-frontend.d.ts
+//#region ../src/ar/qr/qr-frontend.d.ts
 /** Raw RGBA pixels of the frame fed to detection (top-left origin). */
 interface RgbaImage {
   data: Uint8ClampedArray;

package/dist/{qr-pose-y3vaEd6x.d.ts → qr-pose-21fRDcFO.d.ts}

@@ -1,6 +1,6 @@
 import { Matrix4, Quaternion, Vector3 } from "gps-plus-slam-js";
 
-//#region ../src/ar/qr-pose.d.ts
+//#region ../src/ar/qr/qr-pose.d.ts
 /** A 2D point in image/pixel space (top-left origin, x right, y down). */
 interface Point2 {
   x: number;

package/dist/{qr-pose-aggregation-DBiaLW0O.js → qr-pose-aggregation-Cp0Mtg_j.js}

@@ -1,9 +1,10 @@
-import { t as geodesicAngleRad } from "./geodesic-angle-BTldfFgs.js";
+import { n as lowerMedian } from "./median-DDBrZGP0.js";
+import { t as geodesicAngleRad } from "./geodesic-angle-CZ_Ow90I.js";
 import { quat } from "gl-matrix";
-//#region ../src/ar/qr-pose-aggregation.ts
+//#region ../src/ar/qr/qr-pose-aggregation.ts
 /**
 * QR pose aggregation — sliding-window pose stabilization
-* (docs `2026-06-16-followup-qr-pose-stabilization-sliding-window.md`).
+* (docs `2026-06-16-0858-qr-pose-stabilization-sliding-window-followup.md`).
 *
 * Pure, device-free, store-free robust aggregation of a STATIC fiducial's pose
 * across a short sliding window of detections. A QR is static in the world, so
@@ -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-pose-aggregation-CypnmjA-.d.ts → qr-pose-aggregation-mABSN0AW.d.ts}

@@ -1,7 +1,7 @@
-import { i as Pose } from "./qr-pose-y3vaEd6x.js";
+import { i as Pose } from "./qr-pose-21fRDcFO.js";
 import { Quaternion } from "gps-plus-slam-js";
 
-//#region ../src/ar/qr-pose-aggregation.d.ts
+//#region ../src/ar/qr/qr-pose-aggregation.d.ts
 /** Default inlier half-angle (deg) — start ~12°, confirm on device. */
 declare const DEFAULT_ROTATION_INLIER_ANGLE_DEG = 12;
 interface AverageRotationOptions {

package/dist/{qr-size-depth-context-apAOmbrZ.d.ts → qr-size-depth-context-CMDv6T29.d.ts}

@@ -1,7 +1,7 @@
-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-D6PYS4bc.js";
+import { n as QrSizeDepthContext } from "./qr-size-measurer-rVFf4AdM.js";
 
-//#region ../src/ar/qr-size-depth-context.d.ts
+//#region ../src/ar/qr/qr-size-depth-context.d.ts
 /**
  * Build a {@link QrSizeDepthContext} from one depth sample, or `null` when it has
  * no projection matrix / a singular one (the unprojector cannot be built). The

package/dist/{qr-size-measurer-DxiMqRUw.d.ts → qr-size-measurer-rVFf4AdM.d.ts}

@@ -1,9 +1,9 @@
-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-D6PYS4bc.js";
+import { t as DepthUnprojector } from "./depth-unprojection-ET3Gwedf.js";
+import { r as Point2 } from "./qr-pose-21fRDcFO.js";
 import { Vector3 } from "gps-plus-slam-js";
 
-//#region ../src/ar/qr-size-from-depth.d.ts
+//#region ../src/ar/qr/qr-size-from-depth.d.ts
 /** Where the size lifecycle currently sits for one marker (Note 3 / Note 4). */
 type QrSizeStatus = /** No size authored and none measured yet — size-dependent features blocked. */'unknown' /** Measurements are accumulating but the estimate has not converged. */ | 'measuring' /** A reliably-estimated (or authored) size — size-dependent features unlock. */ | 'estimated';
 /** Per-marker physical-size estimate (drives the Note 3 size lifecycle). */
@@ -73,7 +73,7 @@ interface QrSizeAccumulator {
 }
 declare function createQrSizeAccumulator(options?: QrSizeAccumulatorOptions): QrSizeAccumulator;
 //#endregion
-//#region ../src/ar/qr-size-measurer.d.ts
+//#region ../src/ar/qr/qr-size-measurer.d.ts
 /**
  * Robustness knobs for the depth-at-corners stage (on top of the accumulator
  * options). QR corners sit on a high-contrast print boundary where the coarse

package/dist/{qr-size-measurer-DLb33geH.js → qr-size-measurer-zZB9S1va.js}

@@ -1,8 +1,9 @@
+import { t as interpolatingMedian } from "./median-DDBrZGP0.js";
 import { vec3 } from "gl-matrix";
-//#region ../src/ar/qr-size-from-depth.ts
+//#region ../src/ar/qr/qr-size-from-depth.ts
 /**
 * QR size from depth — Note 4 of the QR-tracking follow-up plan
-* (docs `2026-06-15-followup-qr-tracking-generalization-overlay-and-north.md`).
+* (docs `2026-06-15-1219-qr-tracking-generalization-overlay-and-north-followup.md`).
 *
 * MEASURE a QR's printed physical size directly from the depth map, so the
 * QR content + printed size are irrelevant and `qr.physicalSizeM` need not be
@@ -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",
@@ -395,7 +389,7 @@ function createQrSizeAccumulator(options = {}) {
 	};
 }
 //#endregion
-//#region ../src/ar/qr-size-measurer.ts
+//#region ../src/ar/qr/qr-size-measurer.ts
 const EPS = 1e-9;
 /** Pixel corner → normalized screen point for the given frame. */
 function toScreen(corner, image) {

package/dist/{recording-replayer-BJ8Lf0QY.d.ts → recording-replayer-qT2EM1Qs.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-DFm5K9Ob.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-DXw5-UvO.d.ts}

@@ -1,6 +1,6 @@
-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-D6PYS4bc.js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
+import * as _$redux from "redux";
 
 //#region ../src/state/recording-slice.d.ts
 interface SessionMetadata {
@@ -17,8 +17,13 @@ interface SessionMetadata {
   startTime: number;
   deviceInfo?: string;
   notes?: string;
-  /** Recording options used for this session (for replay context) */
-  recordingOptions?: RecordingOptions;
+  /**
+   * Recording options used for this session (for replay context). Stored
+   * OPAQUELY: the recorder owns the concrete `RecordingOptions` type (its
+   * settings catalog, `GpsPlusSlamJs_RecorderApp/src/state/recording-options.ts`
+   * since the 2026-07-11 G-1 move) and narrows this on read.
+   */
+  recordingOptions?: Record<string, unknown>;
 }
 /**
  * Payload accepted by {@link startSession}. New callers pass `contextTag`.
@@ -50,6 +55,6 @@ interface RecordingState {
   latestDepthSample: DepthSample | null;
 }
 declare const startSession: _$_reduxjs_toolkit0.ActionCreatorWithPayload<StartSessionPayload, "recording/startSession">, endSession: _$_reduxjs_toolkit0.ActionCreatorWithoutPayload<"recording/endSession">, recordDepthSample: _$_reduxjs_toolkit0.ActionCreatorWithPayload<DepthSample, "recording/recordDepthSample">, recordWriteFailure: _$_reduxjs_toolkit0.ActionCreatorWithPayload<string, "recording/recordWriteFailure">;
-declare const recordingReducer: _$_reduxjs_toolkit0.Reducer<RecordingState>;
+declare const recordingReducer: _$redux.Reducer<RecordingState>;
 //#endregion
 export { recordWriteFailure as a, recordDepthSample as i, SessionMetadata as n, recordingReducer as o, endSession as r, startSession as s, RecordingState as t };

package/dist/{replay-engine-DmCAc7WM.d.ts → replay-engine-B1H_kLhK.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-DFm5K9Ob.js";
 import { ReducersMapObject } from "@reduxjs/toolkit";
 
 //#region ../src/state/replay-engine.d.ts

package/dist/{replay-scene-zJ8SFDjE.d.ts → replay-scene-BJeO36YT.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 CameraFollower } from "./camera-follower-CO_ibF2o.js";
+import { t as AlignmentLerper } from "./alignment-lerper-DAHicRON.js";
+import { t as Css3dRendererManager } from "./css3d-renderer-manager-CJjHtCMT.js";
 import * as THREE from "three";
 import { OrbitControls } from "three/addons/controls/OrbitControls.js";
 
@@ -9,6 +9,11 @@ type CameraMode = 'orbit' | 'fps';
 interface ReplaySceneState {
   scene: THREE.Scene;
   arWorldGroup: THREE.Group;
+  /**
+   * The arpose node (between basisChangeNode and the detached camera slot).
+   * Store subscribers write recorded odom poses here during replay.
+   */
+  arpose: THREE.Object3D;
   camera: THREE.PerspectiveCamera;
   renderer: THREE.WebGLRenderer;
   orbitControls: OrbitControls;
@@ -25,7 +30,8 @@ interface ReplaySceneState {
  * - Creates the scene hierarchy via createSceneHierarchy()
  * - Reparents camera from arWorldGroup to scene root (Risk R5)
  * - Creates a WebGLRenderer WITHOUT WebXR
- * - Registers scene with module-global getters (Risk R1)
+ * - Keeps its own scene/arWorldGroup/arpose/camera references (returned
+ *   here and via getReplayState()) — nothing is written into webxr-session
  * - Inserts canvas into the provided container
  * - Starts a requestAnimationFrame render loop
  * - Sets up OrbitControls as default camera mode
@@ -37,6 +43,7 @@ interface ReplaySceneState {
 declare function initReplayScene(container: HTMLElement): {
   scene: THREE.Scene;
   arWorldGroup: THREE.Group;
+  arpose: THREE.Object3D;
   camera: THREE.PerspectiveCamera;
   renderer: THREE.WebGLRenderer;
 };
@@ -47,7 +54,7 @@ declare function initReplayScene(container: HTMLElement): {
  * - Disposes renderer (frees GPU resources)
  * - Disposes camera controls
  * - Removes canvas from DOM
- * - Clears module-global scene references
+ * - Clears this module's state (getReplayState() returns null afterwards)
  *
  * Safe to call multiple times (idempotent).
  */

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-Dj1One3y.js";
 export { AbsoluteOrientationReading, AbsoluteOrientationStatus, getLatestAbsoluteOrientation, isAbsoluteOrientationAvailable, startAbsoluteOrientationWatch, stopAbsoluteOrientationWatch };

package/dist/sensors/absolute-orientation.js

@@ -4,7 +4,7 @@ import { createLogger } from "../utils/logger.js";
 * AbsoluteOrientationSensor capture (Generic Sensor API).
 *
 * Phase 1 of the AbsoluteOrientationSensor plan
-* (GpsPlusSlamJs_Docs/docs/2026-06-25-absolute-orientation-sensor-plan.md §5.1):
+* (GpsPlusSlamJs_Docs/docs/2026-06-25-0543-absolute-orientation-sensor-plan.md §5.1):
 * passive instrumentation that fuses accelerometer + gyroscope + magnetometer
 * into an Earth-referenced (ENU) quaternion, captured per GPS event as an
 * independent north reference. No production behaviour change.

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-CnhYrJCa.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 };