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

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-DXw5-UvO.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-B1H_kLhK.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-j-eOYybQ.js";
+import { n as wireStoreSubscribers, t as StoreSubscriberDeps } from "../store-subscribers-CWHToX6N.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-DkhsYDGM.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-j-eOYybQ.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-DFm5K9Ob.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-DDBrZGP0.js";
+import { t as geodesicAngleRad } from "../geodesic-angle-CZ_Ow90I.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-BAbcZK-Y.js";
 export { DeviceOrientation, PoseReceivedPayload, ResetTransformData, TrackingPhase, TrackingSliceState, clearLastRestartedPayload, originReset, poseLost, poseReceived, resetTracking, selectLastRestartedPayload, selectLastSensorOrientation, selectLastValidPose, selectLostFrameCount, selectTrackingPhase, trackingReducer };

package/dist/{state-BeKvn4B-.js → state-CDF5LvsO.js}

@@ -1,13 +1,11 @@
-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-oK9bnqyI.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-BHI0rXr9.js";
 export { LEGACY_SESSION_IMAGES_DIR, SESSION_IMAGES_DIR, formatActionFilename, formatFrameFilename, formatTimestamp };

package/dist/storage/file-system-utils.js

@@ -33,7 +33,7 @@ function formatFrameFilename(index) {
 * is a textbook COLMAP tree (`images/frame-NNNNNN.jpg` next to `sparse/0/`).
 * Both the OPFS write path and the recorder's persisted `imageFile` value must
 * use THIS constant so a recording stays self-consistent (COLMAP export plan
-* Q5, gps-plus-slam/GpsPlusSlamJs_Docs/docs/2026-06-13-colmap-export-plan.md).
+* Q5, gps-plus-slam/GpsPlusSlamJs_Docs/docs/2026-06-13-1205-colmap-export-plan.md).
 */
 const SESSION_IMAGES_DIR = "images";
 /**

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-BHI0rXr9.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-CyoX7XL7.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 };

package/dist/storage/null-storage-backend.d.ts

@@ -1,2 +1,2 @@
-import { t as NullStorageBackend } from "../null-storage-backend-B1-jlpin.js";
+import { t as NullStorageBackend } from "../null-storage-backend-DXXuwG8T.js";
 export { NullStorageBackend };

package/dist/storage/opfs-storage-backend.d.ts

@@ -1,2 +1,2 @@
-import { t as OpfsStorageBackend } from "../opfs-storage-backend-D6Z03fML.js";
+import { t as OpfsStorageBackend } from "../opfs-storage-backend-D1ZpeNEL.js";
 export { OpfsStorageBackend };

package/dist/storage/opfs-storage.d.ts

@@ -1,2 +1,2 @@
-import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, f as setSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, m as writeFrame, n as SessionMetadata, o as getSessionHandle, p as writeAction, r as checkStorageQuota, s as getSessionsRootHandle, t as CreateSessionResult, u as resetOpfsStorage } from "../opfs-storage-CTkxvxN4.js";
+import { a as getAppRootHandle, c as initOpfsStorage, d as resetSessionHandles, f as setSessionHandles, h as writeSessionMetadata, i as createSession, l as listSessions, m as writeFrame, n as SessionMetadata, o as getSessionHandle, p as writeAction, r as checkStorageQuota, s as getSessionsRootHandle, t as CreateSessionResult, u as resetOpfsStorage } from "../opfs-storage-S_odkCk1.js";
 export { CreateSessionResult, SessionMetadata, checkStorageQuota, createSession, getAppRootHandle, getSessionHandle, getSessionsRootHandle, initOpfsStorage, listSessions, resetOpfsStorage, resetSessionHandles, setSessionHandles, writeAction, writeFrame, writeSessionMetadata };

package/dist/storage/storage-backend.d.ts

@@ -1,2 +1,2 @@
-import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-sEtmM4yW.js";
+import { n as StorageBackend, t as CreateSessionResult } from "../storage-backend-BX7egQKi.js";
 export { CreateSessionResult, StorageBackend };

package/dist/storage/zip-coverage-embed.d.ts

@@ -1,2 +1,2 @@
-import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-ncVbaZAz.js";
+import { t as embedCoverageInSessionJson } from "../zip-coverage-embed-CyoX7XL7.js";
 export { embedCoverageInSessionJson };

package/dist/storage/zip-coverage-embed.js

@@ -18,7 +18,7 @@ import { BlobReader, BlobWriter, TextReader, TextWriter, Uint8ArrayReader, Uint8
 * protocol around it.
 *
 * @see ./zip-coverage-embed.ts.md
-* @see GpsPlusSlamJs_Docs/docs/2026-06-14-followup-progressive-map-browser-indexing-and-backfill.md (B3)
+* @see GpsPlusSlamJs_Docs/docs/2026-06-14-1924-progressive-map-browser-indexing-and-backfill-followup.md (B3)
 */
 const log = createLogger("ZipCoverageEmbed");
 /**

package/dist/storage/zip-export.d.ts

@@ -1,2 +1,2 @@
-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 { 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";
 export { ExportSessionAsZipOptions, ZipContributorAddFile, ZipExportContributor, ZipExportResult, downloadZip, exportSessionAsZip, exportSessionHandleAsZip, syncToExternalZip };

package/dist/storage/zip-export.js

@@ -1,4 +1,5 @@
 import { createLogger } from "../utils/logger.js";
+import { getSessionsRootHandle } from "./opfs-storage.js";
 import { BlobReader, BlobWriter, ZipWriter } from "@zip.js/zip.js";
 //#region ../src/storage/zip-export.ts
 /**
@@ -20,10 +21,15 @@ import { BlobReader, BlobWriter, ZipWriter } from "@zip.js/zip.js";
 */
 const log = createLogger("ZipExport");
 /**
-* Get the OPFS sessions directory handle (flat layout).
+* Get the OPFS sessions directory handle from the layout owner
+* (quality-review G-9 — this used to re-derive the
+* `'gps-plus-slam'/'sessions'` path itself, so a root re-nesting in
+* `opfs-storage.ts` would have silently broken export only).
 */
-async function getSessionsHandle() {
-	return (await (await navigator.storage.getDirectory()).getDirectoryHandle("gps-plus-slam")).getDirectoryHandle("sessions");
+function getSessionsHandle() {
+	const sessions = getSessionsRootHandle();
+	if (!sessions) throw new Error("OPFS storage not initialized — call initOpfsStorage() before exporting");
+	return sessions;
 }
 /**
 * Stream all files from a directory recursively into a ZipWriter.
@@ -65,7 +71,7 @@ async function streamDirectoryToZip(dirHandle, zipWriter, basePath = "") {
 */
 async function exportSessionAsZip(sessionName, options) {
 	log.info(`Exporting session: ${sessionName}`);
-	const sessionsDir = await getSessionsHandle();
+	const sessionsDir = getSessionsHandle();
 	let sessionHandle;
 	try {
 		sessionHandle = await sessionsDir.getDirectoryHandle(sessionName);

package/dist/storage/zip-reader.d.ts

@@ -1,2 +1,2 @@
-import { a as ZipActionEntry, c as loadActionsFromZip, d as loadSessionMetadata, f as loadSessionMetadataFromBlob, i as RecordedAction, l as loadEntriesFromSubdir, m as toZipReader, n as GpsPathCoord, o as ZipSource, p as readZipEntries, r as MAX_ACTION_FILE_SIZE, s as ZipSubdirEntry, t as Entry, u as loadGpsPathFromBlob } from "../zip-reader-BzENzMH6.js";
+import { a as ZipActionEntry, c as loadActionsFromZip, d as loadSessionMetadata, f as loadSessionMetadataFromBlob, i as RecordedAction, l as loadEntriesFromSubdir, m as toZipReader, n as GpsPathCoord, o as ZipSource, 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";
 export { Entry, GpsPathCoord, MAX_ACTION_FILE_SIZE, RecordedAction, ZipActionEntry, ZipSource, ZipSubdirEntry, loadActionsFromZip, loadEntriesFromSubdir, loadGpsPathFromBlob, loadSessionMetadata, loadSessionMetadataFromBlob, readZipEntries, toZipReader };

package/dist/{storage-backend-sEtmM4yW.d.ts → storage-backend-BX7egQKi.d.ts}

@@ -1,4 +1,4 @@
-import { n as SessionMetadata } from "./opfs-storage-CTkxvxN4.js";
+import { n as SessionMetadata } from "./opfs-storage-S_odkCk1.js";
 
 //#region ../src/storage/storage-backend.d.ts
 interface CreateSessionResult {

package/dist/{store-subscribers-DJUErW-o.d.ts → store-subscribers-CWHToX6N.d.ts}

@@ -1,5 +1,5 @@
-import { t as MapData } from "./map-data-CUnTzRIC.js";
-import { t as SubscribableStore } from "./subscribe-to-selector-dQV8SpsO.js";
+import { t as MapData } from "./map-data-D8cCqpOM.js";
+import { t as SubscribableStore } from "./subscribe-to-selector-j-eOYybQ.js";
 import { LatLong, Matrix4, Quaternion, Vector3 } from "gps-plus-slam-js";
 
 //#region ../src/state/store-subscribers.d.ts

package/dist/{subscribe-to-selector-dQV8SpsO.d.ts → subscribe-to-selector-j-eOYybQ.d.ts}

@@ -1,4 +1,4 @@
-import { N as CombinedRootState } from "./create-slam-app-store-D1QSMuKu.js";
+import { N as CombinedRootState } from "./create-slam-app-store-DFm5K9Ob.js";
 
 //#region ../src/state/subscribe-to-selector.d.ts
 /**

package/dist/test-utils/browser-mocks.d.ts

@@ -1,4 +1,4 @@
-import { o as WebXRQuaternion, s as WebXRVec3 } from "../ar-types-Cc5yvBwn.js";
+import { o as WebXRQuaternion, s as WebXRVec3 } from "../ar-types-D6PYS4bc.js";
 import { Mock } from "vitest";
 
 //#region ../src/test-utils/browser-mocks.d.ts

package/dist/test-utils/zip-round-trip-helpers.d.ts

@@ -1,4 +1,4 @@
-import { i as RecordedAction } from "../zip-reader-BzENzMH6.js";
+import { i as RecordedAction } from "../zip-reader-BHc_b_iA.js";
 import { LatLong } from "gps-plus-slam-js";
 
 //#region ../src/test-utils/zip-round-trip-helpers.d.ts

package/dist/{tracking-slice-DMkHlbny.d.ts → tracking-slice-BAbcZK-Y.d.ts}

@@ -1,6 +1,7 @@
-import { t as ARPose } from "./ar-types-Cc5yvBwn.js";
+import { t as ARPose } from "./ar-types-D6PYS4bc.js";
 import { OdometryTrackingRestartedPayload, Quaternion, Vector3 } from "gps-plus-slam-js";
 import * as _$_reduxjs_toolkit0 from "@reduxjs/toolkit";
+import * as _$redux from "redux";
 
 //#region ../src/state/tracking-slice.d.ts
 /**
@@ -60,7 +61,7 @@ interface PoseReceivedPayload {
   sensorOrientation: DeviceOrientation;
 }
 declare const poseReceived: _$_reduxjs_toolkit0.ActionCreatorWithPayload<PoseReceivedPayload, "tracking/poseReceived">, poseLost: _$_reduxjs_toolkit0.ActionCreatorWithoutPayload<"tracking/poseLost">, originReset: _$_reduxjs_toolkit0.ActionCreatorWithPreparedPayload<[transform?: ResetTransformData | null | undefined], ResetTransformData | null | undefined, "tracking/originReset", never, never>, resetTracking: _$_reduxjs_toolkit0.ActionCreatorWithoutPayload<"tracking/resetTracking">, clearLastRestartedPayload: _$_reduxjs_toolkit0.ActionCreatorWithoutPayload<"tracking/clearLastRestartedPayload">;
-declare const trackingReducer: _$_reduxjs_toolkit0.Reducer<TrackingSliceState>;
+declare const trackingReducer: _$redux.Reducer<TrackingSliceState>;
 /**
  * Minimal root-state shape needed by the selectors. Avoids a hard import
  * cycle through `SlamAppRootState`.

package/dist/types/ar-types.d.ts

@@ -1,2 +1,2 @@
-import { a as RgbTuple, i as DepthSample, n as ArPoseTuples, o as WebXRQuaternion, r as DepthPoint, s as WebXRVec3, t as ARPose } from "../ar-types-Cc5yvBwn.js";
-export { ARPose, ArPoseTuples, DepthPoint, DepthSample, RgbTuple, WebXRQuaternion, WebXRVec3 };
+import { a as RgbTuple, c as extractOdomPosition, i as DepthSample, l as extractOdomRotation, n as ArPoseTuples, o as WebXRQuaternion, r as DepthPoint, s as WebXRVec3, t as ARPose } from "../ar-types-D6PYS4bc.js";
+export { ARPose, ArPoseTuples, DepthPoint, DepthSample, RgbTuple, WebXRQuaternion, WebXRVec3, extractOdomPosition, extractOdomRotation };

package/dist/types/ar-types.js

@@ -1 +1,31 @@
-export {};
+//#region ../src/types/ar-types.ts
+/**
+* Extract the raw odometry position tuple from an {@link ARPose}.
+*
+* Returns the raw WebXR position without coordinate conversion — the reducer
+* applies the WebXR→NUE transform when storing into state (raw-storage
+* pattern, see docs/2026-04-09-raw-storage-convert-on-read.md).
+* WebXR local-floor frame: X=East, Y=Up, Z=South (toward viewer / backward).
+*
+* Lives next to the type (quality-review G-8 — it used to sit in
+* `state/gps-event-coordinator.ts`, forcing an ar→state import in
+* `ar/depth-sampler.ts`).
+*/
+function extractOdomPosition(arPose) {
+	return [
+		arPose.position.x,
+		arPose.position.y,
+		arPose.position.z
+	];
+}
+/** Extract the raw odometry rotation tuple from an {@link ARPose}. */
+function extractOdomRotation(arPose) {
+	return [
+		arPose.orientation.x,
+		arPose.orientation.y,
+		arPose.orientation.z,
+		arPose.orientation.w
+	];
+}
+//#endregion
+export { extractOdomPosition, extractOdomRotation };

package/dist/types/geo-types.d.ts

@@ -1,2 +1,2 @@
-import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-DrGVu8nS.js";
+import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-BfDK8kJu.js";
 export { GpsCoord, RawGpsSample, RefPointMarker };

package/dist/types/index.d.ts

@@ -1,3 +1,3 @@
-import { a as RgbTuple, i as DepthSample, n as ArPoseTuples, o as WebXRQuaternion, r as DepthPoint, s as WebXRVec3, t as ARPose } from "../ar-types-Cc5yvBwn.js";
-import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-DrGVu8nS.js";
-export { ARPose, ArPoseTuples, DepthPoint, DepthSample, GpsCoord, RawGpsSample, RefPointMarker, RgbTuple, WebXRQuaternion, WebXRVec3 };
+import { a as RgbTuple, c as extractOdomPosition, i as DepthSample, l as extractOdomRotation, n as ArPoseTuples, o as WebXRQuaternion, r as DepthPoint, s as WebXRVec3, t as ARPose } from "../ar-types-D6PYS4bc.js";
+import { n as RawGpsSample, r as RefPointMarker, t as GpsCoord } from "../geo-types-BfDK8kJu.js";
+export { ARPose, ArPoseTuples, DepthPoint, DepthSample, GpsCoord, RawGpsSample, RefPointMarker, RgbTuple, WebXRQuaternion, WebXRVec3, extractOdomPosition, extractOdomRotation };

package/dist/types/index.js

@@ -1 +1,2 @@
-export {};
+import { extractOdomPosition, extractOdomRotation } from "./ar-types.js";
+export { extractOdomPosition, extractOdomRotation };

package/dist/utils/concurrency.d.ts

@@ -1,2 +1,2 @@
-import { n as mapWithConcurrencyLimit, t as forEachWithConcurrencyLimit } from "../concurrency-DPeGBH0X.js";
+import { n as mapWithConcurrencyLimit, t as forEachWithConcurrencyLimit } from "../concurrency-DW0jQo3G.js";
 export { forEachWithConcurrencyLimit, mapWithConcurrencyLimit };

package/dist/utils/failure-tracker.d.ts

@@ -1,2 +1,2 @@
-import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-CeKf5HIc.js";
+import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-B7fzPfZo.js";
 export { FailureTracker, FailureTrackerConfig, createFailureTracker };

package/dist/utils/format-file-size.d.ts

@@ -1,2 +1,2 @@
-import { t as formatFileSize } from "../format-file-size-DxN-EBLc.js";
+import { t as formatFileSize } from "../format-file-size-Da8rZgfs.js";
 export { formatFileSize };

package/dist/utils/fused-path.d.ts

@@ -1,2 +1,2 @@
-import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-C5pp0PJU.js";
+import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-DOKzVMiO.js";
 export { FusedPathInput, computeFusedPath, fusedGpsFromOdom };

package/dist/utils/fused-path.js

@@ -1,5 +1,5 @@
-import { calcGpsCoords, fusedGpsFromOdom } from "gps-plus-slam-js";
 import { mat4, vec3 } from "gl-matrix";
+import { calcGpsCoords, fusedGpsFromOdom } from "gps-plus-slam-js";
 //#region ../src/utils/fused-path.ts
 /**
 * Fused Path Calculation

package/dist/utils/index.d.ts

@@ -1,8 +1,8 @@
-import { a as createLogger, c as setGlobalLogLevel, i as clearLogBuffer, l as subscribeToLogs, n as LogLevel, o as getGlobalLogLevel, r as Logger, s as getLogBuffer, t as LogEntry } from "../logger-CqTd5Kpk.js";
-import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-C5pp0PJU.js";
-import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-CeKf5HIc.js";
-import { n as mapWithConcurrencyLimit } from "../concurrency-DPeGBH0X.js";
-import { t as geodesicAngleRad } from "../index-D74JTX4I.js";
-import { t as formatFileSize } from "../format-file-size-DxN-EBLc.js";
-import { t as listFormatter } from "../list-formatter-DLFDnS70.js";
+import { a as createLogger, c as setGlobalLogLevel, i as clearLogBuffer, l as subscribeToLogs, n as LogLevel, o as getGlobalLogLevel, r as Logger, s as getLogBuffer, t as LogEntry } from "../logger-B4StJUDb.js";
+import { n as computeFusedPath, r as fusedGpsFromOdom, t as FusedPathInput } from "../fused-path-DOKzVMiO.js";
+import { n as FailureTrackerConfig, r as createFailureTracker, t as FailureTracker } from "../failure-tracker-B7fzPfZo.js";
+import { n as mapWithConcurrencyLimit } from "../concurrency-DW0jQo3G.js";
+import { t as geodesicAngleRad } from "../index-Nr3qg4IH.js";
+import { t as formatFileSize } from "../format-file-size-Da8rZgfs.js";
+import { t as listFormatter } from "../list-formatter-1ttG18MQ.js";
 export { FailureTracker, FailureTrackerConfig, FusedPathInput, LogEntry, LogLevel, Logger, clearLogBuffer, computeFusedPath, createFailureTracker, createLogger, formatFileSize, fusedGpsFromOdom, geodesicAngleRad, getGlobalLogLevel, getLogBuffer, listFormatter, mapWithConcurrencyLimit, setGlobalLogLevel, subscribeToLogs };

package/dist/utils/index.js

@@ -1,6 +1,6 @@
 import { LogLevel, clearLogBuffer, createLogger, getGlobalLogLevel, getLogBuffer, setGlobalLogLevel, subscribeToLogs } from "./logger.js";
 import { createFailureTracker } from "./failure-tracker.js";
-import { t as geodesicAngleRad } from "../geodesic-angle-BTldfFgs.js";
+import { t as geodesicAngleRad } from "../geodesic-angle-CZ_Ow90I.js";
 import { computeFusedPath, fusedGpsFromOdom } from "./fused-path.js";
 import { mapWithConcurrencyLimit } from "./concurrency.js";
 import { formatFileSize } from "./format-file-size.js";

package/dist/utils/list-formatter.d.ts

@@ -1,2 +1,2 @@
-import { t as listFormatter } from "../list-formatter-DLFDnS70.js";
+import { t as listFormatter } from "../list-formatter-1ttG18MQ.js";
 export { listFormatter };

package/dist/utils/logger.d.ts

@@ -1,2 +1,2 @@
-import { a as createLogger, c as setGlobalLogLevel, i as clearLogBuffer, l as subscribeToLogs, n as LogLevel, o as getGlobalLogLevel, r as Logger, s as getLogBuffer, t as LogEntry } from "../logger-CqTd5Kpk.js";
+import { a as createLogger, c as setGlobalLogLevel, i as clearLogBuffer, l as subscribeToLogs, n as LogLevel, o as getGlobalLogLevel, r as Logger, s as getLogBuffer, t as LogEntry } from "../logger-B4StJUDb.js";
 export { LogEntry, LogLevel, Logger, clearLogBuffer, createLogger, getGlobalLogLevel, getLogBuffer, setGlobalLogLevel, subscribeToLogs };

package/dist/utils/logger.js

@@ -93,10 +93,17 @@ function serializeArg(arg) {
 	return safeStringify(arg);
 }
 /**
+* Serialize a log call's arguments once (quality-review C-5 — the buffer,
+* breadcrumb, and Sentry-message paths each used to re-serialize the same
+* args, i.e. 2–3× per log call). All downstream consumers take the string.
+*/
+function serializeArgs(args) {
+	return args.map((arg) => serializeArg(arg)).join(" ");
+}
+/**
 * Add an entry to the log buffer and notify subscribers
 */
-function addToBuffer(level, tag, args) {
-	const message = args.map((arg) => serializeArg(arg)).join(" ");
+function addToBuffer(level, tag, message) {
 	const entry = {
 		timestamp: Date.now(),
 		level,
@@ -177,8 +184,8 @@ function toSentryLevel(level) {
 * Add a Sentry breadcrumb for debugging context.
 * Breadcrumbs are attached to future exceptions, helping trace what happened before an error.
 */
-function addSentryBreadcrumb(level, tag, args) {
-	const message = `[${tag}] ${args.map((arg) => serializeArg(arg)).join(" ")}`;
+function addSentryBreadcrumb(level, tag, body) {
+	const message = `[${tag}] ${body}`;
 	Sentry.addBreadcrumb({
 		category: "log",
 		level: toSentryLevel(level),
@@ -213,8 +220,7 @@ function toFingerprintTemplate(body) {
 * messages from the same tag remain distinct Issues (see
 * {@link toFingerprintTemplate}).
 */
-function captureLogMessage(level, tag, args) {
-	const body = args.map((arg) => serializeArg(arg)).join(" ");
+function captureLogMessage(level, tag, body) {
 	const message = `[${tag}] ${body}`;
 	Sentry.captureMessage(message, {
 		level,
@@ -231,8 +237,8 @@ function captureLogMessage(level, tag, args) {
 * Called for log.warn() so warnings are independently visible in the
 * Sentry dashboard, not only as breadcrumbs attached to later exceptions.
 */
-function reportWarningToSentry(tag, args) {
-	captureLogMessage("warning", tag, args);
+function reportWarningToSentry(tag, body) {
+	captureLogMessage("warning", tag, body);
 }
 /**
 * Report log.error() arguments to Sentry as standalone Issues.
@@ -247,37 +253,41 @@ function reportWarningToSentry(tag, args) {
 * Issues when an Error is present, and groups via the same normalized template
 * fingerprint as warnings (see {@link captureLogMessage}).
 */
-function reportErrorsToSentry(tag, args) {
+function reportErrorsToSentry(tag, args, body) {
 	let capturedError = false;
 	for (const arg of args) if (arg instanceof Error) {
 		Sentry.captureException(arg);
 		capturedError = true;
 	}
-	if (!capturedError) captureLogMessage("error", tag, args);
+	if (!capturedError) captureLogMessage("error", tag, body);
 }
 function createLogger(tag) {
 	const prefix = `[${tag}]`;
 	return {
 		debug: (...args) => {
-			addToBuffer(0, tag, args);
-			addSentryBreadcrumb(0, tag, args);
+			const body = serializeArgs(args);
+			addToBuffer(0, tag, body);
+			addSentryBreadcrumb(0, tag, body);
 			if (globalLogLevel <= 0) console.log(prefix, ...args);
 		},
 		info: (...args) => {
-			addToBuffer(1, tag, args);
-			addSentryBreadcrumb(1, tag, args);
+			const body = serializeArgs(args);
+			addToBuffer(1, tag, body);
+			addSentryBreadcrumb(1, tag, body);
 			if (globalLogLevel <= 1) console.log(prefix, ...args);
 		},
 		warn: (...args) => {
-			addToBuffer(2, tag, args);
-			addSentryBreadcrumb(2, tag, args);
-			reportWarningToSentry(tag, args);
+			const body = serializeArgs(args);
+			addToBuffer(2, tag, body);
+			addSentryBreadcrumb(2, tag, body);
+			reportWarningToSentry(tag, body);
 			if (globalLogLevel <= 2) console.warn(prefix, ...args);
 		},
 		error: (...args) => {
-			addToBuffer(3, tag, args);
-			addSentryBreadcrumb(3, tag, args);
-			reportErrorsToSentry(tag, args);
+			const body = serializeArgs(args);
+			addToBuffer(3, tag, body);
+			addSentryBreadcrumb(3, tag, body);
+			reportErrorsToSentry(tag, args, body);
 			if (globalLogLevel <= 3) console.error(prefix, ...args);
 		}
 	};

package/dist/visualization/accuracy-circles.d.ts

@@ -1,2 +1,2 @@
-import { a as addAccuracyCircles, i as AccuracyCircleSample, n as ACCURACY_CIRCLE_STROKE_OPACITY, r as ACCURACY_CIRCLE_WEIGHT, t as ACCURACY_CIRCLE_FILL_OPACITY } from "../accuracy-circles-DkWBkF5g.js";
+import { a as addAccuracyCircles, i as AccuracyCircleSample, n as ACCURACY_CIRCLE_STROKE_OPACITY, r as ACCURACY_CIRCLE_WEIGHT, t as ACCURACY_CIRCLE_FILL_OPACITY } from "../accuracy-circles-BHz7yVIL.js";
 export { ACCURACY_CIRCLE_FILL_OPACITY, ACCURACY_CIRCLE_STROKE_OPACITY, ACCURACY_CIRCLE_WEIGHT, AccuracyCircleSample, addAccuracyCircles };