gps-plus-slam-js 1.0.1 → 1.0.4

package/dist/index.d.ts

@@ -499,7 +499,7 @@ declare const geoHashToLatLong: (geoHash: string) => LatLong;
 declare const distanceInMeters: (a: LatLong, b: LatLong) => number;
 declare const distanceInMetersRelative: (origin: LatLong, coord: LatLong) => number;
 declare const calcRelativeCoordsInMeters: (origin: LatLong, coord: LatLong, altitude?: number, originAltitude?: number) => vec3;
-declare const calcGpsCoords: (origin: LatLongAlt, relative: vec3) => LatLongAlt;
+declare const calcGpsCoords: (origin: LatLong, relative: vec3) => LatLong;
 declare const toEarthCenteredCoordinates: (coord: LatLong, altitude?: number) => vec3;
 declare const getGoogleMapsLink: (coord: LatLong) => string;
 declare const getGoogleMapsDirectionsLink: (destination: LatLong, origin: LatLong) => string;
@@ -518,7 +518,7 @@ declare const getOpenStreetMapLink: (coord: LatLong, zoomLevel?: number) => stri
  * @param zeroRef         - GPS origin for NUE→GPS conversion
  * @returns GPS coordinates as { lat, lon, altitude? }
  */
-declare const fusedGpsFromOdom: (alignmentMatrix: Matrix4, odomPosition: Vector3, zeroRef: LatLongAlt) => LatLongAlt;
+declare const fusedGpsFromOdom: (alignmentMatrix: Matrix4, odomPosition: Vector3, zeroRef: LatLong) => LatLongAlt;
 //#endregion
 //#region ../src/state/selectors.d.ts
 /** Returns the 4×4 alignment matrix, or null if not yet computed. */

package/dist/index.js

@@ -1,2 +1,2 @@
 /*! gps-plus-slam-js | (c) 2026 cs-util-com | UNLICENSED — see EULA.md */
-import{configureStore as e,createSlice as t}from"@reduxjs/toolkit";import{ed25519 as n}from"@noble/curves/ed25519.js";import{hexToBytes as r}from"@noble/curves/utils.js";import{mat4 as i,quat as a,vec3 as o,vec4 as s}from"gl-matrix";import{castDraft as c}from"immer";let l=!1;function u(){l=!0}function d(){if(!l)throw Error(`gps-plus-slam-js: license not activated. Construct your store via createRecorderStore() from gps-plus-slam-app-framework, or pass a valid licenseKey to createGpsSlamStore(). See EULA §3.`)}function f(e){return((...t)=>(d(),e(...t)))}function p(e){let t=((...t)=>(d(),e(...t)));return Object.assign(t,e),t.toString=()=>e.type,t}function m(e){return(t,n)=>(d(),e(t,n))}function h(e){let t=e.replace(/-/g,`+`).replace(/_/g,`/`),n=`=`.repeat((4-t.length%4)%4),r=atob(t+n);return Uint8Array.from(r,e=>e.charCodeAt(0))}function g(e){let t=new Date,i=e.indexOf(`.`);if(i<=0||i>=e.length-1)throw Error(`Invalid license key format: expected "payload.signature" with base64url-encoded parts.`);let a,o;try{a=h(e.substring(0,i)),o=h(e.substring(i+1))}catch{throw Error(`Invalid license key format: base64url decoding failed.`)}let s=r(`dfe5c62120b7a0ce962b17907a15b27cf1b056e6619bf6ce55e6e094b322a470`);if(!n.verify(o,a,s))throw Error(`Invalid license key: signature verification failed.`);let c=JSON.parse(new TextDecoder().decode(a));if(typeof c!=`object`||!c)throw Error(`Invalid license key: payload must be a JSON object.`);let{type:l,exp:d}=c;if(l!==`community`)throw Error(`Invalid license key: "type" must be "community".`);if(typeof d!=`number`||!Number.isFinite(d))throw Error(`Invalid license key: "exp" must be a finite number (Unix timestamp in seconds).`);if(d<Math.floor(t.getTime()/1e3)){let e=new Date(d*1e3);throw Error(`License key expired on ${e.toISOString()}. 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t=0;t<e.length;t++)d[t]=e[t]}else d.push(m);let h=0;p.useOnlyRecentData&&(h=Ct(u,p.recentSeconds));let g=yt(c.slice(h).map(N),d.slice(h),p,s??Math.random);e.alignmentMatrix=L(g.matrix);let _=a.create(),v=o.create(),y=o.create();_t(g.matrix,_,v,y),e.alignmentRotation=I(_),e.alignmentTranslation=F(v),e.alignmentRotationInDegree=F(y);let{mean:b,median:x}=Et(u);e.gpsAccuracyMean=b,e.gpsAccuracyMedian=x,e.currentGpsPosGeoHash=Tt(u,p.geohashPrecision,p.geohashWindowSize)},_t=(e,t,n,r)=>{i.getRotation(t,e),a.normalize(t,t),i.getTranslation(n,e),Dt(t,r)},X=o.create(),vt=o.create(),yt=(e,t,n,r)=>{if(e.length===0)return{matrix:i.create(),meanError:0};let a=e.length,o=[];for(let n=0;n<a;n+=1){let r=t[n];o.push({odom:e[n],ref:s.fromValues(r[0],r[1],r[2],r[3])})}if(n.useRansac&&o.length>=3){let e=o.length,t=Math.max(3,Math.min(e,Math.ceil(e*n.ransacSampleRatio))),i=$e(o,Math.max(t,Math.min(e,Math.ceil(e*n.ransacInlierRatio))),t,n.ransacMaxIterations,e=>bt(e,n.ignoreYAxisForRotation),(e,t)=>xt(e,t)<e.meanAlignmentError+n.ransacErrorTolerance,r);return{matrix:i.alignmentMatrix,meanError:i.meanAlignmentError}}let c=bt(o,n.ignoreYAxisForRotation);return{matrix:c.alignmentMatrix,meanError:c.meanAlignmentError}},bt=(e,t)=>{let n=Array.from(e),r=n.length,i=Array(r),a=Array(r);for(let e=0;e<r;e+=1)i[e]=n[e].odom,a[e]=n[e].ref;let s=Ze(i,a,{ignoreYAxisForRotation:t}),c=0;for(let e=0;e<r;e+=1)o.transformMat4(X,i[e],s),c+=St(X,n[e].ref);return{alignmentMatrix:s,meanAlignmentError:r===0?0:c/r,totalModelError:c}},xt=(e,t)=>(o.transformMat4(X,t.odom,e.alignmentMatrix),St(X,t.ref)),St=(e,t)=>(o.set(vt,t[0],t[1],t[2]),o.squaredDistance(e,vt)),Ct=(e,t)=>{if(e.length===0||t<=0)return 0;let n=e[e.length-1].timestamp-t*1e3;for(let t=0;t<e.length;t+=1)if(e[t].timestamp>=n)return t;return 0},wt=(e,t,n)=>{if(e.length<2)return e.map(e=>[e[0],e[1],e[2],e[3]]);let r=t[t.length-1].timestamp,i=t[0].timestamp,a=Math.max(1,r-i);return e.map((e,i)=>{let o=n*((r-t[i].timestamp)/a)+1,s=t[i].weight,c=1/(1/(s>0&&Number.isFinite(s)?s:1)+o);return[e[0],e[1],e[2],c]})},Z=new Map,Tt=(e,t,n)=>{if(e.length===0)return null;let r=Math.max(0,e.length-n);Z.clear();for(let n=r;n<e.length;n+=1){let r=e[n],i=ce(kt(r),t),a=Z.get(i);a?(a.count+=1,a.index=n):Z.set(i,{count:1,index:n})}let i=null,a=-1,o=-1;for(let[e,{count:t,index:n}]of Z)(t>a||t===a&&n>o)&&(i=e,a=t,o=n);return i},Et=e=>{let t=e.map(e=>e.latLongAccuracy).filter(e=>typeof e==`number`&&Number.isFinite(e));if(t.length===0)return{mean:null,median:null};let n=t.reduce((e,t)=>e+t,0)/t.length,r=t.slice().sort((e,t)=>e-t),i=Math.floor(r.length/2);return{mean:n,median:r.length%2==0?(r[i-1]+r[i])/2:r[i]}},Dt=(e,t)=>{let n=e[0],r=e[1],i=e[2],a=e[3],s=2*(a*n+r*i),c=1-2*(n*n+r*r),l=Math.atan2(s,c),u=2*(a*r-i*n),d;d=Math.abs(u)>=1?Math.PI/2*Math.sign(u):Math.asin(u);let f=2*(a*i+n*r),p=1-2*(r*r+i*i),m=Math.atan2(f,p),h=180/Math.PI,g=t??o.create();return g[0]=l*h,g[1]=d*h,g[2]=m*h,g},Ot=e=>[e.coordinates[0],e.coordinates[1],e.coordinates[2],e.weight>0&&Number.isFinite(e.weight)?e.weight:1],kt=e=>({lat:e.latitude,lon:e.longitude}),Q=e=>({...e,zeroRef:{lat:e.zeroRef.lat,lon:e.zeroRef.lon},coordinates:[e.coordinates[0],e.coordinates[1],e.coordinates[2]],timestamp:e.timestamp,deviceRotation:e.deviceRotation?H(Y(e.deviceRotation)):void 0}),At=({lat:e,lon:t})=>{if(!Number.isFinite(e))throw Error(`Invalid latitude value: ${e}`);if(!Number.isFinite(t))throw Error(`Invalid longitude value: ${t}`);if(e<-90||e>90)throw Error(`Invalid latitude range: ${e}`);if(t<-180||t>180)throw Error(`Invalid longitude range: ${t}`)},jt=o.fromValues(1,1,1),Mt=(e,t)=>[e[0]+t[0],e[1]+t[1],e[2]+t[2]],Nt=(e,t,n)=>{let r=O(t,{lat:e.latitude,lon:e.longitude},e.altitude??0,0),i=n?.alpha!=null&&n?.beta!=null&&n?.gamma!=null?G(K(n.alpha,n.beta,n.gamma)):void 0;return{...e,zeroRef:t,coordinates:F(r),weight:1,deviceRotation:i}},Pt=(e,t,n)=>{if(e)return K(e.alpha,e.beta,e.gamma);if(t)return t;throw Error(`Sensor rotation missing for ${n}: neither raw orientation nor legacy quaternion provided`)},Ft=e=>{let t=a.invert(a.create(),e);if(!t)throw Error(`Encountered non-invertible quaternion`);return t},It=e=>{let t=Ft(a.normalize(a.create(),P(e.lastSensorRot))),n=a.normalize(a.create(),P(e.lastValidOdomRot)),r=a.multiply(a.create(),t,n),i=a.normalize(a.create(),P(e.newSensorRot)),o=a.multiply(a.create(),i,r),s=a.normalize(a.create(),P(e.newOdomRot)),c=a.multiply(a.create(),o,s);return a.normalize(c,c),I(c)},Lt=(e,t)=>{let n=i.create();return i.fromRotationTranslationScale(n,a.normalize(a.create(),P(t)),N(e),jt),n},Rt=(e,t,n)=>{let r=o.create(),s=o.create(),c=a.create(),l=a.create();i.getTranslation(r,e),i.getTranslation(s,t),i.getRotation(c,e),i.getRotation(l,t);let u=o.create();o.lerp(u,r,s,n);let d=a.create();return a.slerp(d,c,l,n),i.fromRotationTranslation(i.create(),d,u)},zt=(e,t)=>{if(e.length===0)return[];let n=e[e.length-1],r=i.invert(i.create(),n);if(!r)throw Error(`End pose matrix is not invertible`);let a=i.multiply(i.create(),t,r),o=i.create(),s=e.length-1;return e.map((e,t)=>{let n=Rt(o,a,s<=0?1:t/s);return i.multiply(i.create(),n,e)})},Bt=(e,t,n)=>{for(let r=e.length-1;r>=0;--r)if(n(e[r],t))return r;return-1},Vt=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2],Ht=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3],Ut=t({name:`gpsData`,initialState:null,reducers:{setZeroPos:{reducer:(e,t)=>e===null?{zero:t.payload,gpsEvents:ft(),odometryPath:_e(),referencePoints:[]}:e,prepare:e=>(At(e),{payload:e})},recordGpsEvent:(e,t)=>{if(!e)return e;let{odomPosition:n,odomRotation:r,rawGpsPoint:i,rawDeviceOrientation:a}=t.payload,o=Nt(i,e.zero,a);gt(e.gpsEvents,U(n),W(r),o)},odometryTrackingRestarted:(e,t)=>{if(!e)return e;let n=Mt(e.gpsEvents.odometryPosOffset,U(t.payload.lastValidOdomPos)),r=Pt(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=Pt(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(mt({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:It({...t.payload,lastValidOdomRot:W(t.payload.lastValidOdomRot),newOdomRot:W(t.payload.newOdomRot),lastSensorRot:G(r),newSensorRot:G(i)}),latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},arLoopClosureDetected:(e,t)=>{if(!e)return e;let n=e.gpsEvents;if(n.odometryPositions.length===0)return e;let r=n.latestLoopClosureFixPointPos?Bt(n.odometryPositions,n.latestLoopClosureFixPointPos,Vt):0,s=n.latestLoopClosureFixPointRot?Bt(n.odometryRotations,n.latestLoopClosureFixPointRot,Ht):0;if(r<0||s<0)throw Error(`Loop closure fix point could not be located in history`);if(r!==s)throw Error(`Loop closure fix point indices for position and rotation diverged`);let l=n.odometryPositions.slice(0,r).map(e=>R(e)),u=n.odometryRotations.slice(0,r).map(e=>H(e)),d=n.odometryPositions.slice(r).map(e=>R(e)),f=n.odometryRotations.slice(r).map(e=>H(e)),p=d.map((e,t)=>Lt(e,f[t])),m=Lt(U(t.payload.lastPos),H(W(t.payload.lastRot)));p.push(m);let h=zt(p,Lt(U(t.payload.newPos),H(W(t.payload.newRot)))),g=[],_=[],v=o.create();for(let e=0;e<h.length-1;e+=1){let t=h[e],n=o.create();i.getTranslation(n,t);let r=a.create();if(i.getRotation(r,t),a.normalize(r,r),i.getScaling(v,t),Math.hypot(v[0]-1,v[1]-1,v[2]-1)>.05)throw Error(`Unexpected scale drift encountered during loop closure correction`);g.push(F(n)),_.push(I(r))}e.gpsEvents=c(mt({odometryPositions:l.concat(g),odometryRotations:u.concat(_),gpsPoints:n.gpsPositions,odometryPosOffset:n.odometryPosOffset,odometryRotOffset:n.odometryRotOffset,latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},add2dImage:(e,t)=>{if(!e)return e;e.odometryPath.points.push(c({imageFile:t.payload.imageFile,screenRotation:t.payload.screenRotation,position:U(t.payload.position),rotation:H(W(t.payload.rotation)),capturedAt:t.payload.capturedAt}))},markReferencePoint:(e,t)=>{if(!e)return e;let{id:n,position:r,rotation:i,rawGpsPoint:a,timestamp:o}=t.payload,s=Nt(a,e.zero);e.referencePoints.push(c({id:n,position:U(r),rotation:H(W(i)),gpsPoint:Q(s),timestamp:o??Date.now()}))}}}),{setZeroPos:Wt,recordGpsEvent:Gt,odometryTrackingRestarted:Kt,arLoopClosureDetected:qt,add2dImage:Jt,markReferencePoint:Yt}=Ut.actions,Xt=p(Wt),Zt=p(Gt),Qt=p(Kt),$t=p(qt),en=p(Jt),tn=p(Yt),nn=m(Ut.reducer),rn=t({name:`gpsElements`,initialState:j(),reducers:{addMarker:(e,t)=>{e.gpsMarkers.push(t.payload)},addLine:(e,t)=>{e.gpsLines.push(t.payload)},addArea:(e,t)=>{e.areas.push(t.payload)},addToHeatMaps:(e,t)=>{let{category:n,tiles:r}=t.payload,i=e.heatMap[n]??{};e.heatMap[n]={...i,...r}},addHeatMapArea:(e,t)=>{let n=t.payload,r=n.category;if(e.heatAreas[r]||(e.heatAreas[r]={}),e.heatAreas[r][n.geoHash])throw Error(`HeatArea collision detected for GeoHash: ${n.geoHash}`);e.heatAreas[r][n.geoHash]=n},resetGpsElements:()=>j()}}),{addMarker:an,addLine:on,addArea:sn,addToHeatMaps:cn,addHeatMapArea:ln,resetGpsElements:un}=rn.actions,dn=p(an),fn=p(on),pn=p(sn),mn=p(cn),hn=p(ln),gn=p(un),_n=m(rn.reducer),vn=()=>({gpsData:null,gpsElements:j(),arElements:M()}),yn=e=>{let t=Array.from({length:Math.min(e.length,4)},(t,n)=>e[n].toFixed(2));e.length>4&&t.push(`…`);let n=`[${t.join(`, `)}]`;if(e.length===4){let{pitch:t,yaw:r,roll:i}=v(e);return`${n} (pitch=${t.toFixed(0)}°, yaw=${r.toFixed(0)}°, roll=${i.toFixed(0)}°)`}return n},bn=e=>(e.length===3||e.length===4||e.length===16)&&e.every(e=>typeof e==`number`),$=(e,t=0)=>{if(t>10||e==null)return e;if(Array.isArray(e))return bn(e)?yn(e):e.map(e=>$(e,t+1));if(typeof e==`object`){let n={};for(let[r,i]of Object.entries(e))n[r]=$(i,t+1);return n}return e},xn=(t={})=>{let{preloadedState:n,enableDevToolsSanitizers:r=!0,enableDevChecks:i=!0,licenseKey:a}=t;if(a==null)throw Error(`License key required. Pass options.licenseKey or use createRecorderStore() from gps-plus-slam-app-framework. See EULA §3.`);g(a);let o=vn(),s=n?{gpsData:n.gpsData??o.gpsData,gpsElements:n.gpsElements??o.gpsElements,arElements:n.arElements??o.arElements}:void 0;return e({reducer:{gpsData:nn,gpsElements:_n,arElements:Je},preloadedState:s,middleware:e=>e({serializableCheck:i,immutableCheck:i}),devTools:r?{actionSanitizer:$,stateSanitizer:$}:!0})},Sn=[],Cn=[],wn=[],Tn=[],En={median:null,mean:null},Dn=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentMatrix}),On=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentRotation}),kn=f(function(e){return e.gpsData?.gpsEvents?.odometryPositions??Sn}),An=f(function(e){return e.gpsData?.gpsEvents?.odometryRotations??Cn}),jn=f(function(e){return e.gpsData?.gpsEvents?.gpsPositions??wn}),Mn=f(function(e){return e.gpsData?.referencePoints??Tn}),Nn=f(function(e){return e.gpsData?.zero??null}),Pn=f(function(e){let t=e.gpsData?.gpsEvents?.gpsAccuracyMedian??null,n=e.gpsData?.gpsEvents?.gpsAccuracyMean??null;return t===null&&n===null?En:{median:t,mean:n}}),Fn=`1.0.0`;export{V as IDENTITY_MATRIX4,z as IDENTITY_QUATERNION,Fn as LIB_VERSION,B as ZERO_VECTOR3,en as add2dImage,pn as addArea,Ue as addCornerToEventArea,hn as addHeatMapArea,fn as addLine,dn as addMarker,Ve as addOrUpdateArPlane,mn as addToHeatMaps,Ke as anchorEventAreaInWorldSpace,Je as arElementsReducer,$t as arLoopClosureDetected,ce as calcGeoHash,k as calcGpsCoords,oe as calcQuadKey,O as calcRelativeCoordsInMeters,be as cloneMatrix4,ye as cloneQuaternion,R as cloneVector3,We as correctArDriftForEventArea,xn as createGpsSlamStore,ue as distanceInMeters,de as distanceInMetersRelative,G as enuQuaternionToNUE,K as eulerToQuaternion,Ge as finishEventArea,ve as fromMatrix4,P as fromQuaternion,N as fromVector3,ge as fusedGpsFromOdom,le as geoHashToLatLong,Dn as getAlignmentMatrix,On as getAlignmentRotation,me as getGoogleMapsDirectionsLink,pe as getGoogleMapsLink,Pn as getGpsAccuracyStats,jn as getGpsPositions,kn as getOdometryPositions,An as getOdometryRotations,he as getOpenStreetMapLink,Mn as getReferencePoints,Nn as getZeroReference,nn as gpsDataReducer,_n as gpsElementsReducer,De as invertQuaternion,xe as isIdentityMatrix4,Ce as isIdentityQuaternion,we as isNearIdentityQuaternion,tn as markReferencePoint,Ee as multiplyQuaternions,H as normalizeQuaternion,Ae as nueQuaternionToENU,ke as nueQuaternionToWebXR,Oe as nueToWebXR,Qt as odometryTrackingRestarted,se as quadKeyToLatLong,Se as quaternionMagnitude,Te as quaternionsEquivalent,Zt as recordGpsEvent,Be as recordPhoneHeight,qe as resetArElements,gn as resetGpsElements,$ as sanitizeForDevTools,Xt as setZeroPos,He as startEventArea,fe as toEarthCenteredCoordinates,L as toMatrix4,I as toQuaternion,F as toVector3,g as validateLicenseKey,W as webxrQuaternionToNUE,U as webxrToNUE};
+import{configureStore as e,createSlice as t}from"@reduxjs/toolkit";import{ed25519 as n}from"@noble/curves/ed25519.js";import{hexToBytes as r}from"@noble/curves/utils.js";import{mat4 as i,quat as a,vec3 as o,vec4 as s}from"gl-matrix";import{castDraft as c}from"immer";let l=!1;function u(){l=!0}function d(){if(!l)throw Error(`gps-plus-slam-js: license not activated. Construct your store via createRecorderStore() from gps-plus-slam-app-framework, or pass a valid licenseKey to createGpsSlamStore(). See EULA §3.`)}function f(e){return((...t)=>(d(),e(...t)))}function p(e){let t=((...t)=>(d(),e(...t)));return Object.assign(t,e),t.toString=()=>e.type,t}function m(e){return(t,n)=>(d(),e(t,n))}function h(e){let t=e.replace(/-/g,`+`).replace(/_/g,`/`),n=`=`.repeat((4-t.length%4)%4),r=atob(t+n);return Uint8Array.from(r,e=>e.charCodeAt(0))}function g(e){let t=new Date,i=e.indexOf(`.`);if(i<=0||i>=e.length-1)throw Error(`Invalid license key format: expected "payload.signature" with base64url-encoded parts.`);let a,o;try{a=h(e.substring(0,i)),o=h(e.substring(i+1))}catch{throw Error(`Invalid license key format: base64url decoding failed.`)}let s=r(`dfe5c62120b7a0ce962b17907a15b27cf1b056e6619bf6ce55e6e094b322a470`);if(!n.verify(o,a,s))throw Error(`Invalid license key: signature verification failed.`);let c=JSON.parse(new TextDecoder().decode(a));if(typeof c!=`object`||!c)throw Error(`Invalid license key: payload must be a JSON object.`);let{type:l,exp:d}=c;if(l!==`community`)throw Error(`Invalid license key: "type" must be "community".`);if(typeof d!=`number`||!Number.isFinite(d))throw Error(`Invalid license key: "exp" must be a finite number (Unix timestamp in seconds).`);if(d<Math.floor(t.getTime()/1e3)){let e=new Date(d*1e3);throw Error(`License key expired on ${e.toISOString()}. 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dt(i,s,c,l);let{allPositionTuples:p,allRotationTuples:m,allGpsPoints:h,allVec4Tuples:g,solverPositionsTyped:_,solverGpsPoints:v,solverWeightedVec4Tuples:y}=pt(t,n,r,f),b=yt(_,y,f,d??Math.random),x=a.create(),S=o.create(),C=o.create();_t(b.matrix,x,S,C);let{mean:ee,median:w}=Et(h),T=Tt(r,f.geohashPrecision,f.geohashWindowSize);return{odometryPositions:ot(p),odometryRotations:st(m),gpsPositions:ct(h),gpsPositionsVec4:lt(g),alignmentMatrix:L(b.matrix),alignmentRotation:I(x),alignmentTranslation:F(S),alignmentRotationInDegree:F(C),...ut(i,s,c,l),gpsAccuracyMedian:w,gpsAccuracyMean:ee,currentGpsPosGeoHash:T}},ht=(e,t)=>e!=null&&e>0?1/Math.max(e,1)**+t:1,gt=(e,t,n,r,i,s)=>{let c=e.odometryPositions,l=e.odometryRotations,u=e.gpsPositions,d=e.gpsPositionsVec4;c.push(J(t)),l.push(H(Y(n)));let f=Q(r);u.push(f);let p={...at,...i??{}};f.weight=ht(f.latLongAccuracy,p.gpsAccuracyExponent);let m=Ot(f);if(p.includeTimeWeight){d.push(m);let e=wt(d,u,p.weightByTimeFactor);for(let t=0;t<e.length;t++)d[t]=e[t]}else d.push(m);let h=0;p.useOnlyRecentData&&(h=Ct(u,p.recentSeconds));let g=yt(c.slice(h).map(N),d.slice(h),p,s??Math.random);e.alignmentMatrix=L(g.matrix);let _=a.create(),v=o.create(),y=o.create();_t(g.matrix,_,v,y),e.alignmentRotation=I(_),e.alignmentTranslation=F(v),e.alignmentRotationInDegree=F(y);let{mean:b,median:x}=Et(u);e.gpsAccuracyMean=b,e.gpsAccuracyMedian=x,e.currentGpsPosGeoHash=Tt(u,p.geohashPrecision,p.geohashWindowSize)},_t=(e,t,n,r)=>{i.getRotation(t,e),a.normalize(t,t),i.getTranslation(n,e),Dt(t,r)},X=o.create(),vt=o.create(),yt=(e,t,n,r)=>{if(e.length===0)return{matrix:i.create(),meanError:0};let a=e.length,o=[];for(let n=0;n<a;n+=1){let r=t[n];o.push({odom:e[n],ref:s.fromValues(r[0],r[1],r[2],r[3])})}if(n.useRansac&&o.length>=3){let e=o.length,t=Math.max(3,Math.min(e,Math.ceil(e*n.ransacSampleRatio))),i=$e(o,Math.max(t,Math.min(e,Math.ceil(e*n.ransacInlierRatio))),t,n.ransacMaxIterations,e=>bt(e,n.ignoreYAxisForRotation),(e,t)=>xt(e,t)<e.meanAlignmentError+n.ransacErrorTolerance,r);return{matrix:i.alignmentMatrix,meanError:i.meanAlignmentError}}let c=bt(o,n.ignoreYAxisForRotation);return{matrix:c.alignmentMatrix,meanError:c.meanAlignmentError}},bt=(e,t)=>{let n=Array.from(e),r=n.length,i=Array(r),a=Array(r);for(let e=0;e<r;e+=1)i[e]=n[e].odom,a[e]=n[e].ref;let s=Ze(i,a,{ignoreYAxisForRotation:t}),c=0;for(let e=0;e<r;e+=1)o.transformMat4(X,i[e],s),c+=St(X,n[e].ref);return{alignmentMatrix:s,meanAlignmentError:r===0?0:c/r,totalModelError:c}},xt=(e,t)=>(o.transformMat4(X,t.odom,e.alignmentMatrix),St(X,t.ref)),St=(e,t)=>(o.set(vt,t[0],t[1],t[2]),o.squaredDistance(e,vt)),Ct=(e,t)=>{if(e.length===0||t<=0)return 0;let n=e[e.length-1].timestamp-t*1e3;for(let t=0;t<e.length;t+=1)if(e[t].timestamp>=n)return t;return 0},wt=(e,t,n)=>{if(e.length<2)return e.map(e=>[e[0],e[1],e[2],e[3]]);let r=t[t.length-1].timestamp,i=t[0].timestamp,a=Math.max(1,r-i);return e.map((e,i)=>{let o=n*((r-t[i].timestamp)/a)+1,s=t[i].weight,c=1/(1/(s>0&&Number.isFinite(s)?s:1)+o);return[e[0],e[1],e[2],c]})},Z=new Map,Tt=(e,t,n)=>{if(e.length===0)return null;let r=Math.max(0,e.length-n);Z.clear();for(let n=r;n<e.length;n+=1){let r=e[n],i=ce(kt(r),t),a=Z.get(i);a?(a.count+=1,a.index=n):Z.set(i,{count:1,index:n})}let i=null,a=-1,o=-1;for(let[e,{count:t,index:n}]of Z)(t>a||t===a&&n>o)&&(i=e,a=t,o=n);return i},Et=e=>{let t=e.map(e=>e.latLongAccuracy).filter(e=>typeof e==`number`&&Number.isFinite(e));if(t.length===0)return{mean:null,median:null};let n=t.reduce((e,t)=>e+t,0)/t.length,r=t.slice().sort((e,t)=>e-t),i=Math.floor(r.length/2);return{mean:n,median:r.length%2==0?(r[i-1]+r[i])/2:r[i]}},Dt=(e,t)=>{let n=e[0],r=e[1],i=e[2],a=e[3],s=2*(a*n+r*i),c=1-2*(n*n+r*r),l=Math.atan2(s,c),u=2*(a*r-i*n),d;d=Math.abs(u)>=1?Math.PI/2*Math.sign(u):Math.asin(u);let f=2*(a*i+n*r),p=1-2*(r*r+i*i),m=Math.atan2(f,p),h=180/Math.PI,g=t??o.create();return g[0]=l*h,g[1]=d*h,g[2]=m*h,g},Ot=e=>[e.coordinates[0],e.coordinates[1],e.coordinates[2],e.weight>0&&Number.isFinite(e.weight)?e.weight:1],kt=e=>({lat:e.latitude,lon:e.longitude}),Q=e=>({...e,zeroRef:{lat:e.zeroRef.lat,lon:e.zeroRef.lon},coordinates:[e.coordinates[0],e.coordinates[1],e.coordinates[2]],timestamp:e.timestamp,deviceRotation:e.deviceRotation?H(Y(e.deviceRotation)):void 0}),At=({lat:e,lon:t})=>{if(!Number.isFinite(e))throw Error(`Invalid latitude value: ${e}`);if(!Number.isFinite(t))throw Error(`Invalid longitude value: ${t}`);if(e<-90||e>90)throw Error(`Invalid latitude range: ${e}`);if(t<-180||t>180)throw Error(`Invalid longitude range: ${t}`)},jt=o.fromValues(1,1,1),Mt=(e,t)=>[e[0]+t[0],e[1]+t[1],e[2]+t[2]],Nt=(e,t,n)=>{let r=O(t,{lat:e.latitude,lon:e.longitude},e.altitude??0,0),i=n?.alpha!=null&&n?.beta!=null&&n?.gamma!=null?G(K(n.alpha,n.beta,n.gamma)):void 0;return{...e,zeroRef:t,coordinates:F(r),weight:1,deviceRotation:i}},Pt=(e,t,n)=>{if(e)return K(e.alpha,e.beta,e.gamma);if(t)return t;throw Error(`Sensor rotation missing for ${n}: neither raw orientation nor legacy quaternion provided`)},Ft=e=>{let t=a.invert(a.create(),e);if(!t)throw Error(`Encountered non-invertible quaternion`);return t},It=e=>{let t=Ft(a.normalize(a.create(),P(e.lastSensorRot))),n=a.normalize(a.create(),P(e.lastValidOdomRot)),r=a.multiply(a.create(),t,n),i=a.normalize(a.create(),P(e.newSensorRot)),o=a.multiply(a.create(),i,r),s=a.normalize(a.create(),P(e.newOdomRot)),c=a.multiply(a.create(),o,s);return a.normalize(c,c),I(c)},Lt=(e,t)=>{let n=i.create();return i.fromRotationTranslationScale(n,a.normalize(a.create(),P(t)),N(e),jt),n},Rt=(e,t,n)=>{let r=o.create(),s=o.create(),c=a.create(),l=a.create();i.getTranslation(r,e),i.getTranslation(s,t),i.getRotation(c,e),i.getRotation(l,t);let u=o.create();o.lerp(u,r,s,n);let d=a.create();return a.slerp(d,c,l,n),i.fromRotationTranslation(i.create(),d,u)},zt=(e,t)=>{if(e.length===0)return[];let n=e[e.length-1],r=i.invert(i.create(),n);if(!r)throw Error(`End pose matrix is not invertible`);let a=i.multiply(i.create(),t,r),o=i.create(),s=e.length-1;return e.map((e,t)=>{let n=Rt(o,a,s<=0?1:t/s);return i.multiply(i.create(),n,e)})},Bt=(e,t,n)=>{for(let r=e.length-1;r>=0;--r)if(n(e[r],t))return r;return-1},Vt=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2],Ht=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3],Ut=t({name:`gpsData`,initialState:null,reducers:{setZeroPos:{reducer:(e,t)=>e===null?{zero:t.payload,gpsEvents:ft(),odometryPath:_e(),referencePoints:[]}:e,prepare:e=>(At(e),{payload:e})},recordGpsEvent:(e,t)=>{if(!e)return e;let{odomPosition:n,odomRotation:r,rawGpsPoint:i,rawDeviceOrientation:a}=t.payload,o=Nt(i,e.zero,a);gt(e.gpsEvents,U(n),W(r),o)},odometryTrackingRestarted:(e,t)=>{if(!e)return e;let n=Mt(e.gpsEvents.odometryPosOffset,U(t.payload.lastValidOdomPos)),r=Pt(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=Pt(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(mt({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:It({...t.payload,lastValidOdomRot:W(t.payload.lastValidOdomRot),newOdomRot:W(t.payload.newOdomRot),lastSensorRot:G(r),newSensorRot:G(i)}),latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},arLoopClosureDetected:(e,t)=>{if(!e)return e;let n=e.gpsEvents;if(n.odometryPositions.length===0)return e;let r=n.latestLoopClosureFixPointPos?Bt(n.odometryPositions,n.latestLoopClosureFixPointPos,Vt):0,s=n.latestLoopClosureFixPointRot?Bt(n.odometryRotations,n.latestLoopClosureFixPointRot,Ht):0;if(r<0||s<0)throw Error(`Loop closure fix point could not be located in history`);if(r!==s)throw Error(`Loop closure fix point indices for position and rotation diverged`);let l=n.odometryPositions.slice(0,r).map(e=>R(e)),u=n.odometryRotations.slice(0,r).map(e=>H(e)),d=n.odometryPositions.slice(r).map(e=>R(e)),f=n.odometryRotations.slice(r).map(e=>H(e)),p=d.map((e,t)=>Lt(e,f[t])),m=Lt(U(t.payload.lastPos),H(W(t.payload.lastRot)));p.push(m);let h=zt(p,Lt(U(t.payload.newPos),H(W(t.payload.newRot)))),g=[],_=[],v=o.create();for(let e=0;e<h.length-1;e+=1){let t=h[e],n=o.create();i.getTranslation(n,t);let r=a.create();if(i.getRotation(r,t),a.normalize(r,r),i.getScaling(v,t),Math.hypot(v[0]-1,v[1]-1,v[2]-1)>.05)throw Error(`Unexpected scale drift encountered during loop closure correction`);g.push(F(n)),_.push(I(r))}e.gpsEvents=c(mt({odometryPositions:l.concat(g),odometryRotations:u.concat(_),gpsPoints:n.gpsPositions,odometryPosOffset:n.odometryPosOffset,odometryRotOffset:n.odometryRotOffset,latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},add2dImage:(e,t)=>{if(!e)return e;e.odometryPath.points.push(c({imageFile:t.payload.imageFile,screenRotation:t.payload.screenRotation,position:U(t.payload.position),rotation:H(W(t.payload.rotation)),capturedAt:t.payload.capturedAt}))},markReferencePoint:(e,t)=>{if(!e)return e;let{id:n,position:r,rotation:i,rawGpsPoint:a,timestamp:o}=t.payload,s=Nt(a,e.zero);e.referencePoints.push(c({id:n,position:U(r),rotation:H(W(i)),gpsPoint:Q(s),timestamp:o??Date.now()}))}}}),{setZeroPos:Wt,recordGpsEvent:Gt,odometryTrackingRestarted:Kt,arLoopClosureDetected:qt,add2dImage:Jt,markReferencePoint:Yt}=Ut.actions,Xt=p(Wt),Zt=p(Gt),Qt=p(Kt),$t=p(qt),en=p(Jt),tn=p(Yt),nn=m(Ut.reducer),rn=t({name:`gpsElements`,initialState:j(),reducers:{addMarker:(e,t)=>{e.gpsMarkers.push(t.payload)},addLine:(e,t)=>{e.gpsLines.push(t.payload)},addArea:(e,t)=>{e.areas.push(t.payload)},addToHeatMaps:(e,t)=>{let{category:n,tiles:r}=t.payload,i=e.heatMap[n]??{};e.heatMap[n]={...i,...r}},addHeatMapArea:(e,t)=>{let n=t.payload,r=n.category;if(e.heatAreas[r]||(e.heatAreas[r]={}),e.heatAreas[r][n.geoHash])throw Error(`HeatArea collision detected for GeoHash: ${n.geoHash}`);e.heatAreas[r][n.geoHash]=n},resetGpsElements:()=>j()}}),{addMarker:an,addLine:on,addArea:sn,addToHeatMaps:cn,addHeatMapArea:ln,resetGpsElements:un}=rn.actions,dn=p(an),fn=p(on),pn=p(sn),mn=p(cn),hn=p(ln),gn=p(un),_n=m(rn.reducer),vn=()=>({gpsData:null,gpsElements:j(),arElements:M()}),yn=e=>{let t=Array.from({length:Math.min(e.length,4)},(t,n)=>e[n].toFixed(2));e.length>4&&t.push(`…`);let n=`[${t.join(`, `)}]`;if(e.length===4){let{pitch:t,yaw:r,roll:i}=v(e);return`${n} (pitch=${t.toFixed(0)}°, yaw=${r.toFixed(0)}°, roll=${i.toFixed(0)}°)`}return n},bn=e=>(e.length===3||e.length===4||e.length===16)&&e.every(e=>typeof e==`number`),$=(e,t=0)=>{if(t>10||e==null)return e;if(Array.isArray(e))return bn(e)?yn(e):e.map(e=>$(e,t+1));if(typeof e==`object`){let n={};for(let[r,i]of Object.entries(e))n[r]=$(i,t+1);return n}return e},xn=(t={})=>{let{preloadedState:n,enableDevToolsSanitizers:r=!0,enableDevChecks:i=!0,licenseKey:a}=t;if(a==null)throw Error(`License key required. Pass options.licenseKey or use createRecorderStore() from gps-plus-slam-app-framework. See EULA §3.`);g(a);let o=vn(),s=n?{gpsData:n.gpsData??o.gpsData,gpsElements:n.gpsElements??o.gpsElements,arElements:n.arElements??o.arElements}:void 0;return e({reducer:{gpsData:nn,gpsElements:_n,arElements:Je},preloadedState:s,middleware:e=>e({serializableCheck:i,immutableCheck:i}),devTools:r?{actionSanitizer:$,stateSanitizer:$}:!0})},Sn=[],Cn=[],wn=[],Tn=[],En={median:null,mean:null},Dn=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentMatrix}),On=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentRotation}),kn=f(function(e){return e.gpsData?.gpsEvents?.odometryPositions??Sn}),An=f(function(e){return e.gpsData?.gpsEvents?.odometryRotations??Cn}),jn=f(function(e){return e.gpsData?.gpsEvents?.gpsPositions??wn}),Mn=f(function(e){return e.gpsData?.referencePoints??Tn}),Nn=f(function(e){return e.gpsData?.zero??null}),Pn=f(function(e){let t=e.gpsData?.gpsEvents?.gpsAccuracyMedian??null,n=e.gpsData?.gpsEvents?.gpsAccuracyMean??null;return t===null&&n===null?En:{median:t,mean:n}}),Fn=`1.0.0`;export{V as IDENTITY_MATRIX4,z as IDENTITY_QUATERNION,Fn as LIB_VERSION,B as ZERO_VECTOR3,en as add2dImage,pn as addArea,Ue as addCornerToEventArea,hn as addHeatMapArea,fn as addLine,dn as addMarker,Ve as addOrUpdateArPlane,mn as addToHeatMaps,Ke as anchorEventAreaInWorldSpace,Je as arElementsReducer,$t as arLoopClosureDetected,ce as calcGeoHash,k as calcGpsCoords,oe as calcQuadKey,O as calcRelativeCoordsInMeters,be as cloneMatrix4,ye as cloneQuaternion,R as cloneVector3,We as correctArDriftForEventArea,xn as createGpsSlamStore,ue as distanceInMeters,de as distanceInMetersRelative,G as enuQuaternionToNUE,K as eulerToQuaternion,Ge as finishEventArea,ve as fromMatrix4,P as fromQuaternion,N as fromVector3,ge as fusedGpsFromOdom,le as geoHashToLatLong,Dn as getAlignmentMatrix,On as getAlignmentRotation,me as getGoogleMapsDirectionsLink,pe as getGoogleMapsLink,Pn as getGpsAccuracyStats,jn as getGpsPositions,kn as getOdometryPositions,An as getOdometryRotations,he as getOpenStreetMapLink,Mn as getReferencePoints,Nn as getZeroReference,nn as gpsDataReducer,_n as gpsElementsReducer,De as invertQuaternion,xe as isIdentityMatrix4,Ce as isIdentityQuaternion,we as isNearIdentityQuaternion,tn as markReferencePoint,Ee as multiplyQuaternions,H as normalizeQuaternion,Ae as nueQuaternionToENU,ke as nueQuaternionToWebXR,Oe as nueToWebXR,Qt as odometryTrackingRestarted,se as quadKeyToLatLong,Se as quaternionMagnitude,Te as quaternionsEquivalent,Zt as recordGpsEvent,Be as recordPhoneHeight,qe as resetArElements,gn as resetGpsElements,$ as sanitizeForDevTools,Xt as setZeroPos,He as startEventArea,fe as toEarthCenteredCoordinates,L as toMatrix4,I as toQuaternion,F as toVector3,g as validateLicenseKey,W as webxrQuaternionToNUE,U as webxrToNUE};

package/dist/licensing/community-license-key.d.ts

@@ -0,0 +1,40 @@
+
+//#region ../src/licensing/community-license-key.d.ts
+/**
+ * Community license key for the gps-plus-slam-js core library.
+ *
+ * Generated by the core library maintainers and bundled with the core
+ * `gps-plus-slam-js` package via the dedicated sub-path export
+ * `gps-plus-slam-js/community-license-key`. Lives here (rather than in the
+ * open-source `gps-plus-slam-app-framework` package) so that:
+ *   - the bundled token and the public key it validates against ship in the
+ *     same npm artifact, version-locked through the dep graph;
+ *   - the K5/R8 re-sign script + lifetime guardrail can both read and write
+ *     a same-package sibling file (no cross-repo path traversal);
+ *   - direct-core consumers (without AppFramework) get the same frictionless
+ *     OSS onboarding AppFramework users have today.
+ *
+ * The token is **not** re-exported from the package's root barrel (`./`).
+ * Consumers must opt in by explicitly importing
+ * `gps-plus-slam-js/community-license-key` and passing the constant to the
+ * licensing store. Installing the package alone does not auto-apply
+ * community-license terms.
+ *
+ * The key has a rolling expiration of 12 months. Each release of the core
+ * package renews it via `scripts/resign-community-key.mjs`, executed inside
+ * `.github/workflows/publish.yml` immediately before `pnpm publish`. Active
+ * users who regularly update their dependencies will never be affected by
+ * the expiration. AppFramework releases pull whatever core version their
+ * `^X.Y.Z` range resolves to at install time, so framework releases also
+ * transitively refresh the bundled token.
+ *
+ * For licenses with extended validity beyond the community key's scope,
+ * contact support@csutil.com.
+ *
+ * @see EULA.md §3 — License Key
+ * @see docs/2026-04-25-private-key-security-plan.md — secret-backed renewal
+ * @see ../../GpsPlusSlamJs_Docs/docs/2026-05-01-community-key-resign-cross-repo-issue.md
+ */
+declare const COMMUNITY_LICENSE_KEY = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODA5MjQ3MDU4fQ.OCzMOU_IZZjWpNgZDss7eIsVFtfD_uvUY6ST8PUw77vGYCxK_9FyI87CeKEBK9UFQYwqaJBw1x-yr_jT2OFPDQ";
+//#endregion
+export { COMMUNITY_LICENSE_KEY };

package/dist/licensing/community-license-key.js

@@ -0,0 +1,2 @@
+/*! gps-plus-slam-js | (c) 2026 cs-util-com | UNLICENSED — see EULA.md */
+const e=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODA5MjQ3MDU4fQ.OCzMOU_IZZjWpNgZDss7eIsVFtfD_uvUY6ST8PUw77vGYCxK_9FyI87CeKEBK9UFQYwqaJBw1x-yr_jT2OFPDQ`;export{e as COMMUNITY_LICENSE_KEY};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gps-plus-slam-js",
-  "version": "1.0.1",
+  "version": "1.0.4",
   "description": "TypeScript library for real-time GPS + AR odometry alignment.",
   "author": "cs-util-com",
   "keywords": [
@@ -17,17 +17,22 @@
     "sensor-fusion"
   ],
   "type": "module",
+  "//": "repository.url points at the private source repo because npm Trusted Publishing requires it to match the publishing repo's OIDC claim. User-facing links live in `homepage` and `bugs`, which point at the public mirror.",
   "homepage": "https://github.com/cs-util-com/location-based-webxr#readme",
+  "bugs": {
+    "url": "https://github.com/cs-util-com/location-based-webxr/issues"
+  },
   "repository": {
     "type": "git",
-    "url": "git+https://github.com/cs-util-com/location-based-webxr.git"
+    "url": "git+https://github.com/cs-util-com/gps-plus-slam.git"
   },
   "files": [
     "dist",
     "EULA.md"
   ],
   "exports": {
-    ".": "./dist/index.js"
+    ".": "./dist/index.js",
+    "./community-license-key": "./dist/licensing/community-license-key.js"
   },
   "types": "./dist/index.d.ts",
   "engines": {
@@ -69,6 +74,7 @@
   },
   "scripts": {
     "generate-keys": "node scripts/generate-keys.mjs",
+    "resign-community-key": "node scripts/resign-community-key.mjs",
     "test": "pnpm run test:core && pnpm run test:e2e:index && pnpm run test:guardrail",
     "test:core": "pnpm run format && pnpm run lint && pnpm run check:all && pnpm run typecheck && pnpm run typecheck:tests && pnpm run test:unit",
     "test:guardrail": "pnpm --filter gps-plus-slam-investigation run test:guardrail",