gps-plus-slam-js 1.0.7 → 1.4.0

package/dist/index.d.ts

@@ -257,6 +257,15 @@ interface ArImageCapture {
   screenRotation: number;
   /** Epoch milliseconds (Date.now() / new Date().getTime()) */
   capturedAt?: number;
+  /**
+   * Captured JPEG width in pixels. Pose-invariant metadata persisted so
+   * consumers (e.g. the 3D frame-tile visualizer) can render the frame at
+   * its true aspect ratio instead of assuming square. `undefined` for legacy
+   * recordings captured before the field existed — consumers must fall back.
+   */
+  width?: number;
+  /** Captured JPEG height in pixels. See {@link ArImageCapture.width}. */
+  height?: number;
 }
 interface OdometryPath {
   points: ArImageCapture[];

package/dist/index.js

@@ -1,2 +1,2 @@
 /*! gps-plus-slam-js | (c) 2026 cs-util-com | UNLICENSED — see EULA.md */
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e=Dt(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=Tt(u,p.recentSeconds));let g=vt(c.slice(h).map(M),d.slice(h),Et(u.slice(h),p),p,s??Math.random);e.alignmentMatrix=I(g.matrix);let _=a.create(),v=o.create(),y=o.create();gt(g.matrix,_,v,y),e.alignmentRotation=F(_),e.alignmentTranslation=P(v),e.alignmentRotationInDegree=P(y);let{mean:b,median:x}=kt(u);e.gpsAccuracyMean=b,e.gpsAccuracyMedian=x,e.currentGpsPosGeoHash=Ot(u,p.geohashPrecision,p.geohashWindowSize)},gt=(e,t,n,r)=>{i.getRotation(t,e),a.normalize(t,t),i.getTranslation(n,e),At(t,r)},Z=o.create(),_t=o.create(),vt=(e,t,n,r,a)=>{if(e.length===0)return{matrix:i.create(),meanError:0};let o=e.length,c=[];for(let r=0;r<o;r+=1){let i=t[r];c.push({odom:e[r],ref:s.fromValues(i[0],i[1],i[2],i[3]),verticalWeight:n[r]??1})}let l,u,d;if(r.useRansac&&c.length>=3){let e=c.length,t=Math.max(3,Math.min(e,Math.ceil(e*r.ransacSampleRatio))),n=et(c,Math.max(t,Math.min(e,Math.ceil(e*r.ransacInlierRatio))),t,r.ransacMaxIterations,e=>St(e,r.ignoreYAxisForRotation),(e,t)=>Ct(e,t)<e.meanAlignmentError+r.ransacErrorTolerance,a);l=n.alignmentMatrix,u=n.meanAlignmentError,n.inliers!==void 0&&(d=Array.from(n.inliers))}else{let e=St(c,r.ignoreYAxisForRotation);l=e.alignmentMatrix,u=e.meanAlignmentError}return r.altitudeAlignmentMode===`separate1D`&&yt(l,c,d,r),{matrix:l,meanError:u}},yt=(e,t,n,r)=>{let i=r.altitudeSampleSet===`horizontalInliers`&&n!==void 0&&n.length>0?n:t;if(i.length===0)return;let a=Array(i.length),o=Array(i.length);for(let e=0;e<i.length;e+=1){let t=i[e];a[e]=t.ref[1]-t.odom[1];let n=t.verticalWeight;o[e]=n>0&&Number.isFinite(n)?n:0}e[13]=r.altitudeAggregator===`median`?xt(a,o):bt(a,o)},bt=(e,t)=>{let n=0,r=0;for(let i=0;i<e.length;i+=1)n+=e[i]*t[i],r+=t[i];if(r>0&&Number.isFinite(r))return n/r;let i=0;for(let t=0;t<e.length;t+=1)i+=e[t];return e.length===0?0:i/e.length},xt=(e,t)=>{if(e.length===0)return 0;if(e.length===1)return e[0];let n=e.map((e,t)=>t);n.sort((t,n)=>e[t]-e[n]);let r=0;for(let e=0;e<t.length;e+=1)r+=t[e];if(!(r>0)||!Number.isFinite(r)){let t=n.map(t=>e[t]);return t[Math.floor((t.length-1)/2)]}let i=r/2,a=0;for(let r=0;r<n.length;r+=1)if(a+=t[n[r]],a>=i)return e[n[r]];return e[n[n.length-1]]},St=(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=Qe(i,a,{ignoreYAxisForRotation:t}),c=0;for(let e=0;e<r;e+=1)o.transformMat4(Z,i[e],s),c+=wt(Z,n[e].ref);return{alignmentMatrix:s,meanAlignmentError:r===0?0:c/r,totalModelError:c}},Ct=(e,t)=>(o.transformMat4(Z,t.odom,e.alignmentMatrix),wt(Z,t.ref)),wt=(e,t)=>(o.set(_t,t[0],t[1],t[2]),o.squaredDistance(e,_t)),Tt=(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},Et=(e,t)=>{let n=t.gpsVerticalAccuracyExponent,r=e.map(e=>{let t=e.altitudeAccuracy;return X(t!=null&&Number.isFinite(t)&&t>0?t:e.latLongAccuracy,n)});if(!t.includeTimeWeight||e.length<2)return r;let i=e[e.length-1].timestamp,a=e[0].timestamp,o=Math.max(1,i-a),s=t.weightByTimeFactor;return r.map((t,n)=>{if(!(t>0&&Number.isFinite(t)))return 0;let r=s*((i-e[n].timestamp)/o)+1;return 1/(1/t+r)})},Dt=(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;if(!(s>0&&Number.isFinite(s)))return[e[0],e[1],e[2],0];let c=1/(1/s+o);return[e[0],e[1],e[2],c]})},Q=new Map,Ot=(e,t,n)=>{if(e.length===0)return null;let r=Math.max(0,e.length-n);Q.clear();for(let n=r;n<e.length;n+=1){let r=e[n],i=ce(Mt(r),t),a=Q.get(i);a?(a.count+=1,a.index=n):Q.set(i,{count:1,index:n})}let i=null,a=-1,o=-1;for(let[e,{count:t,index:n}]of Q)(t>a||t===a&&n>o)&&(i=e,a=t,o=n);return i},kt=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]}},At=(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},jt=e=>[e.coordinates[0],e.coordinates[1],e.coordinates[2],e.weight>0&&Number.isFinite(e.weight)?e.weight:1],Mt=e=>({lat:e.latitude,lon:e.longitude}),Nt=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?V(Y(e.deviceRotation)):void 0}),Pt=({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}`)},Ft=o.fromValues(1,1,1),It=(e,t)=>[e[0]+t[0],e[1]+t[1],e[2]+t[2]],Lt=(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?W(G(n.alpha,n.beta,n.gamma)):void 0;return{...e,zeroRef:t,coordinates:P(r),weight:1,deviceRotation:i}},Rt=(e,t,n)=>{if(e)return G(e.alpha,e.beta,e.gamma);if(t)return t;throw Error(`Sensor rotation missing for ${n}: neither raw orientation nor legacy quaternion provided`)},zt=e=>{let t=a.invert(a.create(),e);if(!t)throw Error(`Encountered non-invertible quaternion`);return t},Bt=e=>{let t=zt(a.normalize(a.create(),N(e.lastSensorRot))),n=a.normalize(a.create(),N(e.lastValidOdomRot)),r=a.multiply(a.create(),t,n),i=a.normalize(a.create(),N(e.newSensorRot)),o=a.multiply(a.create(),i,r),s=a.normalize(a.create(),N(e.newOdomRot)),c=a.multiply(a.create(),o,s);return a.normalize(c,c),F(c)},Vt=(e,t)=>{let n=i.create();return i.fromRotationTranslationScale(n,a.normalize(a.create(),N(t)),M(e),Ft),n},Ht=(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)},Ut=(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=Ht(o,a,s<=0?1:t/s);return i.multiply(i.create(),n,e)})},Wt=(e,t,n)=>{for(let r=e.length-1;r>=0;--r)if(n(e[r],t))return r;return-1},Gt=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2],Kt=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3],qt=t({name:`gpsData`,initialState:null,reducers:{setZeroPos:{reducer:(e,t)=>e===null?{zero:t.payload,gpsEvents:ft(),odometryPath:_e()}:e,prepare:e=>(Pt(e),{payload:e})},recordGpsEvent:(e,t)=>{if(!e)return e;let{odomPosition:n,odomRotation:r,rawGpsPoint:i,rawDeviceOrientation:a}=t.payload,o=Lt(i,e.zero,a);ht(e.gpsEvents,H(n),U(r),o)},odometryTrackingRestarted:(e,t)=>{if(!e)return e;let n=It(e.gpsEvents.odometryPosOffset,H(t.payload.lastValidOdomPos)),r=Rt(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=Rt(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(mt({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:Bt({...t.payload,lastValidOdomRot:U(t.payload.lastValidOdomRot),newOdomRot:U(t.payload.newOdomRot),lastSensorRot:W(r),newSensorRot:W(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?Wt(n.odometryPositions,n.latestLoopClosureFixPointPos,Gt):0,s=n.latestLoopClosureFixPointRot?Wt(n.odometryRotations,n.latestLoopClosureFixPointRot,Kt):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=>L(e)),u=n.odometryRotations.slice(0,r).map(e=>V(e)),d=n.odometryPositions.slice(r).map(e=>L(e)),f=n.odometryRotations.slice(r).map(e=>V(e)),p=d.map((e,t)=>Vt(e,f[t])),m=Vt(H(t.payload.lastPos),V(U(t.payload.lastRot)));p.push(m);let h=Ut(p,Vt(H(t.payload.newPos),V(U(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(P(n)),_.push(F(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:H(t.payload.position),rotation:V(U(t.payload.rotation)),capturedAt:t.payload.capturedAt}))}}}),{setZeroPos:Jt,recordGpsEvent:Yt,odometryTrackingRestarted:Xt,arLoopClosureDetected:Zt,add2dImage:Qt}=qt.actions,$t=p(Jt),en=p(Yt),tn=p(Xt),nn=p(Zt),rn=p(Qt),an=m(qt.reducer),on=t({name:`gpsElements`,initialState:ve(),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: ${n.geoHash}`);e.heatAreas[r][n.geoHash]=n},resetGpsElements:()=>ve()}}),{addMarker:sn,addLine:cn,addArea:ln,addToHeatMaps:un,addHeatMapArea:dn,resetGpsElements:fn}=on.actions,pn=p(sn),mn=p(cn),hn=p(ln),gn=p(un),_n=p(dn),vn=p(fn),yn=m(on.reducer),bn=()=>({gpsData:null,gpsElements:ve(),arElements:j()}),xn=e=>{let t=Array.from({length:Math.min(e.length,4)},(t,n)=>e[n].toFixed(2));e.length>4&&t.push(`…`);let n=`[${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},Sn=e=>(e.length===3||e.length===4||e.length===16)&&e.every(e=>typeof e==`number`),$=(e,t=0)=>{if(t>10||e==null)return e;if(Array.isArray(e))return Sn(e)?xn(e):e.map(e=>$(e,t+1));if(typeof e==`object`){let n={};for(let[r,i]of Object.entries(e))n[r]=$(i,t+1);return n}return e},Cn=(t={})=>{let{preloadedState:n,enableDevToolsSanitizers:r=!0,enableDevChecks:i=!0,licenseKey:a}=t;if(a==null)throw Error(`License key required. Pass options.licenseKey or use createRecorderStore() from gps-plus-slam-app-framework. See EULA §3.`);g(a);let o=bn(),s=n?{gpsData:n.gpsData??o.gpsData,gpsElements:n.gpsElements??o.gpsElements,arElements:n.arElements??o.arElements}:void 0;return e({reducer:{gpsData:an,gpsElements:yn,arElements:Ye},preloadedState:s,middleware:e=>e({serializableCheck:i,immutableCheck:i}),devTools:r?{actionSanitizer:$,stateSanitizer:$}:!0})},wn=[],Tn=[],En=[],Dn={median:null,mean:null},On=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentMatrix}),kn=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentRotation}),An=f(function(e){return e.gpsData?.gpsEvents?.odometryPositions??wn}),jn=f(function(e){return e.gpsData?.gpsEvents?.odometryRotations??Tn}),Mn=f(function(e){return e.gpsData?.gpsEvents?.gpsPositions??En}),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?Dn:{median:t,mean:n}}),Fn=`1.0.0`;export{B as IDENTITY_MATRIX4,R as IDENTITY_QUATERNION,Fn as LIB_VERSION,z as ZERO_VECTOR3,rn as add2dImage,hn as addArea,We as addCornerToEventArea,_n as addHeatMapArea,mn as addLine,pn as addMarker,He as addOrUpdateArPlane,gn as addToHeatMaps,qe as anchorEventAreaInWorldSpace,Ye as arElementsReducer,nn as arLoopClosureDetected,ce as calcGeoHash,k as calcGpsCoords,oe as calcQuadKey,O as calcRelativeCoordsInMeters,xe as cloneMatrix4,be as cloneQuaternion,L as cloneVector3,Ge as correctArDriftForEventArea,Cn as createGpsSlamStore,ue as distanceInMeters,de as distanceInMetersRelative,W as enuQuaternionToNUE,G as eulerToQuaternion,Ke as finishEventArea,ye as fromMatrix4,N as fromQuaternion,M as fromVector3,ge as fusedGpsFromOdom,le as geoHashToLatLong,On as getAlignmentMatrix,kn as getAlignmentRotation,me as getGoogleMapsDirectionsLink,pe as getGoogleMapsLink,Pn as getGpsAccuracyStats,Mn as getGpsPositions,An as getOdometryPositions,jn as getOdometryRotations,he as getOpenStreetMapLink,Nn as getZeroReference,an as gpsDataReducer,yn as gpsElementsReducer,Oe as invertQuaternion,Se as isIdentityMatrix4,we as isIdentityQuaternion,Te as isNearIdentityQuaternion,De as multiplyQuaternions,V as normalizeQuaternion,je as nueQuaternionToENU,Ae as nueQuaternionToWebXR,ke as nueToWebXR,tn as odometryTrackingRestarted,se as quadKeyToLatLong,Ce as quaternionMagnitude,Ee as quaternionsEquivalent,en as recordGpsEvent,Ve as recordPhoneHeight,Je as resetArElements,vn as resetGpsElements,$ as sanitizeForDevTools,$t as setZeroPos,Ue as startEventArea,fe as toEarthCenteredCoordinates,I as toMatrix4,F as toQuaternion,P as toVector3,g as validateLicenseKey,U as webxrQuaternionToNUE,H 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,solverVerticalWeights:b}=pt(t,n,r,f),x=vt(_,y,b,f,d??Math.random),S=a.create(),ee=o.create(),C=o.create();gt(x.matrix,S,ee,C);let{mean:w,median:T}=kt(h),E=Ot(r,f.geohashPrecision,f.geohashWindowSize);return{odometryPositions:ot(p),odometryRotations:st(m),gpsPositions:ct(h),gpsPositionsVec4:lt(g),alignmentMatrix:I(x.matrix),alignmentRotation:F(S),alignmentTranslation:P(ee),alignmentRotationInDegree:P(C),...ut(i,s,c,l),gpsAccuracyMedian:T,gpsAccuracyMean:w,currentGpsPosGeoHash:E}},X=(e,t)=>e!=null&&e>0?1/Math.max(e,1)**+t:1,ht=(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(V(Y(n)));let f=Nt(r);u.push(f);let p={...at,...i??{}};f.weight=X(f.latLongAccuracy,p.gpsAccuracyExponent);let m=jt(f);if(p.includeTimeWeight){d.push(m);let e=Dt(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=Tt(u,p.recentSeconds));let g=vt(c.slice(h).map(M),d.slice(h),Et(u.slice(h),p),p,s??Math.random);e.alignmentMatrix=I(g.matrix);let _=a.create(),v=o.create(),y=o.create();gt(g.matrix,_,v,y),e.alignmentRotation=F(_),e.alignmentTranslation=P(v),e.alignmentRotationInDegree=P(y);let{mean:b,median:x}=kt(u);e.gpsAccuracyMean=b,e.gpsAccuracyMedian=x,e.currentGpsPosGeoHash=Ot(u,p.geohashPrecision,p.geohashWindowSize)},gt=(e,t,n,r)=>{i.getRotation(t,e),a.normalize(t,t),i.getTranslation(n,e),At(t,r)},Z=o.create(),_t=o.create(),vt=(e,t,n,r,a)=>{if(e.length===0)return{matrix:i.create(),meanError:0};let o=e.length,c=[];for(let r=0;r<o;r+=1){let i=t[r];c.push({odom:e[r],ref:s.fromValues(i[0],i[1],i[2],i[3]),verticalWeight:n[r]??1})}let l,u,d;if(r.useRansac&&c.length>=3){let e=c.length,t=Math.max(3,Math.min(e,Math.ceil(e*r.ransacSampleRatio))),n=et(c,Math.max(t,Math.min(e,Math.ceil(e*r.ransacInlierRatio))),t,r.ransacMaxIterations,e=>St(e,r.ignoreYAxisForRotation),(e,t)=>Ct(e,t)<e.meanAlignmentError+r.ransacErrorTolerance,a);l=n.alignmentMatrix,u=n.meanAlignmentError,n.inliers!==void 0&&(d=Array.from(n.inliers))}else{let e=St(c,r.ignoreYAxisForRotation);l=e.alignmentMatrix,u=e.meanAlignmentError}return r.altitudeAlignmentMode===`separate1D`&&yt(l,c,d,r),{matrix:l,meanError:u}},yt=(e,t,n,r)=>{let i=r.altitudeSampleSet===`horizontalInliers`&&n!==void 0&&n.length>0?n:t;if(i.length===0)return;let a=Array(i.length),o=Array(i.length);for(let e=0;e<i.length;e+=1){let t=i[e];a[e]=t.ref[1]-t.odom[1];let n=t.verticalWeight;o[e]=n>0&&Number.isFinite(n)?n:0}e[13]=r.altitudeAggregator===`median`?xt(a,o):bt(a,o)},bt=(e,t)=>{let n=0,r=0;for(let i=0;i<e.length;i+=1)n+=e[i]*t[i],r+=t[i];if(r>0&&Number.isFinite(r))return n/r;let i=0;for(let t=0;t<e.length;t+=1)i+=e[t];return e.length===0?0:i/e.length},xt=(e,t)=>{if(e.length===0)return 0;if(e.length===1)return e[0];let n=e.map((e,t)=>t);n.sort((t,n)=>e[t]-e[n]);let r=0;for(let e=0;e<t.length;e+=1)r+=t[e];if(!(r>0)||!Number.isFinite(r)){let t=n.map(t=>e[t]);return t[Math.floor((t.length-1)/2)]}let i=r/2,a=0;for(let r=0;r<n.length;r+=1)if(a+=t[n[r]],a>=i)return e[n[r]];return e[n[n.length-1]]},St=(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=Qe(i,a,{ignoreYAxisForRotation:t}),c=0;for(let e=0;e<r;e+=1)o.transformMat4(Z,i[e],s),c+=wt(Z,n[e].ref);return{alignmentMatrix:s,meanAlignmentError:r===0?0:c/r,totalModelError:c}},Ct=(e,t)=>(o.transformMat4(Z,t.odom,e.alignmentMatrix),wt(Z,t.ref)),wt=(e,t)=>(o.set(_t,t[0],t[1],t[2]),o.squaredDistance(e,_t)),Tt=(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},Et=(e,t)=>{let n=t.gpsVerticalAccuracyExponent,r=e.map(e=>{let t=e.altitudeAccuracy;return X(t!=null&&Number.isFinite(t)&&t>0?t:e.latLongAccuracy,n)});if(!t.includeTimeWeight||e.length<2)return r;let i=e[e.length-1].timestamp,a=e[0].timestamp,o=Math.max(1,i-a),s=t.weightByTimeFactor;return r.map((t,n)=>{if(!(t>0&&Number.isFinite(t)))return 0;let r=s*((i-e[n].timestamp)/o)+1;return 1/(1/t+r)})},Dt=(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;if(!(s>0&&Number.isFinite(s)))return[e[0],e[1],e[2],0];let c=1/(1/s+o);return[e[0],e[1],e[2],c]})},Q=new Map,Ot=(e,t,n)=>{if(e.length===0)return null;let r=Math.max(0,e.length-n);Q.clear();for(let n=r;n<e.length;n+=1){let r=e[n],i=ce(Mt(r),t),a=Q.get(i);a?(a.count+=1,a.index=n):Q.set(i,{count:1,index:n})}let i=null,a=-1,o=-1;for(let[e,{count:t,index:n}]of Q)(t>a||t===a&&n>o)&&(i=e,a=t,o=n);return i},kt=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]}},At=(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},jt=e=>[e.coordinates[0],e.coordinates[1],e.coordinates[2],e.weight>0&&Number.isFinite(e.weight)?e.weight:1],Mt=e=>({lat:e.latitude,lon:e.longitude}),Nt=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?V(Y(e.deviceRotation)):void 0}),Pt=({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}`)},Ft=o.fromValues(1,1,1),It=(e,t)=>[e[0]+t[0],e[1]+t[1],e[2]+t[2]],Lt=(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?W(G(n.alpha,n.beta,n.gamma)):void 0;return{...e,zeroRef:t,coordinates:P(r),weight:1,deviceRotation:i}},Rt=(e,t,n)=>{if(e)return G(e.alpha,e.beta,e.gamma);if(t)return t;throw Error(`Sensor rotation missing for ${n}: neither raw orientation nor legacy quaternion provided`)},zt=e=>{let t=a.invert(a.create(),e);if(!t)throw Error(`Encountered non-invertible quaternion`);return t},Bt=e=>{let t=zt(a.normalize(a.create(),N(e.lastSensorRot))),n=a.normalize(a.create(),N(e.lastValidOdomRot)),r=a.multiply(a.create(),t,n),i=a.normalize(a.create(),N(e.newSensorRot)),o=a.multiply(a.create(),i,r),s=a.normalize(a.create(),N(e.newOdomRot)),c=a.multiply(a.create(),o,s);return a.normalize(c,c),F(c)},Vt=(e,t)=>{let n=i.create();return i.fromRotationTranslationScale(n,a.normalize(a.create(),N(t)),M(e),Ft),n},Ht=(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)},Ut=(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=Ht(o,a,s<=0?1:t/s);return i.multiply(i.create(),n,e)})},Wt=(e,t,n)=>{for(let r=e.length-1;r>=0;--r)if(n(e[r],t))return r;return-1},Gt=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2],Kt=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3],qt=t({name:`gpsData`,initialState:null,reducers:{setZeroPos:{reducer:(e,t)=>e===null?{zero:t.payload,gpsEvents:ft(),odometryPath:_e()}:e,prepare:e=>(Pt(e),{payload:e})},recordGpsEvent:(e,t)=>{if(!e)return e;let{odomPosition:n,odomRotation:r,rawGpsPoint:i,rawDeviceOrientation:a}=t.payload,o=Lt(i,e.zero,a);ht(e.gpsEvents,H(n),U(r),o)},odometryTrackingRestarted:(e,t)=>{if(!e)return e;let n=It(e.gpsEvents.odometryPosOffset,H(t.payload.lastValidOdomPos)),r=Rt(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=Rt(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(mt({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:Bt({...t.payload,lastValidOdomRot:U(t.payload.lastValidOdomRot),newOdomRot:U(t.payload.newOdomRot),lastSensorRot:W(r),newSensorRot:W(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?Wt(n.odometryPositions,n.latestLoopClosureFixPointPos,Gt):0,s=n.latestLoopClosureFixPointRot?Wt(n.odometryRotations,n.latestLoopClosureFixPointRot,Kt):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=>L(e)),u=n.odometryRotations.slice(0,r).map(e=>V(e)),d=n.odometryPositions.slice(r).map(e=>L(e)),f=n.odometryRotations.slice(r).map(e=>V(e)),p=d.map((e,t)=>Vt(e,f[t])),m=Vt(H(t.payload.lastPos),V(U(t.payload.lastRot)));p.push(m);let h=Ut(p,Vt(H(t.payload.newPos),V(U(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(P(n)),_.push(F(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:H(t.payload.position),rotation:V(U(t.payload.rotation)),capturedAt:t.payload.capturedAt,width:t.payload.width,height:t.payload.height}))}}}),{setZeroPos:Jt,recordGpsEvent:Yt,odometryTrackingRestarted:Xt,arLoopClosureDetected:Zt,add2dImage:Qt}=qt.actions,$t=p(Jt),en=p(Yt),tn=p(Xt),nn=p(Zt),rn=p(Qt),an=m(qt.reducer),on=t({name:`gpsElements`,initialState:ve(),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: ${n.geoHash}`);e.heatAreas[r][n.geoHash]=n},resetGpsElements:()=>ve()}}),{addMarker:sn,addLine:cn,addArea:ln,addToHeatMaps:un,addHeatMapArea:dn,resetGpsElements:fn}=on.actions,pn=p(sn),mn=p(cn),hn=p(ln),gn=p(un),_n=p(dn),vn=p(fn),yn=m(on.reducer),bn=()=>({gpsData:null,gpsElements:ve(),arElements:j()}),xn=e=>{let t=Array.from({length:Math.min(e.length,4)},(t,n)=>e[n].toFixed(2));e.length>4&&t.push(`…`);let n=`[${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},Sn=e=>(e.length===3||e.length===4||e.length===16)&&e.every(e=>typeof e==`number`),$=(e,t=0)=>{if(t>10||e==null)return e;if(Array.isArray(e))return Sn(e)?xn(e):e.map(e=>$(e,t+1));if(typeof e==`object`){let n={};for(let[r,i]of Object.entries(e))n[r]=$(i,t+1);return n}return e},Cn=(t={})=>{let{preloadedState:n,enableDevToolsSanitizers:r=!0,enableDevChecks:i=!0,licenseKey:a}=t;if(a==null)throw Error(`License key required. Pass options.licenseKey or use createRecorderStore() from gps-plus-slam-app-framework. See EULA §3.`);g(a);let o=bn(),s=n?{gpsData:n.gpsData??o.gpsData,gpsElements:n.gpsElements??o.gpsElements,arElements:n.arElements??o.arElements}:void 0;return e({reducer:{gpsData:an,gpsElements:yn,arElements:Ye},preloadedState:s,middleware:e=>e({serializableCheck:i,immutableCheck:i}),devTools:r?{actionSanitizer:$,stateSanitizer:$}:!0})},wn=[],Tn=[],En=[],Dn={median:null,mean:null},On=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentMatrix}),kn=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentRotation}),An=f(function(e){return e.gpsData?.gpsEvents?.odometryPositions??wn}),jn=f(function(e){return e.gpsData?.gpsEvents?.odometryRotations??Tn}),Mn=f(function(e){return e.gpsData?.gpsEvents?.gpsPositions??En}),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?Dn:{median:t,mean:n}}),Fn=`1.0.0`;export{B as IDENTITY_MATRIX4,R as IDENTITY_QUATERNION,Fn as LIB_VERSION,z as ZERO_VECTOR3,rn as add2dImage,hn as addArea,We as addCornerToEventArea,_n as addHeatMapArea,mn as addLine,pn as addMarker,He as addOrUpdateArPlane,gn as addToHeatMaps,qe as anchorEventAreaInWorldSpace,Ye as arElementsReducer,nn as arLoopClosureDetected,ce as calcGeoHash,k as calcGpsCoords,oe as calcQuadKey,O as calcRelativeCoordsInMeters,xe as cloneMatrix4,be as cloneQuaternion,L as cloneVector3,Ge as correctArDriftForEventArea,Cn as createGpsSlamStore,ue as distanceInMeters,de as distanceInMetersRelative,W as enuQuaternionToNUE,G as eulerToQuaternion,Ke as finishEventArea,ye as fromMatrix4,N as fromQuaternion,M as fromVector3,ge as fusedGpsFromOdom,le as geoHashToLatLong,On as getAlignmentMatrix,kn as getAlignmentRotation,me as getGoogleMapsDirectionsLink,pe as getGoogleMapsLink,Pn as getGpsAccuracyStats,Mn as getGpsPositions,An as getOdometryPositions,jn as getOdometryRotations,he as getOpenStreetMapLink,Nn as getZeroReference,an as gpsDataReducer,yn as gpsElementsReducer,Oe as invertQuaternion,Se as isIdentityMatrix4,we as isIdentityQuaternion,Te as isNearIdentityQuaternion,De as multiplyQuaternions,V as normalizeQuaternion,je as nueQuaternionToENU,Ae as nueQuaternionToWebXR,ke as nueToWebXR,tn as odometryTrackingRestarted,se as quadKeyToLatLong,Ce as quaternionMagnitude,Ee as quaternionsEquivalent,en as recordGpsEvent,Ve as recordPhoneHeight,Je as resetArElements,vn as resetGpsElements,$ as sanitizeForDevTools,$t as setZeroPos,Ue as startEventArea,fe as toEarthCenteredCoordinates,I as toMatrix4,F as toQuaternion,P as toVector3,g as validateLicenseKey,U as webxrQuaternionToNUE,H as webxrToNUE};

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

@@ -35,6 +35,6 @@
  * @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 = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODExNzg4MTA2fQ.0lSHw7QYXP8U_PgQ7ckP3JIP31h4EGvgzNx0_6u-FeYdFMwM-QUENHsWSbyZ718n8nfyxOvNNGN2v-ljSOxhDQ";
+declare const COMMUNITY_LICENSE_KEY = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODEzNjExMTUxfQ.LME4b_CjbvN33kS--UkXfFbns-93P7erNYM4JThcbwvCosKH77Ta-7lHkuZgzxIiuzUMW6uYQ3G5YgE0aySqCw";
 //#endregion
 export { COMMUNITY_LICENSE_KEY };

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

@@ -1,2 +1,2 @@
 /*! gps-plus-slam-js | (c) 2026 cs-util-com | UNLICENSED — see EULA.md */
-const e=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODExNzg4MTA2fQ.0lSHw7QYXP8U_PgQ7ckP3JIP31h4EGvgzNx0_6u-FeYdFMwM-QUENHsWSbyZ718n8nfyxOvNNGN2v-ljSOxhDQ`;export{e as COMMUNITY_LICENSE_KEY};
+const e=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODEzNjExMTUxfQ.LME4b_CjbvN33kS--UkXfFbns-93P7erNYM4JThcbwvCosKH77Ta-7lHkuZgzxIiuzUMW6uYQ3G5YgE0aySqCw`;export{e as COMMUNITY_LICENSE_KEY};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gps-plus-slam-js",
-  "version": "1.0.7",
+  "version": "1.4.0",
   "description": "TypeScript library for real-time GPS + AR odometry alignment.",
   "author": "cs-util-com",
   "keywords": [