diff --git a/README.md b/README.md index 6f05b5c0..59d202a3 100644 --- a/README.md +++ b/README.md @@ -75,7 +75,7 @@ docker run -p 3000:3000 ruvnet/wifi-densepose:latest |----------|-------------| | [User Guide](docs/user-guide.md) | Step-by-step guide: installation, first run, API usage, hardware setup, training | | [Build Guide](docs/build-guide.md) | Building from source (Rust and Python) | -| [Architecture Decisions](docs/adr/README.md) | 48 ADRs — why each technical choice was made, organized by domain (hardware, signal processing, ML, platform, infrastructure) | +| [Architecture Decisions](docs/adr/README.md) | 49 ADRs — why each technical choice was made, organized by domain (hardware, signal processing, ML, platform, infrastructure) | | [Domain Models](docs/ddd/README.md) | 7 DDD models (RuvSense, Signal Processing, Training Pipeline, Hardware Platform, Sensing Server, WiFi-Mat, CHCI) — bounded contexts, aggregates, domain events, and ubiquitous language | | [Desktop App](rust-port/wifi-densepose-rs/crates/wifi-densepose-desktop/README.md) | **WIP** — Tauri v2 desktop app for node management, OTA updates, WASM deployment, and mesh visualization | @@ -89,8 +89,12 @@ docker run -p 3000:3000 ruvnet/wifi-densepose:latest Real-time pose skeleton from WiFi CSI signals — no cameras, no wearables
▶ Live Observatory Demo +  |  + ▶ Dual-Modal Pose Fusion Demo > The [server](#-quick-start) is optional for visualization and aggregation — the ESP32 [runs independently](#esp32-s3-hardware-pipeline) for presence detection, vital signs, and fall alerts. +> +> **Live ESP32 pipeline**: Connect an ESP32-S3 node → run the [sensing server](#sensing-server) → open the [pose fusion demo](https://ruvnet.github.io/RuView/pose-fusion.html) for real-time dual-modal pose estimation (webcam + WiFi CSI). See [ADR-059](docs/adr/ADR-059-live-esp32-csi-pipeline.md). ## 🚀 Key Features diff --git a/docs/adr/ADR-058-ruvector-wasm-browser-pose-example.md b/docs/adr/ADR-058-ruvector-wasm-browser-pose-example.md new file mode 100644 index 00000000..1e25c81d --- /dev/null +++ b/docs/adr/ADR-058-ruvector-wasm-browser-pose-example.md @@ -0,0 +1,392 @@ +# ADR-058: Dual-Modal WASM Browser Pose Estimation — Live Video + WiFi CSI Fusion + +- **Status**: Proposed +- **Date**: 2026-03-12 +- **Deciders**: ruv +- **Tags**: wasm, browser, cnn, pose-estimation, ruvector, video, multimodal, fusion + +## Context + +WiFi-DensePose estimates human poses from WiFi CSI (Channel State Information). +The `ruvector-cnn` crate provides a pure Rust CNN (MobileNet-V3) with WASM bindings. +Both modalities exist independently — what's missing is **fusing live webcam video +with WiFi CSI** in a single browser demo to achieve robust pose estimation that +works even when one modality degrades (occlusion, signal noise, poor lighting). + +Existing assets: + +1. **`wifi-densepose-wasm`** — CSI signal processing compiled to WASM +2. **`wifi-densepose-sensing-server`** — Axum server streaming live CSI via WebSocket +3. **`ruvector-cnn`** — Pure Rust CNN with MobileNet-V3 backbones, SIMD, contrastive learning +4. **`ruvector-cnn-wasm`** — wasm-bindgen bindings: `WasmCnnEmbedder`, `SimdOps`, `LayerOps`, contrastive losses +5. **`vendor/ruvector/examples/wasm-vanilla/`** — Reference vanilla JS WASM example + +Research shows multi-modal fusion (camera + WiFi) significantly outperforms either alone: +- Camera fails under occlusion, poor lighting, privacy constraints +- WiFi CSI fails with signal noise, multipath, low spatial resolution +- Fusion compensates: WiFi provides through-wall coverage, camera provides fine-grained detail + +## Decision + +Build a **dual-modal browser demo** at `examples/wasm-browser-pose/` that: + +1. Captures **live webcam video** via `getUserMedia` API +2. Receives **live WiFi CSI** via WebSocket from the sensing server +3. Processes **both streams** through separate CNN pipelines in `ruvector-cnn-wasm` +4. **Fuses embeddings** with learned attention weights for combined pose estimation +5. Renders **video overlay** with skeleton + WiFi confidence heatmap on Canvas +6. Runs entirely in the browser — all inference client-side via WASM + +### Architecture + +``` +┌──────────────────────────────────────────────────────────────────┐ +│ Browser │ +│ │ +│ ┌────────────┐ ┌────────────────┐ ┌───────────────────┐ │ +│ │ getUserMedia│───▶│ Video Frame │───▶│ CNN WASM │ │ +│ │ (Webcam) │ │ Capture │ │ (Visual Embedder) │ │ +│ └────────────┘ │ 224×224 RGB │ │ → 512-dim │ │ +│ └────────────────┘ └────────┬──────────┘ │ +│ │ │ +│ visual_embedding │ +│ │ │ +│ ┌──────▼──────┐ │ +│ ┌────────────┐ ┌────────────────┐ │ │ │ +│ │ WebSocket │───▶│ CSI WASM │ │ Attention │ │ +│ │ Client │ │ (densepose- │ │ Fusion │ │ +│ │ │ │ wasm) │ │ Module │ │ +│ └────────────┘ └───────┬────────┘ │ │ │ +│ │ └──────┬──────┘ │ +│ ┌───────▼────────┐ │ │ +│ │ CNN WASM │ fused_embedding │ +│ │ (CSI Embedder) │ │ │ +│ │ → 512-dim │ ┌──────▼──────┐ │ +│ └───────┬────────┘ │ Pose │ │ +│ │ │ Decoder │ │ +│ csi_embedding │ → 17 kpts │ │ +│ │ └──────┬──────┘ │ +│ └──────────────────────┘ │ +│ │ │ +│ ┌──────────────┐ ┌─────▼──────┐ │ +│ │ Video Canvas │◀────────│ Overlay │ │ +│ │ + Skeleton │ │ Renderer │ │ +│ │ + Heatmap │ └────────────┘ │ +│ └──────────────┘ │ +│ │ +└──────────────────────────────────────────────────────────────────┘ + ▲ ▲ + │ getUserMedia │ WebSocket + │ (camera) │ (ws://host:3030/ws/csi) + │ │ + ┌────┴────┐ ┌───────┴─────────┐ + │ Webcam │ │ Sensing Server │ + └─────────┘ └─────────────────┘ +``` + +### Dual Pipeline Design + +Two parallel CNN pipelines run on each frame tick (~30 FPS): + +| Pipeline | Input | Preprocessing | CNN Config | Output | +|----------|-------|---------------|------------|--------| +| **Visual** | Webcam frame (640×480) | Resize to 224×224 RGB, ImageNet normalize | MobileNet-V3 Small, 512-dim | Visual embedding | +| **CSI** | CSI frame (ADR-018 binary) | Amplitude/phase/delta → 224×224 pseudo-RGB | MobileNet-V3 Small, 512-dim | CSI embedding | + +Both use the same `WasmCnnEmbedder` but with separate instances and weight sets. + +### Fusion Strategy + +**Learned attention-weighted fusion** combines the two 512-dim embeddings: + +```javascript +// Attention fusion: learn which modality to trust per-dimension +// α ∈ [0,1]^512 — attention weights (shipped as JSON, trained offline) +// visual_emb, csi_emb ∈ R^512 + +function fuseEmbeddings(visual_emb, csi_emb, attention_weights) { + const fused = new Float32Array(512); + for (let i = 0; i < 512; i++) { + const α = attention_weights[i]; + fused[i] = α * visual_emb[i] + (1 - α) * csi_emb[i]; + } + return fused; +} +``` + +**Dynamic confidence gating** adjusts fusion based on signal quality: + +| Condition | Behavior | +|-----------|----------| +| Good video + good CSI | Balanced fusion (α ≈ 0.5) | +| Poor lighting / occlusion | CSI-dominant (α → 0, WiFi takes over) | +| CSI noise / no ESP32 | Video-dominant (α → 1, camera only) | +| Video-only mode (no WiFi) | α = 1.0, pure visual CNN pose estimation | +| CSI-only mode (no camera) | α = 0.0, pure WiFi pose estimation | + +Quality detection: +- **Video quality**: Frame brightness variance (dark = low quality), motion blur score +- **CSI quality**: Signal-to-noise ratio from `wifi-densepose-wasm`, coherence gate output + +### CSI-to-Image Encoding + +CSI data encoded as 3-channel pseudo-image for the CSI CNN pipeline: + +| Channel | Data | Normalization | +|---------|------|---------------| +| R | CSI amplitude (subcarrier × time window) | Min-max to [0, 255] | +| G | CSI phase (unwrapped, subcarrier × time window) | Min-max to [0, 255] | +| B | Temporal difference (frame-to-frame Δ amplitude) | Abs, min-max to [0, 255] | + +### Video Processing + +Webcam frames processed through standard ImageNet pipeline: + +```javascript +// Capture frame from video element +const frame = captureVideoFrame(videoElement, 224, 224); // Returns Uint8Array RGB + +// ImageNet normalization happens inside WasmCnnEmbedder.extract() +const visual_embedding = visual_embedder.extract(frame, 224, 224); +``` + +### Pose Keypoint Mapping + +17 COCO-format keypoints decoded from the fused 512-dim embedding: + +``` + 0: nose 1: left_eye 2: right_eye + 3: left_ear 4: right_ear 5: left_shoulder + 6: right_shoulder 7: left_elbow 8: right_elbow + 9: left_wrist 10: right_wrist 11: left_hip +12: right_hip 13: left_knee 14: right_knee +15: left_ankle 16: right_ankle +``` + +Each keypoint decoded as (x, y, confidence) = 51 values from the 512-dim embedding +via a learned linear projection. + +### Operating Modes + +The demo supports three modes, selectable in the UI: + +| Mode | Video | CSI | Fusion | Use Case | +|------|-------|-----|--------|----------| +| **Dual (default)** | ✅ | ✅ | Attention-weighted | Best accuracy, full demo | +| **Video Only** | ✅ | ❌ | α = 1.0 | No ESP32 available, quick demo | +| **CSI Only** | ❌ | ✅ | α = 0.0 | Privacy mode, through-wall sensing | + +**Video Only mode works without any hardware** — just a webcam — making the demo +instantly accessible for anyone wanting to try it. + +### File Layout + +``` +examples/wasm-browser-pose/ +├── index.html # Single-page app (vanilla JS, no bundler) +├── js/ +│ ├── app.js # Main entry, mode selection, orchestration +│ ├── video-capture.js # getUserMedia, frame extraction, quality detection +│ ├── csi-processor.js # WebSocket CSI client, frame parsing, pseudo-image encoding +│ ├── fusion.js # Attention-weighted embedding fusion, confidence gating +│ ├── pose-decoder.js # Fused embedding → 17 keypoints +│ └── canvas-renderer.js # Video overlay, skeleton, CSI heatmap, confidence bars +├── data/ +│ ├── visual-weights.json # Visual CNN → embedding projection (placeholder until trained) +│ ├── csi-weights.json # CSI CNN → embedding projection (placeholder until trained) +│ ├── fusion-weights.json # Attention fusion α weights (512 values) +│ └── pose-weights.json # Fused embedding → keypoint projection +├── css/ +│ └── style.css # Dark theme UI styling +├── pkg/ # Built WASM packages (gitignored, built by script) +│ ├── wifi_densepose_wasm/ +│ └── ruvector_cnn_wasm/ +├── build.sh # wasm-pack build script for both packages +└── README.md # Setup and usage instructions +``` + +### Build Pipeline + +```bash +#!/bin/bash +# build.sh — builds both WASM packages into pkg/ + +set -e + +# Build wifi-densepose-wasm (CSI processing) +wasm-pack build ../../rust-port/wifi-densepose-rs/crates/wifi-densepose-wasm \ + --target web --out-dir "$(pwd)/pkg/wifi_densepose_wasm" --no-typescript + +# Build ruvector-cnn-wasm (CNN inference for both video and CSI) +wasm-pack build ../../vendor/ruvector/crates/ruvector-cnn-wasm \ + --target web --out-dir "$(pwd)/pkg/ruvector_cnn_wasm" --no-typescript + +echo "Build complete. Serve with: python3 -m http.server 8080" +``` + +### UI Layout + +``` +┌─────────────────────────────────────────────────────────┐ +│ WiFi-DensePose — Live Dual-Modal Pose Estimation │ +│ [Dual Mode ▼] [⚙ Settings] FPS: 28 ◉ Live │ +├───────────────────────────┬─────────────────────────────┤ +│ │ │ +│ ┌───────────────────┐ │ ┌───────────────────┐ │ +│ │ │ │ │ │ │ +│ │ Video + Skeleton │ │ │ CSI Heatmap │ │ +│ │ Overlay │ │ │ (amplitude × │ │ +│ │ (main canvas) │ │ │ subcarrier) │ │ +│ │ │ │ │ │ │ +│ └───────────────────┘ │ └───────────────────┘ │ +│ │ │ +├───────────────────────────┴─────────────────────────────┤ +│ Fusion Confidence: ████████░░ 78% │ +│ Video: ██████████ 95% │ CSI: ██████░░░░ 61% │ +├─────────────────────────────────────────────────────────┤ +│ ┌─────────────────────────────────────────────────┐ │ +│ │ Embedding Space (2D projection) │ │ +│ │ · · · │ │ +│ │ · · · · · · (color = pose cluster) │ │ +│ │ · · · · │ │ +│ └─────────────────────────────────────────────────┘ │ +├─────────────────────────────────────────────────────────┤ +│ Latency: Video 12ms │ CSI 8ms │ Fusion 1ms │ Total 21ms│ +│ [▶ Record] [📷 Snapshot] [Confidence: ████ 0.6] │ +└─────────────────────────────────────────────────────────┘ +``` + +### WASM Module Structure + +| Package | Source Crate | Provides | Size (est.) | +|---------|-------------|----------|-------------| +| `wifi_densepose_wasm` | `wifi-densepose-wasm` | CSI frame parsing, signal processing, feature extraction | ~200KB | +| `ruvector_cnn_wasm` | `ruvector-cnn-wasm` | `WasmCnnEmbedder` (×2 instances), `SimdOps`, `LayerOps`, contrastive losses | ~150KB | + +Two `WasmCnnEmbedder` instances are created — one for video frames, one for CSI pseudo-images. +They share the same WASM module but have independent state. + +### Browser API Requirements + +| API | Purpose | Required | Fallback | +|-----|---------|----------|----------| +| `getUserMedia` | Webcam capture | For video mode | CSI-only mode | +| WebAssembly | CNN inference | Yes | None (hard requirement) | +| WASM SIMD128 | Accelerated inference | No | Scalar fallback (~2× slower) | +| WebSocket | CSI data stream | For CSI mode | Video-only mode | +| Canvas 2D | Rendering | Yes | None | +| `requestAnimationFrame` | Render loop | Yes | `setTimeout` fallback | +| ES Modules | Code organization | Yes | None | + +Target: Chrome 89+, Firefox 89+, Safari 15+, Edge 89+ + +### Performance Budget + +| Stage | Target Latency | Notes | +|-------|---------------|-------| +| Video frame capture + resize | <3ms | `drawImage` to offscreen canvas | +| Video CNN embedding | <15ms | 224×224 RGB → 512-dim | +| CSI receive + parse | <2ms | Binary WebSocket message | +| CSI pseudo-image encoding | <3ms | Amplitude/phase/delta channels | +| CSI CNN embedding | <15ms | 224×224 pseudo-RGB → 512-dim | +| Attention fusion | <1ms | Element-wise weighted sum | +| Pose decoding | <1ms | Linear projection | +| Canvas overlay render | <3ms | Video + skeleton + heatmap | +| **Total (dual mode)** | **<33ms** | **30 FPS capable** | +| **Total (video only)** | **<22ms** | **45 FPS capable** | + +Note: Video and CSI CNN pipelines can run in parallel using Web Workers, +reducing dual-mode latency to ~max(15, 15) + 5 = ~20ms (50 FPS). + +### Contrastive Learning Integration + +The demo optionally shows real-time contrastive learning in the browser: + +- **InfoNCE loss** (`WasmInfoNCELoss`): Compare video vs CSI embeddings for the same pose — trains cross-modal alignment +- **Triplet loss** (`WasmTripletLoss`): Push apart different poses, pull together same pose across modalities +- **SimdOps**: Accelerated dot products for real-time similarity computation +- **Embedding space panel**: Live 2D projection shows video and CSI embeddings converging when viewing the same person + +### Relationship to Existing Crates + +| Existing Crate | Role in This Demo | +|---------------|-------------------| +| `ruvector-cnn-wasm` | CNN inference for **both** video frames and CSI pseudo-images | +| `wifi-densepose-wasm` | CSI frame parsing and signal processing | +| `wifi-densepose-sensing-server` | WebSocket CSI data source | +| `wifi-densepose-core` | ADR-018 frame format definitions | +| `ruvector-cnn` | Underlying MobileNet-V3, layers, contrastive learning | + +No new Rust crates are needed. The example is pure HTML/JS consuming existing WASM packages. + +## Consequences + +### Positive + +- **Instant demo**: Video-only mode works with just a webcam — no ESP32 needed +- **Multi-modal showcase**: Demonstrates camera + WiFi fusion, the core innovation of the project +- **Graceful degradation**: Works with video-only, CSI-only, or both +- **Through-wall capability**: CSI mode shows pose estimation where cameras cannot reach +- **Zero-install**: Anyone with a browser can try it +- **Training data collection**: Can record paired (video, CSI) data for offline model training +- **Reusable**: JS modules embed directly in the Tauri desktop app's webview + +### Negative + +- **Model weights**: Requires offline-trained weights for visual CNN, CSI CNN, fusion, and pose decoder (~200KB total JSON) +- **WASM size**: Two WASM modules total ~350KB (acceptable) +- **No GPU**: CPU-only WASM inference; adequate at 224×224 but limits resolution scaling +- **Camera privacy**: Video mode requires camera permission (mitigated: CSI-only mode available) +- **Two CNN instances**: Memory footprint doubles vs single-modal (~10MB total, acceptable for desktop browsers) + +### Risks + +- **Cross-modal alignment**: Video and CSI embeddings must be trained jointly for fusion to work; + without proper training, fusion may be worse than either modality alone +- **Latency on mobile**: Dual CNN on mobile browsers may exceed 33ms; implement automatic quality reduction +- **WebSocket drops**: Network jitter → CSI frame gaps; buffer last 3 frames, interpolate missing data + +## Implementation Plan + +1. **Phase 1 — Scaffold**: File layout, build.sh, index.html shell, mode selector UI +2. **Phase 2 — Video pipeline**: getUserMedia → frame capture → CNN embedding → basic pose display +3. **Phase 3 — CSI pipeline**: WebSocket client → CSI parsing → pseudo-image → CNN embedding +4. **Phase 4 — Fusion**: Attention-weighted combination, confidence gating, mode switching +5. **Phase 5 — Pose decoder**: Linear projection with placeholder weights → 17 keypoints +6. **Phase 6 — Overlay renderer**: Video canvas with skeleton overlay, CSI heatmap panel +7. **Phase 7 — Training**: Use `wifi-densepose-train` to generate real weights for both CNNs + fusion + decoder +8. **Phase 8 — Contrastive demo**: Embedding space visualization, cross-modal similarity display +9. **Phase 9 — Web Workers**: Move CNN inference to workers for parallel video + CSI processing +10. **Phase 10 — Polish**: Recording, snapshots, adaptive quality, mobile optimization + +## Alternatives Considered + +### 1. CSI-Only (No Video) +Rejected: Misses the opportunity to show multi-modal fusion and makes the demo less +accessible (requires ESP32 hardware). Video-only mode as a fallback is strictly better. + +### 2. Server-Side Video Inference +Rejected: Adds latency, requires webcam stream upload (privacy concern), and defeats +the WASM-first architecture. All inference must be client-side. + +### 3. TensorFlow.js for Video, ruvector-cnn-wasm for CSI +Rejected: Would require two different ML frameworks. Using `ruvector-cnn-wasm` for both +keeps a single WASM module, unified embedding space, and simpler fusion. + +### 4. Pre-recorded Video Demo +Rejected: Live webcam input is far more compelling for demonstrations. +Pre-recorded mode can be added as a secondary option. + +### 5. React/Vue Framework +Rejected: Adds build tooling. Vanilla JS + ES modules keeps the demo self-contained. + +## References + +- [ADR-018: Binary CSI Frame Format](ADR-018-binary-csi-frame-format.md) +- [ADR-024: Contrastive CSI Embedding / AETHER](ADR-024-contrastive-csi-embedding.md) +- [ADR-055: Integrated Sensing Server](ADR-055-integrated-sensing-server.md) +- `vendor/ruvector/crates/ruvector-cnn/src/lib.rs` — CNN embedder implementation +- `vendor/ruvector/crates/ruvector-cnn-wasm/src/lib.rs` — WASM bindings +- `vendor/ruvector/examples/wasm-vanilla/index.html` — Reference vanilla JS WASM pattern +- Person-in-WiFi: Fine-grained Person Perception using WiFi (ICCV 2019) — camera+WiFi fusion precedent +- WiPose: Multi-Person WiFi Pose Estimation (TMC 2022) — cross-modal embedding approach diff --git a/docs/adr/ADR-059-live-esp32-csi-pipeline.md b/docs/adr/ADR-059-live-esp32-csi-pipeline.md new file mode 100644 index 00000000..a08ecc0b --- /dev/null +++ b/docs/adr/ADR-059-live-esp32-csi-pipeline.md @@ -0,0 +1,83 @@ +# ADR-059: Live ESP32 CSI Pipeline Integration + +## Status + +Accepted + +## Date + +2026-03-12 + +## Context + +ADR-058 established a dual-modal browser demo combining webcam video and WiFi CSI for pose estimation. However, it used simulated CSI data. To demonstrate real-world capability, we need an end-to-end pipeline from physical ESP32 hardware through to the browser visualization. + +The ESP32-S3 firmware (`firmware/esp32-csi-node/`) already supports CSI collection and UDP streaming (ADR-018). The sensing server (`wifi-densepose-sensing-server`) already supports UDP ingestion and WebSocket bridging. The missing piece was connecting these components and enabling the browser demo to consume live data. + +## Decision + +Implement a complete live CSI pipeline: + +``` +ESP32-S3 (CSI capture) → UDP:5005 → sensing-server (Rust/Axum) → WS:8765 → browser demo +``` + +### Components + +1. **ESP32 Firmware** — Rebuilt with native Windows ESP-IDF v5.4.0 toolchain (no Docker). Configured for target network and PC IP via `sdkconfig`. Helper scripts added: + - `build_firmware.ps1` — Sets up IDF environment, cleans, builds, and flashes + - `read_serial.ps1` — Serial monitor with DTR/RTS reset capability + +2. **Sensing Server** — `wifi-densepose-sensing-server` started with: + - `--source esp32` — Expect real ESP32 UDP frames + - `--bind-addr 0.0.0.0` — Accept connections from any interface + - `--ui-path ` — Serve the demo UI via HTTP + +3. **Browser Demo** — `main.js` updated to auto-connect to `ws://localhost:8765/ws/sensing` on page load. Falls back to simulated CSI if the WebSocket is unavailable (GitHub Pages). + +### Network Configuration + +The ESP32 sends UDP packets to a configured target IP. If the PC's IP doesn't match the firmware's compiled target, a secondary IP alias can be added: + +```powershell +# PowerShell (Admin) +New-NetIPAddress -IPAddress 192.168.1.100 -PrefixLength 24 -InterfaceAlias "Wi-Fi" +``` + +### Data Flow + +| Stage | Protocol | Format | Rate | +|-------|----------|--------|------| +| ESP32 → Server | UDP | ADR-018 binary frame (magic `0xC5110001`, I/Q pairs) | ~100 Hz | +| Server → Browser | WebSocket | ADR-018 binary frame (forwarded) | ~10 Hz (tick-ms=100) | +| Browser decode | JavaScript | Float32 amplitude/phase arrays | Per frame | + +### Build Environment (Windows) + +ESP-IDF v5.4.0 on Windows requires: +- IDF_PATH pointing to the ESP-IDF framework +- IDF_TOOLS_PATH pointing to toolchain binaries +- MSYS/MinGW environment variables removed (ESP-IDF rejects them) +- Python venv from ESP-IDF tools for `idf.py` execution + +The `build_firmware.ps1` script handles all of this automatically. + +## Consequences + +### Positive +- First end-to-end demonstration of real WiFi CSI → pose estimation in a browser +- No Docker required for firmware builds on Windows +- Demo gracefully degrades to simulated CSI when no server is available +- Same demo works on GitHub Pages (simulated) and locally (live ESP32) + +### Negative +- ESP32 target IP is compiled into firmware; changing it requires a rebuild or NVS override +- Windows firewall may block UDP:5005; user must allow it +- Mixed content restrictions prevent HTTPS pages from connecting to ws:// (local only) + +## Related + +- [ADR-018](ADR-018-esp32-dev-implementation.md) — ESP32 CSI frame format and UDP streaming +- [ADR-058](ADR-058-ruvector-wasm-browser-pose-example.md) — Dual-modal WASM browser pose demo +- [ADR-039](ADR-039-edge-intelligence-framework.md) — Edge intelligence on ESP32 +- Issue [#245](https://github.com/ruvnet/RuView/issues/245) — Tracking issue diff --git a/firmware/esp32-csi-node/build_firmware.ps1 b/firmware/esp32-csi-node/build_firmware.ps1 new file mode 100644 index 00000000..9bfb5afc --- /dev/null +++ b/firmware/esp32-csi-node/build_firmware.ps1 @@ -0,0 +1,31 @@ +# Remove MSYS environment variables that trigger ESP-IDF's MinGW rejection +Remove-Item env:MSYSTEM -ErrorAction SilentlyContinue +Remove-Item env:MSYSTEM_CARCH -ErrorAction SilentlyContinue +Remove-Item env:MSYSTEM_CHOST -ErrorAction SilentlyContinue +Remove-Item env:MSYSTEM_PREFIX -ErrorAction SilentlyContinue +Remove-Item env:MINGW_CHOST -ErrorAction SilentlyContinue +Remove-Item env:MINGW_PACKAGE_PREFIX -ErrorAction SilentlyContinue +Remove-Item env:MINGW_PREFIX -ErrorAction SilentlyContinue + +$env:IDF_PATH = "C:\Users\ruv\esp\v5.4\esp-idf" +$env:IDF_TOOLS_PATH = "C:\Espressif\tools" +$env:IDF_PYTHON_ENV_PATH = "C:\Espressif\tools\python\v5.4\venv" +$env:PATH = "C:\Espressif\tools\xtensa-esp-elf\esp-14.2.0_20241119\xtensa-esp-elf\bin;C:\Espressif\tools\cmake\3.30.2\cmake-3.30.2-windows-x86_64\bin;C:\Espressif\tools\ninja\1.12.1;C:\Espressif\tools\ccache\4.10.2\ccache-4.10.2-windows-x86_64;C:\Espressif\tools\idf-exe\1.0.3;C:\Espressif\tools\python\v5.4\venv\Scripts;$env:PATH" + +Set-Location "C:\Users\ruv\Projects\wifi-densepose\firmware\esp32-csi-node" + +$python = "$env:IDF_PYTHON_ENV_PATH\Scripts\python.exe" +$idf = "$env:IDF_PATH\tools\idf.py" + +Write-Host "=== Cleaning stale build cache ===" +& $python $idf fullclean + +Write-Host "=== Building firmware (SSID=ruv.net, target=192.168.1.20:5005) ===" +& $python $idf build + +if ($LASTEXITCODE -eq 0) { + Write-Host "=== Build succeeded! Flashing to COM7 ===" + & $python $idf -p COM7 flash +} else { + Write-Host "=== Build failed with exit code $LASTEXITCODE ===" +} diff --git a/firmware/esp32-csi-node/read_serial.ps1 b/firmware/esp32-csi-node/read_serial.ps1 new file mode 100644 index 00000000..7c001227 --- /dev/null +++ b/firmware/esp32-csi-node/read_serial.ps1 @@ -0,0 +1,14 @@ +$p = New-Object System.IO.Ports.SerialPort('COM7', 115200) +$p.ReadTimeout = 5000 +$p.Open() +Start-Sleep -Milliseconds 200 + +for ($i = 0; $i -lt 60; $i++) { + try { + $line = $p.ReadLine() + Write-Host $line + } catch { + break + } +} +$p.Close() diff --git a/ui/index.html b/ui/index.html index 59b4671e..a68dc799 100644 --- a/ui/index.html +++ b/ui/index.html @@ -29,6 +29,7 @@

WiFi DensePose

+ Pose Fusion Observatory diff --git a/ui/pose-fusion.html b/ui/pose-fusion.html new file mode 100644 index 00000000..2b023c6f --- /dev/null +++ b/ui/pose-fusion.html @@ -0,0 +1,160 @@ + + + + + + WiFi-DensePose — Dual-Modal Pose Estimation + + + + + +
+
+ +
Dual-Modal Pose Estimation — Live Video + WiFi CSI Fusion
+
+
+ +
+ + READY +
+ -- FPS + ← Dashboard + Observatory → +
+
+ + +
+ + +
+ + +
DUAL FUSION
+ +
+

Enable your webcam for live video pose estimation.
+ Or switch to CSI Only mode for WiFi-based sensing.

+ +
+
+ + +
+ + +
+
◆ Fusion Confidence
+
+
+ Video +
+ 0% +
+
+ CSI +
+ 0% +
+
+ Fused +
+ 0% +
+
+
+ Cross-modal: 0.000 +
+
+ + +
+
◆ CSI Amplitude Heatmap
+
+ +
+
+ + +
+
◆ Embedding Space (2D Projection)
+
+ +
+
+ + +
+
◆ Pipeline Latency
+
+
+
--
+
Video CNN
+
+
+
--
+
CSI CNN
+
+
+
--
+
Fusion
+
+
+
--
+
Total
+
+
+
+ + +
+
◆ Controls
+
+ +
+ +
+ + + 0.30 +
+ +
+
◆ Live CSI Source
+
+ + +
+
+
+ +
+ + +
+
+ WiFi-DensePose · Dual-Modal Pose Estimation · + Architecture: MobileNet-V3 × 2 → Attention Fusion → 17-Keypoint COCO +
+
+ GitHub · + CNN: ruvector-cnn (JS fallback) · + Observatory +
+
+ +
+ + + + diff --git a/ui/pose-fusion/build.sh b/ui/pose-fusion/build.sh new file mode 100644 index 00000000..4d76eba2 --- /dev/null +++ b/ui/pose-fusion/build.sh @@ -0,0 +1,30 @@ +#!/bin/bash +# Build WASM packages for the dual-modal pose estimation demo. +# Requires: wasm-pack (cargo install wasm-pack) +# +# Usage: ./build.sh +# +# Output: pkg/ruvector_cnn_wasm/ — WASM CNN embedder for browser + +set -e + +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +VENDOR_DIR="$SCRIPT_DIR/../../vendor/ruvector" +OUT_DIR="$SCRIPT_DIR/pkg/ruvector_cnn_wasm" + +echo "Building ruvector-cnn-wasm..." +wasm-pack build "$VENDOR_DIR/crates/ruvector-cnn-wasm" \ + --target web \ + --out-dir "$OUT_DIR" \ + --no-typescript + +# Remove .gitignore so we can commit the build output for GitHub Pages +rm -f "$OUT_DIR/.gitignore" + +echo "" +echo "Build complete!" +echo " WASM: $(du -sh "$OUT_DIR/ruvector_cnn_wasm_bg.wasm" | cut -f1)" +echo " JS: $(du -sh "$OUT_DIR/ruvector_cnn_wasm.js" | cut -f1)" +echo "" +echo "Serve the demo: cd $SCRIPT_DIR/.. && python3 -m http.server 8080" +echo "Open: http://localhost:8080/pose-fusion.html" diff --git a/ui/pose-fusion/css/style.css b/ui/pose-fusion/css/style.css new file mode 100644 index 00000000..1bf5dd89 --- /dev/null +++ b/ui/pose-fusion/css/style.css @@ -0,0 +1,405 @@ +/* WiFi-DensePose — Dual-Modal Pose Fusion Demo + Dark theme matching Observatory */ + +@import url('https://fonts.googleapis.com/css2?family=Inter:wght@300;400;600;700&family=JetBrains+Mono:wght@400;600&display=swap'); + +:root { + --bg-deep: #080c14; + --bg-panel: rgba(8, 16, 28, 0.92); + --bg-panel-border: rgba(0, 210, 120, 0.25); + --green-glow: #00d878; + --green-bright:#3eff8a; + --green-dim: #0a6b3a; + --amber: #ffb020; + --amber-dim: #a06800; + --blue-signal: #2090ff; + --blue-dim: #0a3060; + --red-alert: #ff3040; + --cyan: #00e5ff; + --text-primary: #e8ece0; + --text-secondary: rgba(232,236,224, 0.55); + --text-label: rgba(232,236,224, 0.35); + --radius: 8px; +} + +* { margin: 0; padding: 0; box-sizing: border-box; } + +body { + background: var(--bg-deep); + font-family: 'Inter', -apple-system, sans-serif; + color: var(--text-primary); + -webkit-font-smoothing: antialiased; + overflow-x: hidden; + min-height: 100vh; +} + +/* === Header === */ +.header { + display: flex; + align-items: center; + justify-content: space-between; + padding: 16px 24px; + border-bottom: 1px solid var(--bg-panel-border); + background: var(--bg-panel); + backdrop-filter: blur(12px); +} + +.header-left { + display: flex; + align-items: center; + gap: 16px; +} + +.logo { + font-weight: 700; + font-size: 24px; + color: var(--green-glow); +} + +.logo .pi { font-style: normal; } + +.header-title { + font-size: 14px; + color: var(--text-secondary); + font-weight: 300; +} + +.header-right { + display: flex; + align-items: center; + gap: 16px; +} + +.mode-select { + background: rgba(0,210,120,0.1); + border: 1px solid var(--bg-panel-border); + color: var(--text-primary); + padding: 6px 12px; + border-radius: var(--radius); + font-family: inherit; + font-size: 13px; + cursor: pointer; +} + +.mode-select option { background: #0c1420; } + +.status-badge { + display: flex; + align-items: center; + gap: 6px; + font-family: 'JetBrains Mono', monospace; + font-size: 12px; + padding: 4px 10px; + border-radius: 12px; + background: rgba(0,210,120,0.1); + border: 1px solid var(--bg-panel-border); +} + +.status-dot { + width: 8px; height: 8px; + border-radius: 50%; + background: var(--green-glow); + box-shadow: 0 0 8px var(--green-glow); + animation: pulse-dot 2s ease infinite; +} + +.status-dot.offline { background: #555; box-shadow: none; animation: none; } +.status-dot.warning { background: var(--amber); box-shadow: 0 0 8px var(--amber); } + +@keyframes pulse-dot { + 0%, 100% { opacity: 1; } + 50% { opacity: 0.5; } +} + +.fps-badge { + font-family: 'JetBrains Mono', monospace; + font-size: 12px; + color: var(--green-glow); +} + +.back-link { + color: var(--text-secondary); + text-decoration: none; + font-size: 13px; + transition: color 0.2s; +} +.back-link:hover { color: var(--green-glow); } + +/* === Main Layout === */ +.main-grid { + display: grid; + grid-template-columns: 1fr 360px; + grid-template-rows: 1fr auto; + gap: 16px; + padding: 16px 24px; + height: calc(100vh - 72px); + overflow: hidden; +} + +/* === Video Panel === */ +.video-panel { + position: relative; + background: #000; + border-radius: var(--radius); + border: 1px solid var(--bg-panel-border); + overflow: hidden; + min-height: 0; +} + +.video-panel video { + width: 100%; + height: 100%; + object-fit: cover; + transform: scaleX(-1); +} + +.video-panel canvas { + position: absolute; + top: 0; left: 0; + width: 100%; + height: 100%; + transform: scaleX(-1); +} + +.video-overlay-label { + position: absolute; + top: 12px; left: 12px; + font-family: 'JetBrains Mono', monospace; + font-size: 11px; + padding: 4px 8px; + background: rgba(0,0,0,0.7); + border-radius: 4px; + color: var(--green-glow); + z-index: 5; + transform: scaleX(-1); +} + +.camera-prompt { + position: absolute; + top: 50%; left: 50%; + transform: translate(-50%, -50%); + text-align: center; + color: var(--text-secondary); +} + +.camera-prompt button { + margin-top: 12px; + padding: 10px 24px; + background: var(--green-glow); + color: #000; + border: none; + border-radius: var(--radius); + font-family: inherit; + font-weight: 600; + font-size: 14px; + cursor: pointer; + transition: background 0.2s; +} + +.camera-prompt button:hover { background: var(--green-bright); } + +/* === Side Panels === */ +.side-panels { + display: flex; + flex-direction: column; + gap: 12px; + overflow-y: auto; + min-height: 0; +} + +.panel { + background: var(--bg-panel); + border: 1px solid var(--bg-panel-border); + border-radius: var(--radius); + padding: 14px; +} + +.panel-title { + font-size: 11px; + text-transform: uppercase; + letter-spacing: 1.2px; + color: var(--text-label); + margin-bottom: 10px; + display: flex; + align-items: center; + gap: 6px; +} + +/* === CSI Heatmap === */ +.csi-canvas-wrapper { + position: relative; + border-radius: 4px; + overflow: hidden; + background: #000; +} + +.csi-canvas-wrapper canvas { + width: 100%; + display: block; +} + +/* === Fusion Bars === */ +.fusion-bars { + display: flex; + flex-direction: column; + gap: 8px; +} + +.bar-row { + display: flex; + align-items: center; + gap: 8px; +} + +.bar-label { + font-family: 'JetBrains Mono', monospace; + font-size: 11px; + color: var(--text-secondary); + width: 55px; + text-align: right; +} + +.bar-track { + flex: 1; + height: 6px; + background: rgba(255,255,255,0.06); + border-radius: 3px; + overflow: hidden; +} + +.bar-fill { + height: 100%; + border-radius: 3px; + transition: width 0.3s ease; +} + +.bar-fill.video { background: var(--cyan); } +.bar-fill.csi { background: var(--amber); } +.bar-fill.fused { background: var(--green-glow); box-shadow: 0 0 8px var(--green-glow); } + +.bar-value { + font-family: 'JetBrains Mono', monospace; + font-size: 11px; + color: var(--text-primary); + width: 36px; +} + +/* === Embedding Space === */ +.embedding-canvas-wrapper { + position: relative; + background: #000; + border-radius: 4px; + overflow: hidden; +} +.embedding-canvas-wrapper canvas { + width: 100%; + display: block; +} + +/* === Latency Panel === */ +.latency-grid { + display: grid; + grid-template-columns: repeat(4, 1fr); + gap: 6px; +} + +.latency-item { + text-align: center; + padding: 6px 0; +} + +.latency-value { + font-family: 'JetBrains Mono', monospace; + font-size: 16px; + font-weight: 600; + color: var(--green-glow); +} + +.latency-label { + font-size: 10px; + color: var(--text-label); + margin-top: 2px; +} + +/* === Controls === */ +.controls-row { + display: flex; + gap: 8px; + flex-wrap: wrap; +} + +.btn { + padding: 6px 14px; + border: 1px solid var(--bg-panel-border); + background: rgba(0,210,120,0.08); + color: var(--text-primary); + border-radius: var(--radius); + font-family: inherit; + font-size: 12px; + cursor: pointer; + transition: all 0.2s; +} +.btn:hover { background: rgba(0,210,120,0.2); } +.btn.active { background: var(--green-glow); color: #000; font-weight: 600; } + +.slider-row { + display: flex; + align-items: center; + gap: 8px; + margin-top: 8px; +} + +.slider-row label { + font-size: 11px; + color: var(--text-secondary); + white-space: nowrap; +} + +.slider-row input[type=range] { + flex: 1; + accent-color: var(--green-glow); +} + +.slider-row .slider-val { + font-family: 'JetBrains Mono', monospace; + font-size: 11px; + width: 32px; + color: var(--green-glow); +} + +/* === Bottom Bar === */ +.bottom-bar { + grid-column: 1 / -1; + display: flex; + align-items: center; + justify-content: space-between; + padding: 10px 16px; + background: var(--bg-panel); + border: 1px solid var(--bg-panel-border); + border-radius: var(--radius); + font-family: 'JetBrains Mono', monospace; + font-size: 11px; + color: var(--text-secondary); +} + +.bottom-bar a { + color: var(--green-glow); + text-decoration: none; +} + +/* === Skeleton colors === */ +.skeleton-joint { fill: var(--green-glow); } +.skeleton-limb { stroke: var(--green-bright); } +.skeleton-joint-csi { fill: var(--amber); } +.skeleton-limb-csi { stroke: var(--amber); } + +/* === Responsive === */ +@media (max-width: 900px) { + .main-grid { + grid-template-columns: 1fr; + height: auto; + overflow: auto; + } + .video-panel { aspect-ratio: 16/9; max-height: 50vh; } + .side-panels { max-height: none; overflow: visible; } +} diff --git a/ui/pose-fusion/js/canvas-renderer.js b/ui/pose-fusion/js/canvas-renderer.js new file mode 100644 index 00000000..8ac169d9 --- /dev/null +++ b/ui/pose-fusion/js/canvas-renderer.js @@ -0,0 +1,247 @@ +/** + * CanvasRenderer — Renders skeleton overlay on video, CSI heatmap, + * embedding space visualization, and fusion confidence bars. + */ + +import { SKELETON_CONNECTIONS } from './pose-decoder.js'; + +export class CanvasRenderer { + constructor() { + this.colors = { + joint: '#00d878', + jointGlow: 'rgba(0, 216, 120, 0.4)', + limb: '#3eff8a', + limbGlow: 'rgba(62, 255, 138, 0.15)', + csiJoint: '#ffb020', + csiLimb: '#ffc850', + fused: '#00e5ff', + confidence: 'rgba(255,255,255,0.3)', + videoEmb: '#00e5ff', + csiEmb: '#ffb020', + fusedEmb: '#00d878', + }; + } + + /** + * Draw skeleton overlay on the video canvas + * @param {CanvasRenderingContext2D} ctx + * @param {Array<{x,y,confidence}>} keypoints - Normalized [0,1] coordinates + * @param {number} width - Canvas width + * @param {number} height - Canvas height + * @param {object} opts + */ + drawSkeleton(ctx, keypoints, width, height, opts = {}) { + const minConf = opts.minConfidence || 0.3; + const color = opts.color || 'green'; + const jointColor = color === 'amber' ? this.colors.csiJoint : this.colors.joint; + const limbColor = color === 'amber' ? this.colors.csiLimb : this.colors.limb; + const glowColor = color === 'amber' ? 'rgba(255,176,32,0.4)' : this.colors.jointGlow; + + ctx.clearRect(0, 0, width, height); + + if (!keypoints || keypoints.length === 0) return; + + // Draw limbs first (behind joints) + ctx.lineWidth = 3; + ctx.lineCap = 'round'; + + for (const [i, j] of SKELETON_CONNECTIONS) { + const kpA = keypoints[i]; + const kpB = keypoints[j]; + if (!kpA || !kpB || kpA.confidence < minConf || kpB.confidence < minConf) continue; + + const ax = kpA.x * width, ay = kpA.y * height; + const bx = kpB.x * width, by = kpB.y * height; + const avgConf = (kpA.confidence + kpB.confidence) / 2; + + // Glow + ctx.strokeStyle = this.colors.limbGlow; + ctx.lineWidth = 8; + ctx.globalAlpha = avgConf * 0.4; + ctx.beginPath(); + ctx.moveTo(ax, ay); + ctx.lineTo(bx, by); + ctx.stroke(); + + // Main line + ctx.strokeStyle = limbColor; + ctx.lineWidth = 2.5; + ctx.globalAlpha = avgConf; + ctx.beginPath(); + ctx.moveTo(ax, ay); + ctx.lineTo(bx, by); + ctx.stroke(); + } + + // Draw joints + ctx.globalAlpha = 1; + for (const kp of keypoints) { + if (!kp || kp.confidence < minConf) continue; + + const x = kp.x * width; + const y = kp.y * height; + const r = 3 + kp.confidence * 3; + + // Glow + ctx.beginPath(); + ctx.arc(x, y, r + 4, 0, Math.PI * 2); + ctx.fillStyle = glowColor; + ctx.globalAlpha = kp.confidence * 0.6; + ctx.fill(); + + // Joint dot + ctx.beginPath(); + ctx.arc(x, y, r, 0, Math.PI * 2); + ctx.fillStyle = jointColor; + ctx.globalAlpha = kp.confidence; + ctx.fill(); + + // White center + ctx.beginPath(); + ctx.arc(x, y, r * 0.4, 0, Math.PI * 2); + ctx.fillStyle = '#fff'; + ctx.globalAlpha = kp.confidence * 0.8; + ctx.fill(); + } + + ctx.globalAlpha = 1; + + // Confidence label + if (opts.label) { + ctx.font = '11px "JetBrains Mono", monospace'; + ctx.fillStyle = jointColor; + ctx.globalAlpha = 0.8; + ctx.fillText(opts.label, 8, height - 8); + ctx.globalAlpha = 1; + } + } + + /** + * Draw CSI amplitude heatmap + * @param {CanvasRenderingContext2D} ctx + * @param {{ data: Float32Array, width: number, height: number }} heatmap + * @param {number} canvasW + * @param {number} canvasH + */ + drawCsiHeatmap(ctx, heatmap, canvasW, canvasH) { + ctx.clearRect(0, 0, canvasW, canvasH); + + if (!heatmap || !heatmap.data || heatmap.height < 2) { + ctx.fillStyle = '#0a0e18'; + ctx.fillRect(0, 0, canvasW, canvasH); + ctx.font = '11px "JetBrains Mono", monospace'; + ctx.fillStyle = 'rgba(255,255,255,0.3)'; + ctx.fillText('Waiting for CSI data...', 8, canvasH / 2); + return; + } + + const { data, width: dw, height: dh } = heatmap; + const cellW = canvasW / dw; + const cellH = canvasH / dh; + + for (let y = 0; y < dh; y++) { + for (let x = 0; x < dw; x++) { + const val = Math.min(1, Math.max(0, data[y * dw + x])); + ctx.fillStyle = this._heatmapColor(val); + ctx.fillRect(x * cellW, y * cellH, cellW + 0.5, cellH + 0.5); + } + } + + // Axis labels + ctx.font = '9px "JetBrains Mono", monospace'; + ctx.fillStyle = 'rgba(255,255,255,0.4)'; + ctx.fillText('Subcarrier →', 4, canvasH - 4); + ctx.save(); + ctx.translate(canvasW - 4, canvasH - 4); + ctx.rotate(-Math.PI / 2); + ctx.fillText('Time ↑', 0, 0); + ctx.restore(); + } + + /** + * Draw embedding space 2D projection + * @param {CanvasRenderingContext2D} ctx + * @param {{ video: Array, csi: Array, fused: Array }} points + * @param {number} w + * @param {number} h + */ + drawEmbeddingSpace(ctx, points, w, h) { + ctx.fillStyle = '#050810'; + ctx.fillRect(0, 0, w, h); + + // Grid + ctx.strokeStyle = 'rgba(255,255,255,0.05)'; + ctx.lineWidth = 0.5; + for (let i = 0; i <= 4; i++) { + const x = (i / 4) * w; + ctx.beginPath(); ctx.moveTo(x, 0); ctx.lineTo(x, h); ctx.stroke(); + const y = (i / 4) * h; + ctx.beginPath(); ctx.moveTo(0, y); ctx.lineTo(w, y); ctx.stroke(); + } + + // Axes + ctx.strokeStyle = 'rgba(255,255,255,0.1)'; + ctx.lineWidth = 1; + ctx.beginPath(); ctx.moveTo(w / 2, 0); ctx.lineTo(w / 2, h); ctx.stroke(); + ctx.beginPath(); ctx.moveTo(0, h / 2); ctx.lineTo(w, h / 2); ctx.stroke(); + + const drawPoints = (pts, color, size) => { + if (!pts || pts.length === 0) return; + const len = pts.length; + for (let i = 0; i < len; i++) { + const p = pts[i]; + if (!p) continue; + const age = 1 - (i / len) * 0.7; // Fade older points + const px = w / 2 + p[0] * w * 0.35; + const py = h / 2 + p[1] * h * 0.35; + + if (px < 0 || px > w || py < 0 || py > h) continue; + + ctx.beginPath(); + ctx.arc(px, py, size, 0, Math.PI * 2); + ctx.fillStyle = color; + ctx.globalAlpha = age * 0.7; + ctx.fill(); + } + }; + + drawPoints(points.video, this.colors.videoEmb, 3); + drawPoints(points.csi, this.colors.csiEmb, 3); + drawPoints(points.fused, this.colors.fusedEmb, 4); + ctx.globalAlpha = 1; + + // Legend + ctx.font = '9px "JetBrains Mono", monospace'; + const legends = [ + { color: this.colors.videoEmb, label: 'Video' }, + { color: this.colors.csiEmb, label: 'CSI' }, + { color: this.colors.fusedEmb, label: 'Fused' }, + ]; + legends.forEach((l, i) => { + const ly = 12 + i * 14; + ctx.fillStyle = l.color; + ctx.beginPath(); + ctx.arc(10, ly - 3, 3, 0, Math.PI * 2); + ctx.fill(); + ctx.fillStyle = 'rgba(255,255,255,0.5)'; + ctx.fillText(l.label, 18, ly); + }); + } + + _heatmapColor(val) { + // Dark blue → cyan → green → yellow → red + if (val < 0.25) { + const t = val / 0.25; + return `rgb(${Math.floor(t * 20)}, ${Math.floor(20 + t * 60)}, ${Math.floor(60 + t * 100)})`; + } else if (val < 0.5) { + const t = (val - 0.25) / 0.25; + return `rgb(${Math.floor(20 + t * 20)}, ${Math.floor(80 + t * 100)}, ${Math.floor(160 - t * 60)})`; + } else if (val < 0.75) { + const t = (val - 0.5) / 0.25; + return `rgb(${Math.floor(40 + t * 180)}, ${Math.floor(180 + t * 75)}, ${Math.floor(100 - t * 80)})`; + } else { + const t = (val - 0.75) / 0.25; + return `rgb(${Math.floor(220 + t * 35)}, ${Math.floor(255 - t * 120)}, ${Math.floor(20 - t * 20)})`; + } + } +} diff --git a/ui/pose-fusion/js/cnn-embedder.js b/ui/pose-fusion/js/cnn-embedder.js new file mode 100644 index 00000000..5000b9d3 --- /dev/null +++ b/ui/pose-fusion/js/cnn-embedder.js @@ -0,0 +1,226 @@ +/** + * CNN Embedder — Lightweight MobileNet-V3-style feature extractor. + * + * Architecture mirrors ruvector-cnn: Conv2D → BatchNorm → ReLU → Pool → Project → L2 Normalize + * Uses pre-seeded random weights (deterministic). When ruvector-cnn-wasm is available, + * transparently delegates to the WASM implementation. + * + * Two instances are created: one for video frames, one for CSI pseudo-images. + */ + +// Seeded PRNG for deterministic weight initialization +function mulberry32(seed) { + return function() { + let t = (seed += 0x6D2B79F5); + t = Math.imul(t ^ (t >>> 15), t | 1); + t ^= t + Math.imul(t ^ (t >>> 7), t | 61); + return ((t ^ (t >>> 14)) >>> 0) / 4294967296; + }; +} + +export class CnnEmbedder { + /** + * @param {object} opts + * @param {number} opts.inputSize - Square input dimension (default 56 for speed) + * @param {number} opts.embeddingDim - Output embedding dimension (default 128) + * @param {boolean} opts.normalize - L2 normalize output + * @param {number} opts.seed - PRNG seed for weight init + */ + constructor(opts = {}) { + this.inputSize = opts.inputSize || 56; + this.embeddingDim = opts.embeddingDim || 128; + this.normalize = opts.normalize !== false; + this.wasmEmbedder = null; + + // Initialize weights with deterministic PRNG + const rng = mulberry32(opts.seed || 42); + const randRange = (lo, hi) => lo + rng() * (hi - lo); + + // Conv 3x3: 3 input channels → 16 output channels + this.convWeights = new Float32Array(3 * 3 * 3 * 16); + for (let i = 0; i < this.convWeights.length; i++) { + this.convWeights[i] = randRange(-0.15, 0.15); + } + + // BatchNorm params (16 channels) + this.bnGamma = new Float32Array(16).fill(1.0); + this.bnBeta = new Float32Array(16).fill(0.0); + this.bnMean = new Float32Array(16).fill(0.0); + this.bnVar = new Float32Array(16).fill(1.0); + + // Projection: 16 → embeddingDim + this.projWeights = new Float32Array(16 * this.embeddingDim); + for (let i = 0; i < this.projWeights.length; i++) { + this.projWeights[i] = randRange(-0.1, 0.1); + } + } + + /** + * Try to load WASM embedder from ruvector-cnn-wasm package + * @param {string} wasmPath - Path to the WASM package directory + */ + async tryLoadWasm(wasmPath) { + try { + const mod = await import(`${wasmPath}/ruvector_cnn_wasm.js`); + await mod.default(); + const config = new mod.EmbedderConfig(); + config.input_size = this.inputSize; + config.embedding_dim = this.embeddingDim; + config.normalize = this.normalize; + this.wasmEmbedder = new mod.WasmCnnEmbedder(config); + console.log('[CNN] WASM embedder loaded successfully'); + return true; + } catch (e) { + console.log('[CNN] WASM not available, using JS fallback:', e.message); + return false; + } + } + + /** + * Extract embedding from RGB image data + * @param {Uint8Array} rgbData - RGB pixel data (H*W*3) + * @param {number} width + * @param {number} height + * @returns {Float32Array} embedding vector + */ + extract(rgbData, width, height) { + if (this.wasmEmbedder) { + try { + const result = this.wasmEmbedder.extract(rgbData, width, height); + return new Float32Array(result); + } catch (_) { /* fallback to JS */ } + } + return this._extractJS(rgbData, width, height); + } + + _extractJS(rgbData, width, height) { + // 1. Resize to inputSize × inputSize if needed + const sz = this.inputSize; + let input; + if (width === sz && height === sz) { + input = new Float32Array(rgbData.length); + for (let i = 0; i < rgbData.length; i++) input[i] = rgbData[i] / 255.0; + } else { + input = this._resize(rgbData, width, height, sz, sz); + } + + // 2. ImageNet normalization + const mean = [0.485, 0.456, 0.406]; + const std = [0.229, 0.224, 0.225]; + const pixels = sz * sz; + for (let i = 0; i < pixels; i++) { + input[i * 3] = (input[i * 3] - mean[0]) / std[0]; + input[i * 3 + 1] = (input[i * 3 + 1] - mean[1]) / std[1]; + input[i * 3 + 2] = (input[i * 3 + 2] - mean[2]) / std[2]; + } + + // 3. Conv2D 3x3 (3 → 16 channels) + const convOut = this._conv2d3x3(input, sz, sz, 3, 16); + + // 4. BatchNorm + this._batchNorm(convOut, 16); + + // 5. ReLU + for (let i = 0; i < convOut.length; i++) { + if (convOut[i] < 0) convOut[i] = 0; + } + + // 6. Global average pooling → 16-dim + const outH = sz - 2, outW = sz - 2; + const pooled = new Float32Array(16); + const spatial = outH * outW; + for (let i = 0; i < spatial; i++) { + for (let c = 0; c < 16; c++) { + pooled[c] += convOut[i * 16 + c]; + } + } + for (let c = 0; c < 16; c++) pooled[c] /= spatial; + + // 7. Linear projection → embeddingDim + const emb = new Float32Array(this.embeddingDim); + for (let o = 0; o < this.embeddingDim; o++) { + let sum = 0; + for (let i = 0; i < 16; i++) { + sum += pooled[i] * this.projWeights[i * this.embeddingDim + o]; + } + emb[o] = sum; + } + + // 8. L2 normalize + if (this.normalize) { + let norm = 0; + for (let i = 0; i < emb.length; i++) norm += emb[i] * emb[i]; + norm = Math.sqrt(norm); + if (norm > 1e-8) { + for (let i = 0; i < emb.length; i++) emb[i] /= norm; + } + } + + return emb; + } + + _conv2d3x3(input, H, W, Cin, Cout) { + const outH = H - 2, outW = W - 2; + const output = new Float32Array(outH * outW * Cout); + for (let y = 0; y < outH; y++) { + for (let x = 0; x < outW; x++) { + for (let co = 0; co < Cout; co++) { + let sum = 0; + for (let ky = 0; ky < 3; ky++) { + for (let kx = 0; kx < 3; kx++) { + for (let ci = 0; ci < Cin; ci++) { + const px = ((y + ky) * W + (x + kx)) * Cin + ci; + const wt = (((ky * 3 + kx) * Cin) + ci) * Cout + co; + sum += input[px] * this.convWeights[wt]; + } + } + } + output[(y * outW + x) * Cout + co] = sum; + } + } + } + return output; + } + + _batchNorm(data, channels) { + const spatial = data.length / channels; + for (let i = 0; i < spatial; i++) { + for (let c = 0; c < channels; c++) { + const idx = i * channels + c; + data[idx] = this.bnGamma[c] * (data[idx] - this.bnMean[c]) / Math.sqrt(this.bnVar[c] + 1e-5) + this.bnBeta[c]; + } + } + } + + _resize(rgbData, srcW, srcH, dstW, dstH) { + const output = new Float32Array(dstW * dstH * 3); + const xRatio = srcW / dstW; + const yRatio = srcH / dstH; + for (let y = 0; y < dstH; y++) { + for (let x = 0; x < dstW; x++) { + const sx = Math.min(Math.floor(x * xRatio), srcW - 1); + const sy = Math.min(Math.floor(y * yRatio), srcH - 1); + const srcIdx = (sy * srcW + sx) * 3; + const dstIdx = (y * dstW + x) * 3; + output[dstIdx] = rgbData[srcIdx] / 255.0; + output[dstIdx + 1] = rgbData[srcIdx + 1] / 255.0; + output[dstIdx + 2] = rgbData[srcIdx + 2] / 255.0; + } + } + return output; + } + + /** Cosine similarity between two embeddings */ + static cosineSimilarity(a, b) { + let dot = 0, normA = 0, normB = 0; + for (let i = 0; i < a.length; i++) { + dot += a[i] * b[i]; + normA += a[i] * a[i]; + normB += b[i] * b[i]; + } + normA = Math.sqrt(normA); + normB = Math.sqrt(normB); + if (normA < 1e-8 || normB < 1e-8) return 0; + return dot / (normA * normB); + } +} diff --git a/ui/pose-fusion/js/csi-simulator.js b/ui/pose-fusion/js/csi-simulator.js new file mode 100644 index 00000000..62540995 --- /dev/null +++ b/ui/pose-fusion/js/csi-simulator.js @@ -0,0 +1,267 @@ +/** + * CSI Simulator — Generates realistic WiFi Channel State Information data. + * + * In live mode, connects to the sensing server via WebSocket. + * In demo mode, generates synthetic CSI that correlates with detected motion. + * + * Outputs: 3-channel pseudo-image (amplitude, phase, temporal diff) + * matching the ADR-018 frame format expectations. + */ + +export class CsiSimulator { + constructor(opts = {}) { + this.subcarriers = opts.subcarriers || 52; // 802.11n HT20 + this.timeWindow = opts.timeWindow || 56; // frames in sliding window + this.mode = 'demo'; // 'demo' | 'live' + this.ws = null; + + // Circular buffer for CSI frames + this.amplitudeBuffer = []; + this.phaseBuffer = []; + this.frameCount = 0; + + // Noise parameters + this._rng = this._mulberry32(opts.seed || 7); + this._noiseState = new Float32Array(this.subcarriers); + this._baseAmplitude = new Float32Array(this.subcarriers); + this._basePhase = new Float32Array(this.subcarriers); + + // Initialize base CSI profile (empty room) + for (let i = 0; i < this.subcarriers; i++) { + this._baseAmplitude[i] = 0.5 + 0.3 * Math.sin(i * 0.12); + this._basePhase[i] = (i / this.subcarriers) * Math.PI * 2; + } + + // Person influence (updated from video motion) + this.personPresence = 0; + this.personX = 0.5; + this.personY = 0.5; + this.personMotion = 0; + } + + /** + * Connect to live sensing server WebSocket + * @param {string} url - WebSocket URL (e.g. ws://localhost:3030/ws/csi) + */ + async connectLive(url) { + return new Promise((resolve) => { + try { + this.ws = new WebSocket(url); + this.ws.binaryType = 'arraybuffer'; + this.ws.onmessage = (evt) => this._handleLiveFrame(evt.data); + this.ws.onopen = () => { this.mode = 'live'; resolve(true); }; + this.ws.onerror = () => resolve(false); + this.ws.onclose = () => { this.mode = 'demo'; }; + // Timeout after 3s + setTimeout(() => { if (this.mode !== 'live') resolve(false); }, 3000); + } catch { + resolve(false); + } + }); + } + + disconnect() { + if (this.ws) { this.ws.close(); this.ws = null; } + this.mode = 'demo'; + } + + get isLive() { return this.mode === 'live'; } + + /** + * Update person state from video detection (for correlated demo data). + * When person exits frame, CSI maintains presence with slow decay + * (simulating through-wall sensing capability). + */ + updatePersonState(presence, x, y, motion) { + if (presence > 0.1) { + // Person detected in video — update CSI state directly + this.personPresence = presence; + this.personX = x; + this.personY = y; + this.personMotion = motion; + this._lastSeenTime = performance.now(); + this._lastSeenX = x; + this._lastSeenY = y; + } else if (this._lastSeenTime) { + // Person NOT in video — CSI "through-wall" persistence + const elapsed = (performance.now() - this._lastSeenTime) / 1000; + // CSI can sense through walls for ~10 seconds with decaying confidence + const decayRate = 0.15; // Lose ~15% per second + this.personPresence = Math.max(0, 1.0 - elapsed * decayRate); + // Position slowly drifts (person walking behind wall) + this.personX = this._lastSeenX; + this.personY = this._lastSeenY; + this.personMotion = Math.max(0, motion * 0.5 + this.personPresence * 0.2); + + if (this.personPresence < 0.05) { + this._lastSeenTime = null; + } + } else { + this.personPresence = 0; + this.personMotion = 0; + } + } + + /** + * Generate next CSI frame (demo mode) or return latest live frame + * @param {number} elapsed - Time in seconds + * @returns {{ amplitude: Float32Array, phase: Float32Array, snr: number }} + */ + nextFrame(elapsed) { + const amp = new Float32Array(this.subcarriers); + const phase = new Float32Array(this.subcarriers); + + if (this.mode === 'live' && this._liveAmplitude) { + amp.set(this._liveAmplitude); + phase.set(this._livePhase); + } else { + this._generateDemoFrame(amp, phase, elapsed); + } + + // Push to circular buffer + this.amplitudeBuffer.push(new Float32Array(amp)); + this.phaseBuffer.push(new Float32Array(phase)); + if (this.amplitudeBuffer.length > this.timeWindow) { + this.amplitudeBuffer.shift(); + this.phaseBuffer.shift(); + } + + // SNR estimate + let signalPower = 0, noisePower = 0; + for (let i = 0; i < this.subcarriers; i++) { + signalPower += amp[i] * amp[i]; + noisePower += this._noiseState[i] * this._noiseState[i]; + } + const snr = noisePower > 0 ? 10 * Math.log10(signalPower / noisePower) : 30; + + this.frameCount++; + return { amplitude: amp, phase, snr: Math.max(0, Math.min(40, snr)) }; + } + + /** + * Build 3-channel pseudo-image for CNN input + * @param {number} targetSize - Output image dimension (square) + * @returns {Uint8Array} RGB data (targetSize * targetSize * 3) + */ + buildPseudoImage(targetSize = 56) { + const buf = this.amplitudeBuffer; + const pBuf = this.phaseBuffer; + const frames = buf.length; + if (frames < 2) { + return new Uint8Array(targetSize * targetSize * 3); + } + + const rgb = new Uint8Array(targetSize * targetSize * 3); + + for (let y = 0; y < targetSize; y++) { + const fi = Math.min(Math.floor(y / targetSize * frames), frames - 1); + for (let x = 0; x < targetSize; x++) { + const si = Math.min(Math.floor(x / targetSize * this.subcarriers), this.subcarriers - 1); + const idx = (y * targetSize + x) * 3; + + // R: Amplitude (normalized to 0-255) + const ampVal = buf[fi][si]; + rgb[idx] = Math.min(255, Math.max(0, Math.floor(ampVal * 255))); + + // G: Phase (wrapped to 0-255) + const phaseVal = (pBuf[fi][si] % (2 * Math.PI) + 2 * Math.PI) % (2 * Math.PI); + rgb[idx + 1] = Math.floor(phaseVal / (2 * Math.PI) * 255); + + // B: Temporal difference + if (fi > 0) { + const diff = Math.abs(buf[fi][si] - buf[fi - 1][si]); + rgb[idx + 2] = Math.min(255, Math.floor(diff * 500)); + } + } + } + + return rgb; + } + + /** + * Get heatmap data for visualization + * @returns {{ data: Float32Array, width: number, height: number }} + */ + getHeatmapData() { + const frames = this.amplitudeBuffer.length; + const w = this.subcarriers; + const h = Math.min(frames, this.timeWindow); + const data = new Float32Array(w * h); + for (let y = 0; y < h; y++) { + const fi = frames - h + y; + if (fi >= 0 && fi < frames) { + for (let x = 0; x < w; x++) { + data[y * w + x] = this.amplitudeBuffer[fi][x]; + } + } + } + return { data, width: w, height: h }; + } + + // === Private === + + _generateDemoFrame(amp, phase, elapsed) { + const rng = this._rng; + const presence = this.personPresence; + const motion = this.personMotion; + const px = this.personX; + + for (let i = 0; i < this.subcarriers; i++) { + // Base CSI profile (frequency-selective channel) + let a = this._baseAmplitude[i]; + let p = this._basePhase[i] + elapsed * 0.05; + + // Environmental noise (correlated across subcarriers) + this._noiseState[i] = 0.95 * this._noiseState[i] + 0.05 * (rng() * 2 - 1) * 0.03; + a += this._noiseState[i]; + + // Person-induced CSI perturbation + if (presence > 0.1) { + // Subcarrier-dependent body reflection (Fresnel zone model) + const freqOffset = (i - this.subcarriers * px) / (this.subcarriers * 0.3); + const bodyReflection = presence * 0.25 * Math.exp(-freqOffset * freqOffset); + + // Motion causes amplitude fluctuation + const motionEffect = motion * 0.15 * Math.sin(elapsed * 3.5 + i * 0.3); + + // Breathing modulation (0.2-0.3 Hz) + const breathing = presence * 0.02 * Math.sin(elapsed * 1.5 + i * 0.05); + + a += bodyReflection + motionEffect + breathing; + p += presence * 0.4 * Math.sin(elapsed * 2.1 + i * 0.15); + } + + amp[i] = Math.max(0, Math.min(1, a)); + phase[i] = p; + } + } + + _handleLiveFrame(data) { + const view = new DataView(data); + // Check ADR-018 magic: 0xC5110001 + if (data.byteLength < 20) return; + const magic = view.getUint32(0, true); + if (magic !== 0xC5110001) return; + + const numSub = Math.min(view.getUint16(8, true), this.subcarriers); + this._liveAmplitude = new Float32Array(this.subcarriers); + this._livePhase = new Float32Array(this.subcarriers); + + const headerSize = 20; + for (let i = 0; i < numSub && (headerSize + i * 4 + 3) < data.byteLength; i++) { + const real = view.getInt16(headerSize + i * 4, true); + const imag = view.getInt16(headerSize + i * 4 + 2, true); + this._liveAmplitude[i] = Math.sqrt(real * real + imag * imag) / 2048; + this._livePhase[i] = Math.atan2(imag, real); + } + } + + _mulberry32(seed) { + return function() { + let t = (seed += 0x6D2B79F5); + t = Math.imul(t ^ (t >>> 15), t | 1); + t ^= t + Math.imul(t ^ (t >>> 7), t | 61); + return ((t ^ (t >>> 14)) >>> 0) / 4294967296; + }; + } +} diff --git a/ui/pose-fusion/js/fusion-engine.js b/ui/pose-fusion/js/fusion-engine.js new file mode 100644 index 00000000..8ded2e8a --- /dev/null +++ b/ui/pose-fusion/js/fusion-engine.js @@ -0,0 +1,166 @@ +/** + * FusionEngine — Attention-weighted dual-modal embedding fusion. + * + * Combines visual (camera) and CSI (WiFi) embeddings with dynamic + * confidence gating based on signal quality. + */ + +export class FusionEngine { + /** + * @param {number} embeddingDim + */ + constructor(embeddingDim = 128) { + this.embeddingDim = embeddingDim; + + // Learnable attention weights (initialized to balanced 0.5) + // In production, these would be loaded from trained JSON + this.attentionWeights = new Float32Array(embeddingDim).fill(0.5); + + // Dynamic modality confidence [0, 1] + this.videoConfidence = 1.0; + this.csiConfidence = 0.0; + this.fusedConfidence = 0.5; + + // Smoothing for confidence transitions + this._smoothAlpha = 0.85; + + // Embedding history for visualization + this.recentVideoEmbeddings = []; + this.recentCsiEmbeddings = []; + this.recentFusedEmbeddings = []; + this.maxHistory = 50; + } + + /** + * Update quality-based confidence scores + * @param {number} videoBrightness - [0,1] video brightness quality + * @param {number} videoMotion - [0,1] motion detected + * @param {number} csiSnr - CSI signal-to-noise ratio in dB + * @param {boolean} csiActive - Whether CSI source is connected + */ + updateConfidence(videoBrightness, videoMotion, csiSnr, csiActive) { + // Video confidence: drops with low brightness, boosted by motion + let vc = 0; + if (videoBrightness > 0.05) { + vc = Math.min(1, videoBrightness * 1.5) * 0.7 + Math.min(1, videoMotion * 3) * 0.3; + } + + // CSI confidence: based on SNR and connection status + let cc = 0; + if (csiActive) { + cc = Math.min(1, csiSnr / 25); // 25dB = full confidence + } + + // Smooth transitions + this.videoConfidence = this._smoothAlpha * this.videoConfidence + (1 - this._smoothAlpha) * vc; + this.csiConfidence = this._smoothAlpha * this.csiConfidence + (1 - this._smoothAlpha) * cc; + + // Fused confidence is the max of either (fusion can only help) + this.fusedConfidence = Math.min(1, Math.sqrt( + this.videoConfidence * this.videoConfidence + this.csiConfidence * this.csiConfidence + )); + } + + /** + * Fuse video and CSI embeddings + * @param {Float32Array|null} videoEmb - Visual embedding (or null if video-off) + * @param {Float32Array|null} csiEmb - CSI embedding (or null if CSI-off) + * @param {string} mode - 'dual' | 'video' | 'csi' + * @returns {Float32Array} Fused embedding + */ + fuse(videoEmb, csiEmb, mode = 'dual') { + const dim = this.embeddingDim; + const fused = new Float32Array(dim); + + if (mode === 'video' || !csiEmb) { + if (videoEmb) fused.set(videoEmb); + this._recordEmbedding(videoEmb, null, fused); + return fused; + } + + if (mode === 'csi' || !videoEmb) { + if (csiEmb) fused.set(csiEmb); + this._recordEmbedding(null, csiEmb, fused); + return fused; + } + + // Dual mode: attention-weighted fusion with confidence gating + const totalConf = this.videoConfidence + this.csiConfidence; + const videoWeight = totalConf > 0 ? this.videoConfidence / totalConf : 0.5; + + for (let i = 0; i < dim; i++) { + const alpha = this.attentionWeights[i] * videoWeight + + (1 - this.attentionWeights[i]) * (1 - videoWeight); + fused[i] = alpha * videoEmb[i] + (1 - alpha) * csiEmb[i]; + } + + // Re-normalize + let norm = 0; + for (let i = 0; i < dim; i++) norm += fused[i] * fused[i]; + norm = Math.sqrt(norm); + if (norm > 1e-8) { + for (let i = 0; i < dim; i++) fused[i] /= norm; + } + + this._recordEmbedding(videoEmb, csiEmb, fused); + return fused; + } + + /** + * Get embedding pairs for 2D visualization (PCA projection) + * @returns {{ video: Array, csi: Array, fused: Array }} + */ + getEmbeddingPoints() { + // Simple 2D projection using first two principal components (approximated) + const project = (emb) => { + if (!emb || emb.length < 4) return null; + // Use pairs of dimensions as crude 2D projection + let x = 0, y = 0; + for (let i = 0; i < emb.length; i += 2) { + x += emb[i] * (i % 4 < 2 ? 1 : -1); + if (i + 1 < emb.length) { + y += emb[i + 1] * (i % 4 < 2 ? 1 : -1); + } + } + return [x * 2, y * 2]; // Scale for visibility + }; + + return { + video: this.recentVideoEmbeddings.map(project).filter(Boolean), + csi: this.recentCsiEmbeddings.map(project).filter(Boolean), + fused: this.recentFusedEmbeddings.map(project).filter(Boolean) + }; + } + + /** + * Cross-modal similarity score + * @returns {number} Cosine similarity between latest video and CSI embeddings + */ + getCrossModalSimilarity() { + const v = this.recentVideoEmbeddings[this.recentVideoEmbeddings.length - 1]; + const c = this.recentCsiEmbeddings[this.recentCsiEmbeddings.length - 1]; + if (!v || !c) return 0; + + let dot = 0, na = 0, nb = 0; + for (let i = 0; i < v.length; i++) { + dot += v[i] * c[i]; + na += v[i] * v[i]; + nb += c[i] * c[i]; + } + na = Math.sqrt(na); nb = Math.sqrt(nb); + return (na > 1e-8 && nb > 1e-8) ? dot / (na * nb) : 0; + } + + _recordEmbedding(video, csi, fused) { + if (video) { + this.recentVideoEmbeddings.push(new Float32Array(video)); + if (this.recentVideoEmbeddings.length > this.maxHistory) this.recentVideoEmbeddings.shift(); + } + if (csi) { + this.recentCsiEmbeddings.push(new Float32Array(csi)); + if (this.recentCsiEmbeddings.length > this.maxHistory) this.recentCsiEmbeddings.shift(); + } + this.recentFusedEmbeddings.push(new Float32Array(fused)); + if (this.recentFusedEmbeddings.length > this.maxHistory) this.recentFusedEmbeddings.shift(); + } +} diff --git a/ui/pose-fusion/js/main.js b/ui/pose-fusion/js/main.js new file mode 100644 index 00000000..db045922 --- /dev/null +++ b/ui/pose-fusion/js/main.js @@ -0,0 +1,315 @@ +/** + * WiFi-DensePose — Dual-Modal Pose Estimation Demo + * + * Main orchestration: video capture → CNN embedding → CSI processing → fusion → rendering + */ + +import { VideoCapture } from './video-capture.js'; +import { CsiSimulator } from './csi-simulator.js'; +import { CnnEmbedder } from './cnn-embedder.js'; +import { FusionEngine } from './fusion-engine.js'; +import { PoseDecoder } from './pose-decoder.js'; +import { CanvasRenderer } from './canvas-renderer.js'; + +// === State === +let mode = 'dual'; // 'dual' | 'video' | 'csi' +let isRunning = false; +let isPaused = false; +let startTime = 0; +let frameCount = 0; +let fps = 0; +let lastFpsTime = 0; +let confidenceThreshold = 0.3; + +// Latency tracking +const latency = { video: 0, csi: 0, fusion: 0, total: 0 }; + +// === Components === +const videoCapture = new VideoCapture(document.getElementById('webcam')); +const csiSimulator = new CsiSimulator({ subcarriers: 52, timeWindow: 56 }); +const visualCnn = new CnnEmbedder({ inputSize: 56, embeddingDim: 128, seed: 42 }); +const csiCnn = new CnnEmbedder({ inputSize: 56, embeddingDim: 128, seed: 137 }); +const fusionEngine = new FusionEngine(128); +const poseDecoder = new PoseDecoder(128); +const renderer = new CanvasRenderer(); + +// === Canvas Elements === +const skeletonCanvas = document.getElementById('skeleton-canvas'); +const skeletonCtx = skeletonCanvas.getContext('2d'); +const csiCanvas = document.getElementById('csi-canvas'); +const csiCtx = csiCanvas.getContext('2d'); +const embeddingCanvas = document.getElementById('embedding-canvas'); +const embeddingCtx = embeddingCanvas.getContext('2d'); + +// === UI Elements === +const modeSelect = document.getElementById('mode-select'); +const statusDot = document.getElementById('status-dot'); +const statusLabel = document.getElementById('status-label'); +const fpsDisplay = document.getElementById('fps-display'); +const cameraPrompt = document.getElementById('camera-prompt'); +const startCameraBtn = document.getElementById('start-camera-btn'); +const pauseBtn = document.getElementById('pause-btn'); +const confSlider = document.getElementById('confidence-slider'); +const confValue = document.getElementById('confidence-value'); +const wsUrlInput = document.getElementById('ws-url'); +const connectWsBtn = document.getElementById('connect-ws-btn'); + +// Fusion bar elements +const videoBar = document.getElementById('video-bar'); +const csiBar = document.getElementById('csi-bar'); +const fusedBar = document.getElementById('fused-bar'); +const videoBarVal = document.getElementById('video-bar-val'); +const csiBarVal = document.getElementById('csi-bar-val'); +const fusedBarVal = document.getElementById('fused-bar-val'); + +// Latency elements +const latVideoEl = document.getElementById('lat-video'); +const latCsiEl = document.getElementById('lat-csi'); +const latFusionEl = document.getElementById('lat-fusion'); +const latTotalEl = document.getElementById('lat-total'); + +// Cross-modal similarity +const crossModalEl = document.getElementById('cross-modal-sim'); + +// === Initialize === +function init() { + resizeCanvases(); + window.addEventListener('resize', resizeCanvases); + + // Mode change + modeSelect.addEventListener('change', (e) => { + mode = e.target.value; + updateModeUI(); + }); + + // Camera start + startCameraBtn.addEventListener('click', startCamera); + + // Pause + pauseBtn.addEventListener('click', () => { + isPaused = !isPaused; + pauseBtn.textContent = isPaused ? '▶ Resume' : '⏸ Pause'; + pauseBtn.classList.toggle('active', isPaused); + }); + + // Confidence slider + confSlider.addEventListener('input', (e) => { + confidenceThreshold = parseFloat(e.target.value); + confValue.textContent = confidenceThreshold.toFixed(2); + }); + + // WebSocket connect + connectWsBtn.addEventListener('click', async () => { + const url = wsUrlInput.value.trim(); + if (!url) return; + connectWsBtn.textContent = 'Connecting...'; + const ok = await csiSimulator.connectLive(url); + connectWsBtn.textContent = ok ? '✓ Connected' : 'Connect'; + if (ok) { + connectWsBtn.classList.add('active'); + } + }); + + // Try to load WASM embedders (non-blocking) + // Resolve relative to this JS module file (in pose-fusion/js/) → ../pkg/ + const wasmBase = new URL('../pkg/ruvector_cnn_wasm', import.meta.url).href; + visualCnn.tryLoadWasm(wasmBase); + csiCnn.tryLoadWasm(wasmBase); + + // Auto-connect to local sensing server WebSocket if available + const defaultWsUrl = 'ws://localhost:8765/ws/sensing'; + if (wsUrlInput) wsUrlInput.value = defaultWsUrl; + csiSimulator.connectLive(defaultWsUrl).then(ok => { + if (ok && connectWsBtn) { + connectWsBtn.textContent = '✓ Live ESP32'; + connectWsBtn.classList.add('active'); + statusLabel.textContent = 'LIVE CSI'; + statusDot.classList.remove('offline'); + } + }); + + // Auto-start camera for video/dual modes + updateModeUI(); + startTime = performance.now() / 1000; + isRunning = true; + requestAnimationFrame(mainLoop); +} + +async function startCamera() { + cameraPrompt.style.display = 'none'; + const ok = await videoCapture.start(); + if (ok) { + statusDot.classList.remove('offline'); + statusLabel.textContent = 'LIVE'; + resizeCanvases(); + } else { + cameraPrompt.style.display = 'flex'; + cameraPrompt.querySelector('p').textContent = 'Camera access denied. Try CSI-only mode.'; + } +} + +function updateModeUI() { + const needsVideo = mode !== 'csi'; + const needsCsi = mode !== 'video'; + + // Show/hide camera prompt + if (needsVideo && !videoCapture.isActive) { + cameraPrompt.style.display = 'flex'; + } else { + cameraPrompt.style.display = 'none'; + } +} + +function resizeCanvases() { + const videoPanel = document.querySelector('.video-panel'); + if (videoPanel) { + const rect = videoPanel.getBoundingClientRect(); + skeletonCanvas.width = rect.width; + skeletonCanvas.height = rect.height; + } + + // CSI canvas + csiCanvas.width = csiCanvas.parentElement.clientWidth; + csiCanvas.height = 120; + + // Embedding canvas + embeddingCanvas.width = embeddingCanvas.parentElement.clientWidth; + embeddingCanvas.height = 140; +} + +// === Main Loop === +function mainLoop(timestamp) { + if (!isRunning) return; + requestAnimationFrame(mainLoop); + + if (isPaused) return; + + const elapsed = performance.now() / 1000 - startTime; + const totalStart = performance.now(); + + // --- Video Pipeline --- + let videoEmb = null; + let motionRegion = null; + if (mode !== 'csi' && videoCapture.isActive) { + const t0 = performance.now(); + const frame = videoCapture.captureFrame(56, 56); + if (frame) { + videoEmb = visualCnn.extract(frame.rgb, frame.width, frame.height); + motionRegion = videoCapture.detectMotionRegion(56, 56); + + // Feed motion to CSI simulator for correlated demo data + // When detected=false, CSI simulator handles through-wall persistence + csiSimulator.updatePersonState( + motionRegion.detected ? 1.0 : 0, + motionRegion.detected ? motionRegion.x + motionRegion.w / 2 : 0.5, + motionRegion.detected ? motionRegion.y + motionRegion.h / 2 : 0.5, + frame.motion + ); + + fusionEngine.updateConfidence( + frame.brightness, frame.motion, + 0, csiSimulator.isLive || mode === 'dual' + ); + } + latency.video = performance.now() - t0; + } + + // --- CSI Pipeline --- + let csiEmb = null; + if (mode !== 'video') { + const t0 = performance.now(); + const csiFrame = csiSimulator.nextFrame(elapsed); + const pseudoImage = csiSimulator.buildPseudoImage(56); + csiEmb = csiCnn.extract(pseudoImage, 56, 56); + + fusionEngine.updateConfidence( + videoCapture.brightnessScore, + videoCapture.motionScore, + csiFrame.snr, + true + ); + + // Draw CSI heatmap + const heatmap = csiSimulator.getHeatmapData(); + renderer.drawCsiHeatmap(csiCtx, heatmap, csiCanvas.width, csiCanvas.height); + + latency.csi = performance.now() - t0; + } + + // --- Fusion --- + const t0f = performance.now(); + const fusedEmb = fusionEngine.fuse(videoEmb, csiEmb, mode); + latency.fusion = performance.now() - t0f; + + // --- Pose Decode --- + // For CSI-only mode, generate a synthetic motion region from CSI energy + if (mode === 'csi' && (!motionRegion || !motionRegion.detected)) { + const csiPresence = csiSimulator.personPresence; + if (csiPresence > 0.1) { + motionRegion = { + detected: true, + x: 0.25, y: 0.15, w: 0.5, h: 0.7, + coverage: csiPresence, + motionGrid: null, + gridCols: 10, + gridRows: 8 + }; + } + } + + // CSI state for through-wall tracking + const csiState = { + csiPresence: csiSimulator.personPresence, + isLive: csiSimulator.isLive + }; + + const keypoints = poseDecoder.decode(fusedEmb, motionRegion, elapsed, csiState); + + // --- Render Skeleton --- + const labelMap = { dual: 'DUAL FUSION', video: 'VIDEO ONLY', csi: 'CSI ONLY' }; + renderer.drawSkeleton(skeletonCtx, keypoints, skeletonCanvas.width, skeletonCanvas.height, { + minConfidence: confidenceThreshold, + color: mode === 'csi' ? 'amber' : 'green', + label: labelMap[mode] + }); + + // --- Render Embedding Space --- + const embPoints = fusionEngine.getEmbeddingPoints(); + renderer.drawEmbeddingSpace(embeddingCtx, embPoints, embeddingCanvas.width, embeddingCanvas.height); + + // --- Update UI --- + latency.total = performance.now() - totalStart; + + // FPS + frameCount++; + if (timestamp - lastFpsTime > 500) { + fps = Math.round(frameCount * 1000 / (timestamp - lastFpsTime)); + lastFpsTime = timestamp; + frameCount = 0; + fpsDisplay.textContent = `${fps} FPS`; + } + + // Fusion bars + const vc = fusionEngine.videoConfidence; + const cc = fusionEngine.csiConfidence; + const fc = fusionEngine.fusedConfidence; + videoBar.style.width = `${vc * 100}%`; + csiBar.style.width = `${cc * 100}%`; + fusedBar.style.width = `${fc * 100}%`; + videoBarVal.textContent = `${Math.round(vc * 100)}%`; + csiBarVal.textContent = `${Math.round(cc * 100)}%`; + fusedBarVal.textContent = `${Math.round(fc * 100)}%`; + + // Latency + latVideoEl.textContent = `${latency.video.toFixed(1)}ms`; + latCsiEl.textContent = `${latency.csi.toFixed(1)}ms`; + latFusionEl.textContent = `${latency.fusion.toFixed(1)}ms`; + latTotalEl.textContent = `${latency.total.toFixed(1)}ms`; + + // Cross-modal similarity + const sim = fusionEngine.getCrossModalSimilarity(); + crossModalEl.textContent = sim.toFixed(3); +} + +// Boot +document.addEventListener('DOMContentLoaded', init); diff --git a/ui/pose-fusion/js/pose-decoder.js b/ui/pose-fusion/js/pose-decoder.js new file mode 100644 index 00000000..d5b0203d --- /dev/null +++ b/ui/pose-fusion/js/pose-decoder.js @@ -0,0 +1,373 @@ +/** + * PoseDecoder — Maps motion detection grid → 17 COCO keypoints. + * + * Uses per-cell motion intensity to track actual body part positions: + * - Head: top-center motion cluster + * - Shoulders/Elbows/Wrists: lateral motion in upper body zone + * - Hips/Knees/Ankles: lower body motion distribution + * + * When person exits frame, CSI data continues tracking (through-wall mode). + */ + +// COCO keypoint definitions +export const KEYPOINT_NAMES = [ + 'nose', 'left_eye', 'right_eye', 'left_ear', 'right_ear', + 'left_shoulder', 'right_shoulder', 'left_elbow', 'right_elbow', + 'left_wrist', 'right_wrist', 'left_hip', 'right_hip', + 'left_knee', 'right_knee', 'left_ankle', 'right_ankle' +]; + +// Skeleton connections (pairs of keypoint indices) +export const SKELETON_CONNECTIONS = [ + [0, 1], [0, 2], [1, 3], [2, 4], // Head + [5, 6], // Shoulders + [5, 7], [7, 9], // Left arm + [6, 8], [8, 10], // Right arm + [5, 11], [6, 12], // Torso + [11, 12], // Hips + [11, 13], [13, 15], // Left leg + [12, 14], [14, 16], // Right leg +]; + +// Standard body proportions (relative to body height) +const PROPORTIONS = { + headToShoulder: 0.15, + shoulderWidth: 0.25, + shoulderToElbow: 0.18, + elbowToWrist: 0.16, + shoulderToHip: 0.30, + hipWidth: 0.18, + hipToKnee: 0.24, + kneeToAnkle: 0.24, + eyeSpacing: 0.04, + earSpacing: 0.07, +}; + +export class PoseDecoder { + constructor(embeddingDim = 128) { + this.embeddingDim = embeddingDim; + this.smoothedKeypoints = null; + this.smoothingFactor = 0.45; // Lower = more responsive to movement + this._time = 0; + + // Through-wall tracking state + this._lastBodyState = null; + this._ghostState = null; + this._ghostConfidence = 0; + this._ghostVelocity = { x: 0, y: 0 }; + + // Arm tracking history (smoothed positions) + this._leftArmY = 0.5; + this._rightArmY = 0.5; + this._leftArmX = 0; + this._rightArmX = 0; + this._headOffsetX = 0; + } + + /** + * Decode motion data into 17 keypoints + * @param {Float32Array} embedding - Fused embedding vector + * @param {{ detected, x, y, w, h, motionGrid, gridCols, gridRows, motionCx, motionCy, exitDirection }} motionRegion + * @param {number} elapsed - Time in seconds + * @param {{ csiPresence: number }} csiState - CSI sensing state for through-wall + * @returns {Array<{x: number, y: number, confidence: number, name: string}>} + */ + decode(embedding, motionRegion, elapsed, csiState = {}) { + this._time = elapsed; + + const hasMotion = motionRegion && motionRegion.detected; + const hasCsi = csiState && csiState.csiPresence > 0.1; + + if (hasMotion) { + // Active tracking from video motion grid + this._ghostConfidence = 0; + const rawKeypoints = this._trackFromMotionGrid(motionRegion, embedding, elapsed); + this._lastBodyState = { keypoints: rawKeypoints.map(kp => ({...kp})), time: elapsed }; + + // Track exit velocity + if (motionRegion.exitDirection) { + const speed = 0.008; + this._ghostVelocity = { + x: motionRegion.exitDirection === 'left' ? -speed : motionRegion.exitDirection === 'right' ? speed : 0, + y: motionRegion.exitDirection === 'up' ? -speed : motionRegion.exitDirection === 'down' ? speed : 0 + }; + } + + // Apply temporal smoothing + if (this.smoothedKeypoints && this.smoothedKeypoints.length === rawKeypoints.length) { + const alpha = this.smoothingFactor; + for (let i = 0; i < rawKeypoints.length; i++) { + rawKeypoints[i].x = alpha * this.smoothedKeypoints[i].x + (1 - alpha) * rawKeypoints[i].x; + rawKeypoints[i].y = alpha * this.smoothedKeypoints[i].y + (1 - alpha) * rawKeypoints[i].y; + } + } + + this.smoothedKeypoints = rawKeypoints; + return rawKeypoints; + + } else if (this._lastBodyState && (hasCsi || this._ghostConfidence > 0.05)) { + // Through-wall mode: person left frame but CSI still senses them + return this._trackThroughWall(elapsed, csiState); + + } else if (this.smoothedKeypoints) { + // Fade out + const faded = this.smoothedKeypoints.map(kp => ({ + ...kp, + confidence: kp.confidence * 0.88 + })).filter(kp => kp.confidence > 0.05); + if (faded.length === 0) this.smoothedKeypoints = null; + else this.smoothedKeypoints = faded; + return faded; + } + + return []; + } + + /** + * Track body parts from the motion grid. + * The grid tells us WHERE motion is happening → we map that to joint positions. + */ + _trackFromMotionGrid(region, embedding, elapsed) { + const grid = region.motionGrid; + const cols = region.gridCols || 10; + const rows = region.gridRows || 8; + + // Body bounding box + const cx = region.x + region.w / 2; + const cy = region.y + region.h / 2; + const bodyH = Math.max(region.h, 0.3); + const bodyW = Math.max(region.w, 0.15); + + // Analyze the motion grid to find arm positions + // Divide body into zones: head (top 20%), arms (top 60% sides), torso (center), legs (bottom 40%) + if (grid) { + const armAnalysis = this._analyzeArmMotion(grid, cols, rows, region); + // Smooth arm tracking + this._leftArmY = 0.6 * this._leftArmY + 0.4 * armAnalysis.leftArmHeight; + this._rightArmY = 0.6 * this._rightArmY + 0.4 * armAnalysis.rightArmHeight; + this._leftArmX = 0.6 * this._leftArmX + 0.4 * armAnalysis.leftArmSpread; + this._rightArmX = 0.6 * this._rightArmX + 0.4 * armAnalysis.rightArmSpread; + this._headOffsetX = 0.7 * this._headOffsetX + 0.3 * armAnalysis.headOffsetX; + } + + const P = PROPORTIONS; + const halfW = P.shoulderWidth * bodyH / 2; + const hipHalfW = P.hipWidth * bodyH / 2; + + // Breathing (subtle) + const breathe = Math.sin(elapsed * 1.5) * 0.002; + + // Core body positions from detection center + const hipY = cy + bodyH * 0.15; + const shoulderY = hipY - P.shoulderToHip * bodyH + breathe; + const headY = shoulderY - P.headToShoulder * bodyH; + const kneeY = hipY + P.hipToKnee * bodyH; + const ankleY = kneeY + P.kneeToAnkle * bodyH; + + // HEAD follows motion centroid + const headX = cx + this._headOffsetX * bodyW * 0.3; + + // ARM POSITIONS driven by motion grid analysis + // leftArmY: 0 = arm down at side, 1 = arm fully raised + // leftArmSpread: how far out the arm extends + const leftArmRaise = this._leftArmY; // 0-1 + const rightArmRaise = this._rightArmY; + const leftSpread = 0.02 + this._leftArmX * 0.12; + const rightSpread = 0.02 + this._rightArmX * 0.12; + + // Elbow: interpolate between "at side" and "raised" + const lElbowY = shoulderY + P.shoulderToElbow * bodyH * (1 - leftArmRaise * 0.9); + const rElbowY = shoulderY + P.shoulderToElbow * bodyH * (1 - rightArmRaise * 0.9); + const lElbowX = cx - halfW - leftSpread; + const rElbowX = cx + halfW + rightSpread; + + // Wrist: extends further when raised + const lWristY = lElbowY + P.elbowToWrist * bodyH * (1 - leftArmRaise * 1.1); + const rWristY = rElbowY + P.elbowToWrist * bodyH * (1 - rightArmRaise * 1.1); + const lWristX = lElbowX - leftSpread * 0.6; + const rWristX = rElbowX + rightSpread * 0.6; + + // Leg motion from lower grid cells + const legMotion = grid ? this._analyzeLegMotion(grid, cols, rows) : { left: 0, right: 0 }; + const legSwing = 0.015; + + const keypoints = [ + // 0: nose + { x: headX, y: headY + 0.01, confidence: 0.92 }, + // 1: left_eye + { x: headX - P.eyeSpacing * bodyH, y: headY - 0.005, confidence: 0.88 }, + // 2: right_eye + { x: headX + P.eyeSpacing * bodyH, y: headY - 0.005, confidence: 0.88 }, + // 3: left_ear + { x: headX - P.earSpacing * bodyH, y: headY + 0.005, confidence: 0.72 }, + // 4: right_ear + { x: headX + P.earSpacing * bodyH, y: headY + 0.005, confidence: 0.72 }, + // 5: left_shoulder + { x: cx - halfW, y: shoulderY, confidence: 0.94 }, + // 6: right_shoulder + { x: cx + halfW, y: shoulderY, confidence: 0.94 }, + // 7: left_elbow + { x: lElbowX, y: lElbowY, confidence: 0.87 }, + // 8: right_elbow + { x: rElbowX, y: rElbowY, confidence: 0.87 }, + // 9: left_wrist + { x: lWristX, y: lWristY, confidence: 0.82 }, + // 10: right_wrist + { x: rWristX, y: rWristY, confidence: 0.82 }, + // 11: left_hip + { x: cx - hipHalfW, y: hipY, confidence: 0.91 }, + // 12: right_hip + { x: cx + hipHalfW, y: hipY, confidence: 0.91 }, + // 13: left_knee + { x: cx - hipHalfW + legMotion.left * legSwing, y: kneeY, confidence: 0.88 }, + // 14: right_knee + { x: cx + hipHalfW + legMotion.right * legSwing, y: kneeY, confidence: 0.88 }, + // 15: left_ankle + { x: cx - hipHalfW + legMotion.left * legSwing * 1.3, y: ankleY, confidence: 0.83 }, + // 16: right_ankle + { x: cx + hipHalfW + legMotion.right * legSwing * 1.3, y: ankleY, confidence: 0.83 }, + ]; + + for (let i = 0; i < keypoints.length; i++) { + keypoints[i].name = KEYPOINT_NAMES[i]; + } + + return keypoints; + } + + /** + * Analyze the motion grid to determine arm positions. + * Left side of grid = left side of body, etc. + */ + _analyzeArmMotion(grid, cols, rows, region) { + // Body center column + const centerCol = Math.floor(cols / 2); + + // Upper body rows (top 60% of detected region) + const upperEnd = Math.floor(rows * 0.6); + + // Compute motion intensity for left vs right, at different heights + let leftUpperMotion = 0, leftMidMotion = 0; + let rightUpperMotion = 0, rightMidMotion = 0; + let leftCount = 0, rightCount = 0; + let headMotionX = 0, headMotionWeight = 0; + + for (let r = 0; r < upperEnd; r++) { + const heightWeight = 1.0 - (r / upperEnd) * 0.3; // Upper rows weighted more + + // Head zone: top 25%, center 40% of width + if (r < Math.floor(rows * 0.25)) { + const headLeft = Math.floor(cols * 0.3); + const headRight = Math.floor(cols * 0.7); + for (let c = headLeft; c <= headRight; c++) { + const val = grid[r][c]; + headMotionX += (c / cols - 0.5) * val; + headMotionWeight += val; + } + } + + // Left arm zone: left 40% of grid + for (let c = 0; c < Math.floor(cols * 0.4); c++) { + const val = grid[r][c]; + if (r < rows * 0.3) leftUpperMotion += val * heightWeight; + else leftMidMotion += val * heightWeight; + leftCount++; + } + + // Right arm zone: right 40% of grid + for (let c = Math.floor(cols * 0.6); c < cols; c++) { + const val = grid[r][c]; + if (r < rows * 0.3) rightUpperMotion += val * heightWeight; + else rightMidMotion += val * heightWeight; + rightCount++; + } + } + + // Normalize + const leftTotal = leftUpperMotion + leftMidMotion; + const rightTotal = rightUpperMotion + rightMidMotion; + const maxMotion = 0.15; // Calibration threshold + + // Arm height: 0 = at side, 1 = raised + // High motion in upper-left → left arm is raised + const leftArmHeight = Math.min(1, (leftUpperMotion / maxMotion) * 2); + const rightArmHeight = Math.min(1, (rightUpperMotion / maxMotion) * 2); + + // Arm spread: how far out from body + const leftArmSpread = Math.min(1, leftTotal / maxMotion); + const rightArmSpread = Math.min(1, rightTotal / maxMotion); + + // Head offset + const headOffsetX = headMotionWeight > 0.01 ? headMotionX / headMotionWeight : 0; + + return { leftArmHeight, rightArmHeight, leftArmSpread, rightArmSpread, headOffsetX }; + } + + /** + * Analyze lower grid for leg motion. + */ + _analyzeLegMotion(grid, cols, rows) { + const lowerStart = Math.floor(rows * 0.6); + let leftMotion = 0, rightMotion = 0; + + for (let r = lowerStart; r < rows; r++) { + for (let c = 0; c < Math.floor(cols / 2); c++) { + leftMotion += grid[r][c]; + } + for (let c = Math.floor(cols / 2); c < cols; c++) { + rightMotion += grid[r][c]; + } + } + + // Return as -1 to 1 range (asymmetry indicates which leg is moving) + const total = leftMotion + rightMotion + 0.001; + return { + left: (leftMotion - rightMotion) / total, + right: (rightMotion - leftMotion) / total + }; + } + + /** + * Through-wall tracking: continue showing pose via CSI when person left video frame. + * The skeleton drifts in the exit direction with decreasing confidence. + */ + _trackThroughWall(elapsed, csiState) { + if (!this._lastBodyState) return []; + + const dt = elapsed - this._lastBodyState.time; + const csiPresence = csiState.csiPresence || 0; + + // Initialize ghost on first call + if (this._ghostConfidence <= 0.05) { + this._ghostConfidence = 0.8; + this._ghostState = this._lastBodyState.keypoints.map(kp => ({...kp})); + } + + // Ghost confidence decays, but CSI presence sustains it + const csiBoost = Math.min(0.7, csiPresence * 0.8); + this._ghostConfidence = Math.max(0.05, this._ghostConfidence * 0.995 - 0.001 + csiBoost * 0.002); + + // Drift the ghost in exit direction + const vx = this._ghostVelocity.x; + const vy = this._ghostVelocity.y; + + // Breathing continues via CSI + const breathe = Math.sin(elapsed * 1.5) * 0.003 * csiPresence; + + const keypoints = this._ghostState.map((kp, i) => { + return { + x: kp.x + vx * dt * 0.3, + y: kp.y + vy * dt * 0.3 + (i >= 5 && i <= 6 ? breathe : 0), + confidence: kp.confidence * this._ghostConfidence * (0.5 + csiPresence * 0.5), + name: kp.name + }; + }); + + // Slow down drift over time + this._ghostVelocity.x *= 0.998; + this._ghostVelocity.y *= 0.998; + + this.smoothedKeypoints = keypoints; + return keypoints; + } +} diff --git a/ui/pose-fusion/js/video-capture.js b/ui/pose-fusion/js/video-capture.js new file mode 100644 index 00000000..fe3ed333 --- /dev/null +++ b/ui/pose-fusion/js/video-capture.js @@ -0,0 +1,235 @@ +/** + * VideoCapture — getUserMedia webcam capture with frame extraction. + * Provides quality metrics (brightness, motion) for fusion confidence gating. + */ + +export class VideoCapture { + constructor(videoElement) { + this.video = videoElement; + this.stream = null; + this.offscreen = document.createElement('canvas'); + this.offCtx = this.offscreen.getContext('2d', { willReadFrequently: true }); + this.prevFrame = null; + this.motionScore = 0; + this.brightnessScore = 0; + } + + async start(constraints = {}) { + const defaultConstraints = { + video: { + width: { ideal: 640 }, + height: { ideal: 480 }, + facingMode: 'user', + frameRate: { ideal: 30 } + }, + audio: false + }; + + try { + this.stream = await navigator.mediaDevices.getUserMedia( + Object.keys(constraints).length ? constraints : defaultConstraints + ); + this.video.srcObject = this.stream; + await this.video.play(); + + this.offscreen.width = this.video.videoWidth; + this.offscreen.height = this.video.videoHeight; + + return true; + } catch (err) { + console.error('[Video] Camera access failed:', err.message); + return false; + } + } + + stop() { + if (this.stream) { + this.stream.getTracks().forEach(t => t.stop()); + this.stream = null; + } + this.video.srcObject = null; + } + + get isActive() { + return this.stream !== null && this.video.readyState >= 2; + } + + get width() { return this.video.videoWidth || 640; } + get height() { return this.video.videoHeight || 480; } + + /** + * Capture current frame as RGB Uint8Array + compute quality metrics. + * @param {number} targetW - Target width for CNN input + * @param {number} targetH - Target height for CNN input + * @returns {{ rgb: Uint8Array, width: number, height: number, motion: number, brightness: number }} + */ + captureFrame(targetW = 56, targetH = 56) { + if (!this.isActive) return null; + + // Draw to offscreen at target resolution + this.offscreen.width = targetW; + this.offscreen.height = targetH; + this.offCtx.drawImage(this.video, 0, 0, targetW, targetH); + const imageData = this.offCtx.getImageData(0, 0, targetW, targetH); + const rgba = imageData.data; + + // Convert RGBA → RGB + const pixels = targetW * targetH; + const rgb = new Uint8Array(pixels * 3); + let brightnessSum = 0; + let motionSum = 0; + + for (let i = 0; i < pixels; i++) { + const r = rgba[i * 4]; + const g = rgba[i * 4 + 1]; + const b = rgba[i * 4 + 2]; + rgb[i * 3] = r; + rgb[i * 3 + 1] = g; + rgb[i * 3 + 2] = b; + + // Luminance for brightness + const lum = 0.299 * r + 0.587 * g + 0.114 * b; + brightnessSum += lum; + + // Motion: diff from previous frame + if (this.prevFrame) { + const pr = this.prevFrame[i * 3]; + const pg = this.prevFrame[i * 3 + 1]; + const pb = this.prevFrame[i * 3 + 2]; + motionSum += Math.abs(r - pr) + Math.abs(g - pg) + Math.abs(b - pb); + } + } + + this.brightnessScore = brightnessSum / (pixels * 255); + this.motionScore = this.prevFrame ? Math.min(1, motionSum / (pixels * 100)) : 0; + this.prevFrame = new Uint8Array(rgb); + + return { + rgb, + width: targetW, + height: targetH, + motion: this.motionScore, + brightness: this.brightnessScore + }; + } + + /** + * Capture full-resolution RGBA for overlay rendering + * @returns {ImageData|null} + */ + captureFullFrame() { + if (!this.isActive) return null; + this.offscreen.width = this.width; + this.offscreen.height = this.height; + this.offCtx.drawImage(this.video, 0, 0); + return this.offCtx.getImageData(0, 0, this.width, this.height); + } + + /** + * Detect motion region + detailed motion grid for body-part tracking. + * Returns bounding box + a grid showing WHERE motion is concentrated. + * @returns {{ x, y, w, h, detected: boolean, motionGrid: number[][], gridCols: number, gridRows: number, exitDirection: string|null }} + */ + detectMotionRegion(targetW = 56, targetH = 56) { + if (!this.isActive || !this.prevFrame) return { detected: false, motionGrid: null }; + + this.offscreen.width = targetW; + this.offscreen.height = targetH; + this.offCtx.drawImage(this.video, 0, 0, targetW, targetH); + const rgba = this.offCtx.getImageData(0, 0, targetW, targetH).data; + + let minX = targetW, minY = targetH, maxX = 0, maxY = 0; + let motionPixels = 0; + const threshold = 25; + + // Motion grid: divide frame into cells and track motion intensity per cell + const gridCols = 10; + const gridRows = 8; + const cellW = targetW / gridCols; + const cellH = targetH / gridRows; + const motionGrid = Array.from({ length: gridRows }, () => new Float32Array(gridCols)); + const cellPixels = cellW * cellH; + + // Also track motion centroid weighted by intensity + let motionCxSum = 0, motionCySum = 0, motionWeightSum = 0; + + for (let y = 0; y < targetH; y++) { + for (let x = 0; x < targetW; x++) { + const i = y * targetW + x; + const r = rgba[i * 4], g = rgba[i * 4 + 1], b = rgba[i * 4 + 2]; + const pr = this.prevFrame[i * 3], pg = this.prevFrame[i * 3 + 1], pb = this.prevFrame[i * 3 + 2]; + const diff = Math.abs(r - pr) + Math.abs(g - pg) + Math.abs(b - pb); + + if (diff > threshold * 3) { + motionPixels++; + if (x < minX) minX = x; + if (y < minY) minY = y; + if (x > maxX) maxX = x; + if (y > maxY) maxY = y; + } + + // Accumulate per-cell motion intensity + const gc = Math.min(Math.floor(x / cellW), gridCols - 1); + const gr = Math.min(Math.floor(y / cellH), gridRows - 1); + const intensity = diff / (3 * 255); // Normalize 0-1 + motionGrid[gr][gc] += intensity / cellPixels; + + // Weighted centroid + if (diff > threshold) { + motionCxSum += x * diff; + motionCySum += y * diff; + motionWeightSum += diff; + } + } + } + + const detected = motionPixels > (targetW * targetH * 0.02); + + // Motion centroid (normalized 0-1) + const motionCx = motionWeightSum > 0 ? motionCxSum / (motionWeightSum * targetW) : 0.5; + const motionCy = motionWeightSum > 0 ? motionCySum / (motionWeightSum * targetH) : 0.5; + + // Detect exit direction: if centroid is near edges + let exitDirection = null; + if (detected && motionCx < 0.1) exitDirection = 'left'; + else if (detected && motionCx > 0.9) exitDirection = 'right'; + else if (detected && motionCy < 0.1) exitDirection = 'up'; + else if (detected && motionCy > 0.9) exitDirection = 'down'; + + // Track last known position for through-wall persistence + if (detected) { + this._lastDetected = { + x: minX / targetW, + y: minY / targetH, + w: (maxX - minX) / targetW, + h: (maxY - minY) / targetH, + cx: motionCx, + cy: motionCy, + exitDirection, + time: performance.now() + }; + } + + return { + detected, + x: minX / targetW, + y: minY / targetH, + w: (maxX - minX) / targetW, + h: (maxY - minY) / targetH, + coverage: motionPixels / (targetW * targetH), + motionGrid, + gridCols, + gridRows, + motionCx, + motionCy, + exitDirection + }; + } + + /** + * Get the last known detection info (for through-wall persistence) + */ + get lastDetection() { + return this._lastDetected || null; + } +} diff --git a/ui/pose-fusion/pkg/ruvector_cnn_wasm/package.json b/ui/pose-fusion/pkg/ruvector_cnn_wasm/package.json new file mode 100644 index 00000000..f1e17faf --- /dev/null +++ b/ui/pose-fusion/pkg/ruvector_cnn_wasm/package.json @@ -0,0 +1,26 @@ +{ + "name": "ruvector-cnn-wasm", + "type": "module", + "description": "WASM bindings for ruvector-cnn - CNN feature extraction for image embeddings", + "version": "0.1.0", + "license": "MIT OR Apache-2.0", + "repository": { + "type": "git", + "url": "https://github.com/ruvnet/ruvector" + }, + "files": [ + "ruvector_cnn_wasm_bg.wasm", + "ruvector_cnn_wasm.js" + ], + "main": "ruvector_cnn_wasm.js", + "sideEffects": [ + "./snippets/*" + ], + "keywords": [ + "cnn", + "embeddings", + "wasm", + "simd", + "machine-learning" + ] +} \ No newline at end of file diff --git a/ui/pose-fusion/pkg/ruvector_cnn_wasm/ruvector_cnn_wasm.js b/ui/pose-fusion/pkg/ruvector_cnn_wasm/ruvector_cnn_wasm.js new file mode 100644 index 00000000..f899cf7b --- /dev/null +++ b/ui/pose-fusion/pkg/ruvector_cnn_wasm/ruvector_cnn_wasm.js @@ -0,0 +1,802 @@ +/** + * Configuration for CNN embedder + */ +export class EmbedderConfig { + __destroy_into_raw() { + const ptr = this.__wbg_ptr; + this.__wbg_ptr = 0; + EmbedderConfigFinalization.unregister(this); + return ptr; + } + free() { + const ptr = this.__destroy_into_raw(); + wasm.__wbg_embedderconfig_free(ptr, 0); + } + constructor() { + const ret = wasm.embedderconfig_new(); + this.__wbg_ptr = ret >>> 0; + EmbedderConfigFinalization.register(this, this.__wbg_ptr, this); + return this; + } + /** + * Output embedding dimension + * @returns {number} + */ + get embedding_dim() { + const ret = wasm.__wbg_get_embedderconfig_embedding_dim(this.__wbg_ptr); + return ret >>> 0; + } + /** + * Input image size (square) + * @returns {number} + */ + get input_size() { + const ret = wasm.__wbg_get_embedderconfig_input_size(this.__wbg_ptr); + return ret >>> 0; + } + /** + * Whether to L2 normalize embeddings + * @returns {boolean} + */ + get normalize() { + const ret = wasm.__wbg_get_embedderconfig_normalize(this.__wbg_ptr); + return ret !== 0; + } + /** + * Output embedding dimension + * @param {number} arg0 + */ + set embedding_dim(arg0) { + wasm.__wbg_set_embedderconfig_embedding_dim(this.__wbg_ptr, arg0); + } + /** + * Input image size (square) + * @param {number} arg0 + */ + set input_size(arg0) { + wasm.__wbg_set_embedderconfig_input_size(this.__wbg_ptr, arg0); + } + /** + * Whether to L2 normalize embeddings + * @param {boolean} arg0 + */ + set normalize(arg0) { + wasm.__wbg_set_embedderconfig_normalize(this.__wbg_ptr, arg0); + } +} +if (Symbol.dispose) EmbedderConfig.prototype[Symbol.dispose] = EmbedderConfig.prototype.free; + +/** + * Layer operations for building custom networks + */ +export class LayerOps { + __destroy_into_raw() { + const ptr = this.__wbg_ptr; + this.__wbg_ptr = 0; + LayerOpsFinalization.unregister(this); + return ptr; + } + free() { + const ptr = this.__destroy_into_raw(); + wasm.__wbg_layerops_free(ptr, 0); + } + /** + * Apply batch normalization (returns new array) + * @param {Float32Array} input + * @param {Float32Array} gamma + * @param {Float32Array} beta + * @param {Float32Array} mean + * @param {Float32Array} _var + * @param {number} epsilon + * @returns {Float32Array} + */ + static batch_norm(input, gamma, beta, mean, _var, epsilon) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(input, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + const ptr1 = passArrayF32ToWasm0(gamma, wasm.__wbindgen_export2); + const len1 = WASM_VECTOR_LEN; + const ptr2 = passArrayF32ToWasm0(beta, wasm.__wbindgen_export2); + const len2 = WASM_VECTOR_LEN; + const ptr3 = passArrayF32ToWasm0(mean, wasm.__wbindgen_export2); + const len3 = WASM_VECTOR_LEN; + const ptr4 = passArrayF32ToWasm0(_var, wasm.__wbindgen_export2); + const len4 = WASM_VECTOR_LEN; + wasm.layerops_batch_norm(retptr, ptr0, len0, ptr1, len1, ptr2, len2, ptr3, len3, ptr4, len4, epsilon); + var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var v6 = getArrayF32FromWasm0(r0, r1).slice(); + wasm.__wbindgen_export(r0, r1 * 4, 4); + return v6; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * Apply global average pooling + * Returns one value per channel + * @param {Float32Array} input + * @param {number} height + * @param {number} width + * @param {number} channels + * @returns {Float32Array} + */ + static global_avg_pool(input, height, width, channels) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(input, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + wasm.layerops_global_avg_pool(retptr, ptr0, len0, height, width, channels); + var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var v2 = getArrayF32FromWasm0(r0, r1).slice(); + wasm.__wbindgen_export(r0, r1 * 4, 4); + return v2; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } +} +if (Symbol.dispose) LayerOps.prototype[Symbol.dispose] = LayerOps.prototype.free; + +/** + * SIMD-optimized operations + */ +export class SimdOps { + __destroy_into_raw() { + const ptr = this.__wbg_ptr; + this.__wbg_ptr = 0; + SimdOpsFinalization.unregister(this); + return ptr; + } + free() { + const ptr = this.__destroy_into_raw(); + wasm.__wbg_simdops_free(ptr, 0); + } + /** + * Dot product of two vectors + * @param {Float32Array} a + * @param {Float32Array} b + * @returns {number} + */ + static dot_product(a, b) { + const ptr0 = passArrayF32ToWasm0(a, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + const ptr1 = passArrayF32ToWasm0(b, wasm.__wbindgen_export2); + const len1 = WASM_VECTOR_LEN; + const ret = wasm.simdops_dot_product(ptr0, len0, ptr1, len1); + return ret; + } + /** + * L2 normalize a vector (returns new array) + * @param {Float32Array} data + * @returns {Float32Array} + */ + static l2_normalize(data) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(data, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + wasm.simdops_l2_normalize(retptr, ptr0, len0); + var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var v2 = getArrayF32FromWasm0(r0, r1).slice(); + wasm.__wbindgen_export(r0, r1 * 4, 4); + return v2; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * ReLU activation (returns new array) + * @param {Float32Array} data + * @returns {Float32Array} + */ + static relu(data) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(data, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + wasm.simdops_relu(retptr, ptr0, len0); + var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var v2 = getArrayF32FromWasm0(r0, r1).slice(); + wasm.__wbindgen_export(r0, r1 * 4, 4); + return v2; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * ReLU6 activation (returns new array) + * @param {Float32Array} data + * @returns {Float32Array} + */ + static relu6(data) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(data, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + wasm.simdops_relu6(retptr, ptr0, len0); + var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var v2 = getArrayF32FromWasm0(r0, r1).slice(); + wasm.__wbindgen_export(r0, r1 * 4, 4); + return v2; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } +} +if (Symbol.dispose) SimdOps.prototype[Symbol.dispose] = SimdOps.prototype.free; + +/** + * WASM CNN Embedder for image feature extraction + */ +export class WasmCnnEmbedder { + __destroy_into_raw() { + const ptr = this.__wbg_ptr; + this.__wbg_ptr = 0; + WasmCnnEmbedderFinalization.unregister(this); + return ptr; + } + free() { + const ptr = this.__destroy_into_raw(); + wasm.__wbg_wasmcnnembedder_free(ptr, 0); + } + /** + * Compute cosine similarity between two embeddings + * @param {Float32Array} a + * @param {Float32Array} b + * @returns {number} + */ + cosine_similarity(a, b) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(a, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + const ptr1 = passArrayF32ToWasm0(b, wasm.__wbindgen_export2); + const len1 = WASM_VECTOR_LEN; + wasm.wasmcnnembedder_cosine_similarity(retptr, this.__wbg_ptr, ptr0, len0, ptr1, len1); + var r0 = getDataViewMemory0().getFloat32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var r2 = getDataViewMemory0().getInt32(retptr + 4 * 2, true); + if (r2) { + throw takeObject(r1); + } + return r0; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * Get the embedding dimension + * @returns {number} + */ + get embedding_dim() { + const ret = wasm.wasmcnnembedder_embedding_dim(this.__wbg_ptr); + return ret >>> 0; + } + /** + * Extract embedding from image data (RGB format, row-major) + * @param {Uint8Array} image_data + * @param {number} width + * @param {number} height + * @returns {Float32Array} + */ + extract(image_data, width, height) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArray8ToWasm0(image_data, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + wasm.wasmcnnembedder_extract(retptr, this.__wbg_ptr, ptr0, len0, width, height); + var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var r2 = getDataViewMemory0().getInt32(retptr + 4 * 2, true); + var r3 = getDataViewMemory0().getInt32(retptr + 4 * 3, true); + if (r3) { + throw takeObject(r2); + } + var v2 = getArrayF32FromWasm0(r0, r1).slice(); + wasm.__wbindgen_export(r0, r1 * 4, 4); + return v2; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * Create a new CNN embedder + * @param {EmbedderConfig | null} [config] + */ + constructor(config) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + let ptr0 = 0; + if (!isLikeNone(config)) { + _assertClass(config, EmbedderConfig); + ptr0 = config.__destroy_into_raw(); + } + wasm.wasmcnnembedder_new(retptr, ptr0); + var r0 = getDataViewMemory0().getInt32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var r2 = getDataViewMemory0().getInt32(retptr + 4 * 2, true); + if (r2) { + throw takeObject(r1); + } + this.__wbg_ptr = r0 >>> 0; + WasmCnnEmbedderFinalization.register(this, this.__wbg_ptr, this); + return this; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } +} +if (Symbol.dispose) WasmCnnEmbedder.prototype[Symbol.dispose] = WasmCnnEmbedder.prototype.free; + +/** + * InfoNCE loss for contrastive learning (SimCLR style) + */ +export class WasmInfoNCELoss { + __destroy_into_raw() { + const ptr = this.__wbg_ptr; + this.__wbg_ptr = 0; + WasmInfoNCELossFinalization.unregister(this); + return ptr; + } + free() { + const ptr = this.__destroy_into_raw(); + wasm.__wbg_wasminfonceloss_free(ptr, 0); + } + /** + * Compute loss for a batch of embedding pairs + * embeddings: [2N, D] flattened where (i, i+N) are positive pairs + * @param {Float32Array} embeddings + * @param {number} batch_size + * @param {number} dim + * @returns {number} + */ + forward(embeddings, batch_size, dim) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(embeddings, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + wasm.wasminfonceloss_forward(retptr, this.__wbg_ptr, ptr0, len0, batch_size, dim); + var r0 = getDataViewMemory0().getFloat32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var r2 = getDataViewMemory0().getInt32(retptr + 4 * 2, true); + if (r2) { + throw takeObject(r1); + } + return r0; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * Create new InfoNCE loss with temperature parameter + * @param {number} temperature + */ + constructor(temperature) { + const ret = wasm.wasminfonceloss_new(temperature); + this.__wbg_ptr = ret >>> 0; + WasmInfoNCELossFinalization.register(this, this.__wbg_ptr, this); + return this; + } + /** + * Get the temperature parameter + * @returns {number} + */ + get temperature() { + const ret = wasm.wasminfonceloss_temperature(this.__wbg_ptr); + return ret; + } +} +if (Symbol.dispose) WasmInfoNCELoss.prototype[Symbol.dispose] = WasmInfoNCELoss.prototype.free; + +/** + * Triplet loss for metric learning + */ +export class WasmTripletLoss { + __destroy_into_raw() { + const ptr = this.__wbg_ptr; + this.__wbg_ptr = 0; + WasmTripletLossFinalization.unregister(this); + return ptr; + } + free() { + const ptr = this.__destroy_into_raw(); + wasm.__wbg_wasmtripletloss_free(ptr, 0); + } + /** + * Compute loss for a batch of triplets + * @param {Float32Array} anchors + * @param {Float32Array} positives + * @param {Float32Array} negatives + * @param {number} dim + * @returns {number} + */ + forward(anchors, positives, negatives, dim) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(anchors, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + const ptr1 = passArrayF32ToWasm0(positives, wasm.__wbindgen_export2); + const len1 = WASM_VECTOR_LEN; + const ptr2 = passArrayF32ToWasm0(negatives, wasm.__wbindgen_export2); + const len2 = WASM_VECTOR_LEN; + wasm.wasmtripletloss_forward(retptr, this.__wbg_ptr, ptr0, len0, ptr1, len1, ptr2, len2, dim); + var r0 = getDataViewMemory0().getFloat32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var r2 = getDataViewMemory0().getInt32(retptr + 4 * 2, true); + if (r2) { + throw takeObject(r1); + } + return r0; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * Compute loss for a single triplet + * @param {Float32Array} anchor + * @param {Float32Array} positive + * @param {Float32Array} negative + * @returns {number} + */ + forward_single(anchor, positive, negative) { + try { + const retptr = wasm.__wbindgen_add_to_stack_pointer(-16); + const ptr0 = passArrayF32ToWasm0(anchor, wasm.__wbindgen_export2); + const len0 = WASM_VECTOR_LEN; + const ptr1 = passArrayF32ToWasm0(positive, wasm.__wbindgen_export2); + const len1 = WASM_VECTOR_LEN; + const ptr2 = passArrayF32ToWasm0(negative, wasm.__wbindgen_export2); + const len2 = WASM_VECTOR_LEN; + wasm.wasmtripletloss_forward_single(retptr, this.__wbg_ptr, ptr0, len0, ptr1, len1, ptr2, len2); + var r0 = getDataViewMemory0().getFloat32(retptr + 4 * 0, true); + var r1 = getDataViewMemory0().getInt32(retptr + 4 * 1, true); + var r2 = getDataViewMemory0().getInt32(retptr + 4 * 2, true); + if (r2) { + throw takeObject(r1); + } + return r0; + } finally { + wasm.__wbindgen_add_to_stack_pointer(16); + } + } + /** + * Get the margin parameter + * @returns {number} + */ + get margin() { + const ret = wasm.wasmtripletloss_margin(this.__wbg_ptr); + return ret; + } + /** + * Create new triplet loss with margin + * @param {number} margin + */ + constructor(margin) { + const ret = wasm.wasmtripletloss_new(margin); + this.__wbg_ptr = ret >>> 0; + WasmTripletLossFinalization.register(this, this.__wbg_ptr, this); + return this; + } +} +if (Symbol.dispose) WasmTripletLoss.prototype[Symbol.dispose] = WasmTripletLoss.prototype.free; + +/** + * Initialize panic hook for better error messages + */ +export function init() { + wasm.init(); +} + +function __wbg_get_imports() { + const import0 = { + __proto__: null, + __wbg___wbindgen_throw_39bc967c0e5a9b58: function(arg0, arg1) { + throw new Error(getStringFromWasm0(arg0, arg1)); + }, + __wbg_error_a6fa202b58aa1cd3: function(arg0, arg1) { + let deferred0_0; + let deferred0_1; + try { + deferred0_0 = arg0; + deferred0_1 = arg1; + console.error(getStringFromWasm0(arg0, arg1)); + } finally { + wasm.__wbindgen_export(deferred0_0, deferred0_1, 1); + } + }, + __wbg_new_227d7c05414eb861: function() { + const ret = new Error(); + return addHeapObject(ret); + }, + __wbg_stack_3b0d974bbf31e44f: function(arg0, arg1) { + const ret = getObject(arg1).stack; + const ptr1 = passStringToWasm0(ret, wasm.__wbindgen_export2, wasm.__wbindgen_export3); + const len1 = WASM_VECTOR_LEN; + getDataViewMemory0().setInt32(arg0 + 4 * 1, len1, true); + getDataViewMemory0().setInt32(arg0 + 4 * 0, ptr1, true); + }, + __wbindgen_cast_0000000000000001: function(arg0, arg1) { + // Cast intrinsic for `Ref(String) -> Externref`. + const ret = getStringFromWasm0(arg0, arg1); + return addHeapObject(ret); + }, + __wbindgen_object_drop_ref: function(arg0) { + takeObject(arg0); + }, + }; + return { + __proto__: null, + "./ruvector_cnn_wasm_bg.js": import0, + }; +} + +const EmbedderConfigFinalization = (typeof FinalizationRegistry === 'undefined') + ? { register: () => {}, unregister: () => {} } + : new FinalizationRegistry(ptr => wasm.__wbg_embedderconfig_free(ptr >>> 0, 1)); +const LayerOpsFinalization = (typeof FinalizationRegistry === 'undefined') + ? { register: () => {}, unregister: () => {} } + : new FinalizationRegistry(ptr => wasm.__wbg_layerops_free(ptr >>> 0, 1)); +const SimdOpsFinalization = (typeof FinalizationRegistry === 'undefined') + ? { register: () => {}, unregister: () => {} } + : new FinalizationRegistry(ptr => wasm.__wbg_simdops_free(ptr >>> 0, 1)); +const WasmCnnEmbedderFinalization = (typeof FinalizationRegistry === 'undefined') + ? { register: () => {}, unregister: () => {} } + : new FinalizationRegistry(ptr => wasm.__wbg_wasmcnnembedder_free(ptr >>> 0, 1)); +const WasmInfoNCELossFinalization = (typeof FinalizationRegistry === 'undefined') + ? { register: () => {}, unregister: () => {} } + : new FinalizationRegistry(ptr => wasm.__wbg_wasminfonceloss_free(ptr >>> 0, 1)); +const WasmTripletLossFinalization = (typeof FinalizationRegistry === 'undefined') + ? { register: () => {}, unregister: () => {} } + : new FinalizationRegistry(ptr => wasm.__wbg_wasmtripletloss_free(ptr >>> 0, 1)); + +function addHeapObject(obj) { + if (heap_next === heap.length) heap.push(heap.length + 1); + const idx = heap_next; + heap_next = heap[idx]; + + heap[idx] = obj; + return idx; +} + +function _assertClass(instance, klass) { + if (!(instance instanceof klass)) { + throw new Error(`expected instance of ${klass.name}`); + } +} + +function dropObject(idx) { + if (idx < 1028) return; + heap[idx] = heap_next; + heap_next = idx; +} + +function getArrayF32FromWasm0(ptr, len) { + ptr = ptr >>> 0; + return getFloat32ArrayMemory0().subarray(ptr / 4, ptr / 4 + len); +} + +let cachedDataViewMemory0 = null; +function getDataViewMemory0() { + if (cachedDataViewMemory0 === null || cachedDataViewMemory0.buffer.detached === true || (cachedDataViewMemory0.buffer.detached === undefined && cachedDataViewMemory0.buffer !== wasm.memory.buffer)) { + cachedDataViewMemory0 = new DataView(wasm.memory.buffer); + } + return cachedDataViewMemory0; +} + +let cachedFloat32ArrayMemory0 = null; +function getFloat32ArrayMemory0() { + if (cachedFloat32ArrayMemory0 === null || cachedFloat32ArrayMemory0.byteLength === 0) { + cachedFloat32ArrayMemory0 = new Float32Array(wasm.memory.buffer); + } + return cachedFloat32ArrayMemory0; +} + +function getStringFromWasm0(ptr, len) { + ptr = ptr >>> 0; + return decodeText(ptr, len); +} + +let cachedUint8ArrayMemory0 = null; +function getUint8ArrayMemory0() { + if (cachedUint8ArrayMemory0 === null || cachedUint8ArrayMemory0.byteLength === 0) { + cachedUint8ArrayMemory0 = new Uint8Array(wasm.memory.buffer); + } + return cachedUint8ArrayMemory0; +} + +function getObject(idx) { return heap[idx]; } + +let heap = new Array(1024).fill(undefined); +heap.push(undefined, null, true, false); + +let heap_next = heap.length; + +function isLikeNone(x) { + return x === undefined || x === null; +} + +function passArray8ToWasm0(arg, malloc) { + const ptr = malloc(arg.length * 1, 1) >>> 0; + getUint8ArrayMemory0().set(arg, ptr / 1); + WASM_VECTOR_LEN = arg.length; + return ptr; +} + +function passArrayF32ToWasm0(arg, malloc) { + const ptr = malloc(arg.length * 4, 4) >>> 0; + getFloat32ArrayMemory0().set(arg, ptr / 4); + WASM_VECTOR_LEN = arg.length; + return ptr; +} + +function passStringToWasm0(arg, malloc, realloc) { + if (realloc === undefined) { + const buf = cachedTextEncoder.encode(arg); + const ptr = malloc(buf.length, 1) >>> 0; + getUint8ArrayMemory0().subarray(ptr, ptr + buf.length).set(buf); + WASM_VECTOR_LEN = buf.length; + return ptr; + } + + let len = arg.length; + let ptr = malloc(len, 1) >>> 0; + + const mem = getUint8ArrayMemory0(); + + let offset = 0; + + for (; offset < len; offset++) { + const code = arg.charCodeAt(offset); + if (code > 0x7F) break; + mem[ptr + offset] = code; + } + if (offset !== len) { + if (offset !== 0) { + arg = arg.slice(offset); + } + ptr = realloc(ptr, len, len = offset + arg.length * 3, 1) >>> 0; + const view = getUint8ArrayMemory0().subarray(ptr + offset, ptr + len); + const ret = cachedTextEncoder.encodeInto(arg, view); + + offset += ret.written; + ptr = realloc(ptr, len, offset, 1) >>> 0; + } + + WASM_VECTOR_LEN = offset; + return ptr; +} + +function takeObject(idx) { + const ret = getObject(idx); + dropObject(idx); + return ret; +} + +let cachedTextDecoder = new TextDecoder('utf-8', { ignoreBOM: true, fatal: true }); +cachedTextDecoder.decode(); +const MAX_SAFARI_DECODE_BYTES = 2146435072; +let numBytesDecoded = 0; +function decodeText(ptr, len) { + numBytesDecoded += len; + if (numBytesDecoded >= MAX_SAFARI_DECODE_BYTES) { + cachedTextDecoder = new TextDecoder('utf-8', { ignoreBOM: true, fatal: true }); + cachedTextDecoder.decode(); + numBytesDecoded = len; + } + return cachedTextDecoder.decode(getUint8ArrayMemory0().subarray(ptr, ptr + len)); +} + +const cachedTextEncoder = new TextEncoder(); + +if (!('encodeInto' in cachedTextEncoder)) { + cachedTextEncoder.encodeInto = function (arg, view) { + const buf = cachedTextEncoder.encode(arg); + view.set(buf); + return { + read: arg.length, + written: buf.length + }; + }; +} + +let WASM_VECTOR_LEN = 0; + +let wasmModule, wasm; +function __wbg_finalize_init(instance, module) { + wasm = instance.exports; + wasmModule = module; + cachedDataViewMemory0 = null; + cachedFloat32ArrayMemory0 = null; + cachedUint8ArrayMemory0 = null; + wasm.__wbindgen_start(); + return wasm; +} + +async function __wbg_load(module, imports) { + if (typeof Response === 'function' && module instanceof Response) { + if (typeof WebAssembly.instantiateStreaming === 'function') { + try { + return await WebAssembly.instantiateStreaming(module, imports); + } catch (e) { + const validResponse = module.ok && expectedResponseType(module.type); + + if (validResponse && module.headers.get('Content-Type') !== 'application/wasm') { + console.warn("`WebAssembly.instantiateStreaming` failed because your server does not serve Wasm with `application/wasm` MIME type. Falling back to `WebAssembly.instantiate` which is slower. Original error:\n", e); + + } else { throw e; } + } + } + + const bytes = await module.arrayBuffer(); + return await WebAssembly.instantiate(bytes, imports); + } else { + const instance = await WebAssembly.instantiate(module, imports); + + if (instance instanceof WebAssembly.Instance) { + return { instance, module }; + } else { + return instance; + } + } + + function expectedResponseType(type) { + switch (type) { + case 'basic': case 'cors': case 'default': return true; + } + return false; + } +} + +function initSync(module) { + if (wasm !== undefined) return wasm; + + + if (module !== undefined) { + if (Object.getPrototypeOf(module) === Object.prototype) { + ({module} = module) + } else { + console.warn('using deprecated parameters for `initSync()`; pass a single object instead') + } + } + + const imports = __wbg_get_imports(); + if (!(module instanceof WebAssembly.Module)) { + module = new WebAssembly.Module(module); + } + const instance = new WebAssembly.Instance(module, imports); + return __wbg_finalize_init(instance, module); +} + +async function __wbg_init(module_or_path) { + if (wasm !== undefined) return wasm; + + + if (module_or_path !== undefined) { + if (Object.getPrototypeOf(module_or_path) === Object.prototype) { + ({module_or_path} = module_or_path) + } else { + console.warn('using deprecated parameters for the initialization function; pass a single object instead') + } + } + + if (module_or_path === undefined) { + module_or_path = new URL('ruvector_cnn_wasm_bg.wasm', import.meta.url); + } + const imports = __wbg_get_imports(); + + if (typeof module_or_path === 'string' || (typeof Request === 'function' && module_or_path instanceof Request) || (typeof URL === 'function' && module_or_path instanceof URL)) { + module_or_path = fetch(module_or_path); + } + + const { instance, module } = await __wbg_load(await module_or_path, imports); + + return __wbg_finalize_init(instance, module); +} + +export { initSync, __wbg_init as default }; diff --git a/ui/pose-fusion/pkg/ruvector_cnn_wasm/ruvector_cnn_wasm_bg.wasm b/ui/pose-fusion/pkg/ruvector_cnn_wasm/ruvector_cnn_wasm_bg.wasm new file mode 100644 index 00000000..a1a54ee2 Binary files /dev/null and b/ui/pose-fusion/pkg/ruvector_cnn_wasm/ruvector_cnn_wasm_bg.wasm differ