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3161af52da
New leaf crate v2/crates/ruview-offaxis implementing ADR-324's projection
core from the published math only (Kooima 2008 generalized perspective
projection; Casiez 2012 one-euro filter) — no code from the unlicensed
prior-art repo. Dependency-free native core; wasm-bindgen surface gated to
wasm32 (cdylib+rlib, ~54 KB wasm after bindgen).
- projection: Screen (3 corners, any orientation) + off_axis() -> typed
errors, never NaN matrices; column-major f64 (three.js Matrix4 layout).
Tests pin the defining invariants: screen corners -> NDC corners for a
grid of eye positions and tilted screens; screen-plane points are
eye-invariant; centered eye reduces to the symmetric frustum; near/far
map to NDC -1/+1.
- filter: one-euro with injected timestamps (no clock in crate);
monotonicity/convergence/NaN-rejection tests.
- rf: field-peak extraction mirroring field_localize.rs constants
(X_SCALE 0.6, Z_SCALE 0.5, PEAK_THRESHOLD 0.35) and the Tier B
coarse-parallax stage (deadband, gain, hard clamp) so over-claiming is
impossible at the API level. No accuracy numbers asserted.
- wasm: OffAxisCamera + RfParallax bindgen classes; per-frame updates hold
last good state instead of throwing.
- benches (criterion): full Tier B frame ~598 ns; argmax scan optimized
-18%/-33% (20x20/100x100). MEASURED table + reproducer in README.
- examples/three.js/demos/07-off-axis-window.html: demo with SYNTHETIC
mouse simulator and labeled RF Tier B mode ('coarse body parallax - not
head tracking'), physical calibration panel, /ws/sensing input, and a
build-instructions overlay when the local pkg/ output is missing
(generated artifacts stay uncommitted; .gitignore entry added).
- Validated 23 unit tests + doctest, clippy clean, wasm32 release build,
Node smoke test of the bindgen output, and a headless-Chromium run of
the demo (engine load, eye response, mode labels, ws failure path).
- ADR-324: header + section 2.5 amendment recording the Rust/WASM core.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01BU3NcEgTpAVvu5QGtw4czT
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| .. | ||
| demos | ||
| screenshots | ||
| server | ||
| .gitignore | ||
| index.html | ||
| README.md | ||
three.js demos
Five progressively richer browser demos of the ADR-097 sensing-helpers scene, ending with a live MediaPipe-Pose → Mixamo X Bot retargeting pipeline driven by a real ESP32 CSI feed.
Run them
python examples/three.js/server/serve-demo.py
# then open one of the URLs the script prints
server/serve-demo.py is a tiny ThreadingHTTPServer with aggressive
no-cache headers — the stdlib http.server is single-threaded and times out
on the parallel script + FBX fetches the demos make.
Demos
| # | File | What it shows |
|---|---|---|
| 01 | demos/01-helpers.html |
Plain ADR-097 helpers in the point-cloud viewer |
| 02 | demos/02-cinematic.html |
Cinematic camera + pseudo-CSI visualization on top of #01 |
| 03 | demos/03-skinned.html |
GLTF skinned mesh + additive animation blending |
| 04 | demos/04-skinned-fbx.html |
Mixamo X Bot loaded from FBX in the ADR-097 scene |
| 05 | demos/05-skinned-realtime.html |
Webcam → MediaPipe Pose Heavy → Mixamo IK retarget, live ESP32 CSI overlay |
| Screenshot | |
|---|---|
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Layout
examples/three.js/
├── README.md
├── .gitignore
├── demos/ # 5 self-contained HTML demos
│ ├── 01-helpers.html
│ ├── 02-cinematic.html
│ ├── 03-skinned.html
│ ├── 04-skinned-fbx.html
│ └── 05-skinned-realtime.html
├── screenshots/ # one PNG per demo
│ └── 0N-*.png
├── server/
│ ├── serve-demo.py # local HTTP server with no-cache headers
│ └── ruvultra-csi-bridge.py # ESP32 CSI WebSocket bridge (ruvultra:8766)
└── assets/
└── X Bot.fbx # gitignored — get your own from mixamo.com
# (FBX Binary, T-Pose, Without Skin)
# used by demos 04 and 05
Mixamo X Bot
Demos 04 and 05 expect assets/X Bot.fbx. It's gitignored (size + license
boundary). Download yours from mixamo.com: pick the
"X Bot" character, export as FBX Binary, T-Pose, Without Skin,
and drop it into assets/.
Live ESP32 CSI overlay (demo 05 only)
server/ruvultra-csi-bridge.py is the systemd-deployable bridge that runs on
the ruvultra host (over Tailscale). It listens for ESP32-S3 CSI on UDP and
re-broadcasts it as WebSocket frames at ws://ruvultra:8766/csi. Demo 05
auto-connects; if the socket is down, it falls back to the bundled idle clip
plus a synthetic CSI driver.
Open issues
- #583 — head/face tracking
fidelity in
05-skinned-realtime.html. Recommended fix: swap MediaPipe Pose Heavy for MediaPipe Holistic (same API, adds 468-point face mesh + hand landmarks for proper PnP head pose and finger curl tracking).