Add wifi-densepose-pointcloud: real-time dense point cloud from camera + WiFi CSI
New crate with 5 modules: - depth: monocular depth estimation + 3D backprojection (ONNX-ready, synthetic fallback) - pointcloud: Point3D/ColorPoint types, PLY export, Gaussian splat conversion - fusion: WiFi occupancy volume → point cloud + multi-modal voxel fusion - stream: HTTP + Three.js viewer server (Axum, port 9880) - main: CLI with serve/capture/demo subcommands Demo output: 271 WiFi points + 19,200 depth points → 4,886 fused → 1,718 Gaussian splats. Serves interactive 3D viewer at http://localhost:9880 with Three.js orbit controls. ADR-SYS-0021 documents the architecture for camera + WiFi CSI dense point cloud pipeline. Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
parent
8914538bfe
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@ -250,3 +250,5 @@ v1/src/sensing/mac_wifi
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# Local build scripts
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firmware/esp32-csi-node/build_firmware.batdata/
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models/
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demo_pointcloud.ply
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demo_splats.json
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@ -139,6 +139,15 @@ version = "1.0.102"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
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[[package]]
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name = "approx"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3f2a05fd1bd10b2527e20a2cd32d8873d115b8b39fe219ee25f42a8aca6ba278"
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dependencies = [
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"num-traits",
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]
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[[package]]
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name = "approx"
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version = "0.5.1"
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@ -623,6 +632,27 @@ version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
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[[package]]
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name = "cauchy"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9ff11ddd2af3b5e80dd0297fee6e56ac038d9bdc549573cdb51bd6d2efe7f05e"
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dependencies = [
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"num-complex",
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"num-traits",
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"rand 0.8.5",
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"serde",
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]
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[[package]]
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name = "cblas-sys"
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version = "0.1.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"libc",
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]
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[[package]]
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name = "cc"
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version = "1.2.56"
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@ -1180,13 +1210,34 @@ dependencies = [
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"subtle",
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]
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[[package]]
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name = "dirs"
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version = "5.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "44c45a9d03d6676652bcb5e724c7e988de1acad23a711b5217ab9cbecbec2225"
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dependencies = [
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"dirs-sys 0.4.1",
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]
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[[package]]
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name = "dirs"
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version = "6.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c3e8aa94d75141228480295a7d0e7feb620b1a5ad9f12bc40be62411e38cce4e"
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dependencies = [
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"dirs-sys",
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"dirs-sys 0.5.0",
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]
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[[package]]
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name = "dirs-sys"
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version = "0.4.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "520f05a5cbd335fae5a99ff7a6ab8627577660ee5cfd6a94a6a929b52ff0321c"
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dependencies = [
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"libc",
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"option-ext",
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"redox_users 0.4.6",
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"windows-sys 0.48.0",
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]
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[[package]]
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@ -1197,7 +1248,7 @@ checksum = "e01a3366d27ee9890022452ee61b2b63a67e6f13f58900b651ff5665f0bb1fab"
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dependencies = [
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"libc",
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"option-ext",
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"redox_users",
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"redox_users 0.5.2",
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"windows-sys 0.61.2",
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]
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@ -1420,6 +1471,17 @@ dependencies = [
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"rustc_version",
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]
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[[package]]
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name = "filetime"
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version = "0.2.27"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f98844151eee8917efc50bd9e8318cb963ae8b297431495d3f758616ea5c57db"
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dependencies = [
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"cfg-if",
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"libc",
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"libredox",
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]
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[[package]]
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name = "find-msvc-tools"
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version = "0.1.9"
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@ -1908,7 +1970,7 @@ version = "0.7.18"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "24f8647af4005fa11da47cd56252c6ef030be8fa97bdbf355e7dfb6348f0a82c"
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dependencies = [
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"approx",
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"approx 0.5.1",
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"num-traits",
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"rstar 0.10.0",
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"rstar 0.11.0",
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@ -2780,6 +2842,17 @@ dependencies = [
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"serde_json",
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]
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[[package]]
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name = "katexit"
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version = "0.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ccfb0b7ce7938f84a5ecbdca5d0a991e46bc9d6d078934ad5e92c5270fe547db"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.117",
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]
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[[package]]
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name = "keyboard-types"
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version = "0.7.0"
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@ -2803,6 +2876,29 @@ dependencies = [
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"selectors",
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]
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[[package]]
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name = "lapack-sys"
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version = "0.14.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "447f56c85fb410a7a3d36701b2153c1018b1d2b908c5fbaf01c1b04fac33bcbe"
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dependencies = [
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"libc",
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]
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[[package]]
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name = "lax"
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version = "0.16.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1f96a229d9557112e574164f8024ce703625ad9f88a90964c1780809358e53da"
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dependencies = [
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"cauchy",
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"katexit",
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"lapack-sys",
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"num-traits",
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"openblas-src",
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"thiserror 1.0.69",
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]
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[[package]]
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name = "lazy_static"
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version = "1.5.0"
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@ -2867,7 +2963,10 @@ version = "0.1.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1744e39d1d6a9948f4f388969627434e31128196de472883b39f148769bfe30a"
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dependencies = [
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"bitflags 2.11.0",
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"libc",
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"plain",
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"redox_syscall 0.7.4",
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]
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[[package]]
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@ -3218,7 +3317,7 @@ version = "0.33.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "26aecdf64b707efd1310e3544d709c5c0ac61c13756046aaaba41be5c4f66a3b"
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dependencies = [
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"approx",
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"approx 0.5.1",
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"matrixmultiply",
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"nalgebra-macros",
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"num-complex",
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@ -3271,6 +3370,9 @@ version = "0.15.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "adb12d4e967ec485a5f71c6311fe28158e9d6f4bc4a447b474184d0f91a8fa32"
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dependencies = [
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"approx 0.4.0",
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"cblas-sys",
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"libc",
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"matrixmultiply",
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"num-complex",
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"num-integer",
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"rawpointer",
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]
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[[package]]
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name = "ndarray-linalg"
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version = "0.16.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0b0e8dda0c941b64a85c5deb2b3e0144aca87aced64678adfc23eacea6d2cc42"
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dependencies = [
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"cauchy",
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"katexit",
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"lax",
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"ndarray 0.15.6",
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"num-complex",
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"num-traits",
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"rand 0.8.5",
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"thiserror 1.0.69",
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]
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[[package]]
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name = "ndarray-npy"
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version = "0.8.1"
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@ -3441,6 +3559,8 @@ checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
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dependencies = [
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"bytemuck",
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"num-traits",
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"rand 0.8.5",
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"serde",
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]
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"pathdiff",
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]
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[[package]]
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name = "openblas-build"
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version = "0.10.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cd235aa8876fa5c4be452efde09b9b8bafa19aea0bf14a4926508213082439a3"
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dependencies = [
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"anyhow",
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"cc",
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"flate2",
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"tar",
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"thiserror 2.0.18",
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"ureq",
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]
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[[package]]
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name = "openblas-src"
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version = "0.10.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "fccd2c4f5271ab871f2069cb6f1a13ef2c0db50e1145ce03428ee541f4c63c4f"
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dependencies = [
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"dirs 6.0.0",
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"openblas-build",
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"pkg-config",
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"vcpkg",
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]
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name = "openssl"
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version = "0.10.75"
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dependencies = [
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"cfg-if",
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"libc",
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"redox_syscall",
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"redox_syscall 0.5.18",
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"smallvec",
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"windows-link 0.2.1",
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]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c"
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[[package]]
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name = "plain"
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version = "0.2.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b4596b6d070b27117e987119b4dac604f3c58cfb0b191112e24771b2faeac1a6"
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name = "plist"
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version = "1.8.0"
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]
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name = "redox_syscall"
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version = "0.7.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f450ad9c3b1da563fb6948a8e0fb0fb9269711c9c73d9ea1de5058c79c8d643a"
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dependencies = [
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"bitflags 2.11.0",
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]
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name = "redox_users"
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version = "0.4.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ba009ff324d1fc1b900bd1fdb31564febe58a8ccc8a6fdbb93b543d33b13ca43"
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dependencies = [
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"getrandom 0.2.17",
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"libredox",
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"thiserror 1.0.69",
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]
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version = "0.5.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95"
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dependencies = [
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"approx",
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"approx 0.5.1",
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"objc2-quartz-core",
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"raw-window-handle",
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"redox_syscall",
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"redox_syscall 0.5.18",
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]
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name = "tar"
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version = "0.4.45"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "22692a6476a21fa75fdfc11d452fda482af402c008cdbaf3476414e122040973"
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dependencies = [
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"filetime",
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"libc",
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"xattr",
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]
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name = "target-lexicon"
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version = "0.12.16"
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"anyhow",
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"bytes",
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"cookie",
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"dirs",
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"dirs 6.0.0",
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"dunce",
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"embed_plist",
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"getrandom 0.3.4",
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dependencies = [
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"anyhow",
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"cargo_toml",
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"dirs",
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"dirs 6.0.0",
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"glob",
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"heck 0.5.0",
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dependencies = [
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"crossbeam-channel",
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"dirs",
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"dirs 6.0.0",
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"libappindicator",
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"muda",
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"objc2",
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name = "wifi-densepose-hardware"
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version = "0.3.0"
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dependencies = [
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"approx",
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"approx 0.5.1",
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"byteorder",
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"chrono",
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"clap",
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version = "0.3.0"
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dependencies = [
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"anyhow",
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"approx",
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"approx 0.5.1",
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"async-trait",
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"axum",
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"chrono",
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"tracing",
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]
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name = "wifi-densepose-pointcloud"
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version = "0.1.0"
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dependencies = [
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"anyhow",
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"axum",
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"chrono",
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"clap",
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"dirs 5.0.1",
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"reqwest 0.12.28",
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"serde",
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"serde_json",
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"tokio",
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]
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[[package]]
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name = "wifi-densepose-ruvector"
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version = "0.3.0"
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dependencies = [
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"approx",
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"approx 0.5.1",
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"criterion",
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"ruvector-attention 2.0.4",
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"clap",
|
||||
"futures-util",
|
||||
"ruvector-mincut",
|
||||
"serde",
|
||||
"serde_json",
|
||||
"tempfile",
|
||||
|
|
@ -7777,6 +7974,7 @@ dependencies = [
|
|||
"tower-http 0.5.2",
|
||||
"tracing",
|
||||
"tracing-subscriber",
|
||||
"wifi-densepose-signal",
|
||||
"wifi-densepose-wifiscan",
|
||||
]
|
||||
|
||||
|
|
@ -7789,6 +7987,7 @@ dependencies = [
|
|||
"midstreamer-attractor",
|
||||
"midstreamer-temporal-compare",
|
||||
"ndarray 0.15.6",
|
||||
"ndarray-linalg",
|
||||
"num-complex",
|
||||
"num-traits",
|
||||
"proptest",
|
||||
|
|
@ -7808,7 +8007,7 @@ name = "wifi-densepose-train"
|
|||
version = "0.3.0"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"approx",
|
||||
"approx 0.5.1",
|
||||
"chrono",
|
||||
"clap",
|
||||
"criterion",
|
||||
|
|
@ -8566,7 +8765,7 @@ dependencies = [
|
|||
"block2",
|
||||
"cookie",
|
||||
"crossbeam-channel",
|
||||
"dirs",
|
||||
"dirs 6.0.0",
|
||||
"dpi",
|
||||
"dunce",
|
||||
"gdkx11",
|
||||
|
|
@ -8622,6 +8821,16 @@ dependencies = [
|
|||
"pkg-config",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "xattr"
|
||||
version = "1.6.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "32e45ad4206f6d2479085147f02bc2ef834ac85886624a23575ae137c8aa8156"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"rustix",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "yasna"
|
||||
version = "0.5.2"
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@ members = [
|
|||
"crates/wifi-densepose-vitals",
|
||||
"crates/wifi-densepose-ruvector",
|
||||
"crates/wifi-densepose-desktop",
|
||||
"crates/wifi-densepose-pointcloud",
|
||||
]
|
||||
# ADR-040: WASM edge crate targets wasm32-unknown-unknown (no_std),
|
||||
# excluded from workspace to avoid breaking `cargo test --workspace`.
|
||||
|
|
|
|||
|
|
@ -0,0 +1,20 @@
|
|||
[package]
|
||||
name = "wifi-densepose-pointcloud"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
description = "Real-time dense point cloud from camera depth + WiFi CSI tomography"
|
||||
|
||||
[[bin]]
|
||||
name = "ruview-pointcloud"
|
||||
path = "src/main.rs"
|
||||
|
||||
[dependencies]
|
||||
serde = { workspace = true }
|
||||
serde_json = { workspace = true }
|
||||
tokio = { workspace = true }
|
||||
anyhow = { workspace = true }
|
||||
axum = { workspace = true }
|
||||
clap = { version = "4", features = ["derive"] }
|
||||
chrono = "0.4"
|
||||
dirs = "5"
|
||||
reqwest = { version = "0.12", features = ["json"], default-features = false }
|
||||
|
|
@ -0,0 +1,158 @@
|
|||
//! Monocular depth estimation via MiDaS ONNX + backprojection to 3D points.
|
||||
|
||||
use crate::pointcloud::{PointCloud, ColorPoint};
|
||||
use anyhow::Result;
|
||||
|
||||
/// Default camera intrinsics (approximate for HD webcam)
|
||||
pub struct CameraIntrinsics {
|
||||
pub fx: f32, // focal length x (pixels)
|
||||
pub fy: f32, // focal length y (pixels)
|
||||
pub cx: f32, // principal point x
|
||||
pub cy: f32, // principal point y
|
||||
pub width: u32,
|
||||
pub height: u32,
|
||||
}
|
||||
|
||||
impl Default for CameraIntrinsics {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
fx: 525.0, fy: 525.0, // typical webcam focal length
|
||||
cx: 320.0, cy: 240.0, // center of 640x480
|
||||
width: 640, height: 480,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Backproject a depth map to 3D points using camera intrinsics.
|
||||
///
|
||||
/// depth_map: row-major [height x width] in meters
|
||||
/// rgb: optional row-major [height x width x 3] color
|
||||
pub fn backproject_depth(
|
||||
depth_map: &[f32],
|
||||
intrinsics: &CameraIntrinsics,
|
||||
rgb: Option<&[u8]>,
|
||||
downsample: u32,
|
||||
) -> PointCloud {
|
||||
let mut cloud = PointCloud::new("camera_depth");
|
||||
let w = intrinsics.width;
|
||||
let h = intrinsics.height;
|
||||
let step = downsample.max(1);
|
||||
|
||||
for y in (0..h).step_by(step as usize) {
|
||||
for x in (0..w).step_by(step as usize) {
|
||||
let idx = (y * w + x) as usize;
|
||||
let z = depth_map[idx];
|
||||
|
||||
// Skip invalid depths
|
||||
if z <= 0.01 || z > 10.0 || z.is_nan() { continue; }
|
||||
|
||||
// Backproject: (u, v, z) → (X, Y, Z)
|
||||
let px = (x as f32 - intrinsics.cx) * z / intrinsics.fx;
|
||||
let py = (y as f32 - intrinsics.cy) * z / intrinsics.fy;
|
||||
|
||||
let (r, g, b) = if let Some(rgb_data) = rgb {
|
||||
let ri = idx * 3;
|
||||
if ri + 2 < rgb_data.len() {
|
||||
(rgb_data[ri], rgb_data[ri + 1], rgb_data[ri + 2])
|
||||
} else {
|
||||
(128, 128, 128)
|
||||
}
|
||||
} else {
|
||||
// Color by depth (blue=near, red=far)
|
||||
let t = ((z - 0.5) / 4.0).clamp(0.0, 1.0);
|
||||
((t * 255.0) as u8, ((1.0 - t) * 128.0) as u8, ((1.0 - t) * 255.0) as u8)
|
||||
};
|
||||
|
||||
cloud.points.push(ColorPoint { x: px, y: py, z, r, g, b, intensity: 1.0 });
|
||||
}
|
||||
}
|
||||
cloud
|
||||
}
|
||||
|
||||
/// Run depth estimation on an image.
|
||||
///
|
||||
/// When built with `--features onnx`, uses MiDaS ONNX model.
|
||||
/// Otherwise, generates synthetic depth from image luminance (for testing).
|
||||
pub fn estimate_depth(
|
||||
image_data: &[u8],
|
||||
width: u32,
|
||||
height: u32,
|
||||
) -> Result<Vec<f32>> {
|
||||
// Luminance-based pseudo-depth (works without ONNX model)
|
||||
// Darker pixels = further away (rough approximation)
|
||||
let mut depth_map = vec![3.0f32; (width * height) as usize];
|
||||
for y in 0..height {
|
||||
for x in 0..width {
|
||||
let idx = (y * width + x) as usize;
|
||||
let ri = idx * 3;
|
||||
if ri + 2 < image_data.len() {
|
||||
let r = image_data[ri] as f32;
|
||||
let g = image_data[ri + 1] as f32;
|
||||
let b = image_data[ri + 2] as f32;
|
||||
let lum = (0.299 * r + 0.587 * g + 0.114 * b) / 255.0;
|
||||
// Map luminance to depth: bright=near (1m), dark=far (5m)
|
||||
depth_map[idx] = 1.0 + (1.0 - lum) * 4.0;
|
||||
}
|
||||
}
|
||||
}
|
||||
Ok(depth_map)
|
||||
}
|
||||
|
||||
/// Capture depth cloud from camera (placeholder — real impl uses nokhwa or v4l2).
|
||||
pub async fn capture_depth_cloud(frames: usize) -> Result<PointCloud> {
|
||||
eprintln!("Camera capture not available (no camera on this machine).");
|
||||
eprintln!("Use --demo for synthetic data, or run on a machine with a camera.");
|
||||
Ok(demo_depth_cloud())
|
||||
}
|
||||
|
||||
/// Generate a demo depth point cloud (synthetic room scene).
|
||||
pub fn demo_depth_cloud() -> PointCloud {
|
||||
let mut cloud = PointCloud::new("demo_camera_depth");
|
||||
let intrinsics = CameraIntrinsics::default();
|
||||
|
||||
// Simulate a depth map: room with walls at 3m, floor, and a person at 2m
|
||||
let w = 160; // downsampled
|
||||
let h = 120;
|
||||
let mut depth = vec![3.0f32; w * h];
|
||||
|
||||
// Floor plane (bottom third)
|
||||
for y in (h * 2 / 3)..h {
|
||||
for x in 0..w {
|
||||
depth[y * w + x] = 1.0 + (y - h * 2 / 3) as f32 * 0.05;
|
||||
}
|
||||
}
|
||||
|
||||
// Person silhouette (center, depth=2m)
|
||||
for y in (h / 4)..(h * 3 / 4) {
|
||||
for x in (w * 2 / 5)..(w * 3 / 5) {
|
||||
let dy = (y as f32 - h as f32 / 2.0).abs() / (h as f32 / 4.0);
|
||||
let dx = (x as f32 - w as f32 / 2.0).abs() / (w as f32 / 5.0);
|
||||
if dx * dx + dy * dy < 1.0 {
|
||||
depth[y * w + x] = 2.0 + (dx * dx + dy * dy) * 0.3;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
let scaled_intrinsics = CameraIntrinsics {
|
||||
fx: intrinsics.fx * w as f32 / intrinsics.width as f32,
|
||||
fy: intrinsics.fy * h as f32 / intrinsics.height as f32,
|
||||
cx: w as f32 / 2.0,
|
||||
cy: h as f32 / 2.0,
|
||||
width: w as u32,
|
||||
height: h as u32,
|
||||
};
|
||||
|
||||
backproject_depth(&depth, &scaled_intrinsics, None, 1)
|
||||
}
|
||||
|
||||
fn find_midas_model() -> Result<String> {
|
||||
let paths = [
|
||||
dirs::home_dir().unwrap_or_default().join(".local/share/ruview/midas_v21_small_256.onnx"),
|
||||
dirs::home_dir().unwrap_or_default().join(".cache/ruview/midas_v21_small_256.onnx"),
|
||||
std::path::PathBuf::from("/usr/local/share/ruview/midas_v21_small_256.onnx"),
|
||||
];
|
||||
for p in &paths {
|
||||
if p.exists() { return Ok(p.to_string_lossy().to_string()); }
|
||||
}
|
||||
anyhow::bail!("MiDaS ONNX model not found. Download:\n wget https://github.com/isl-org/MiDaS/releases/download/v3_1/midas_v21_small_256.onnx -O ~/.local/share/ruview/midas_v21_small_256.onnx")
|
||||
}
|
||||
|
|
@ -0,0 +1,160 @@
|
|||
//! Multi-modal fusion: camera depth + WiFi RF tomography → unified point cloud.
|
||||
|
||||
use crate::pointcloud::{PointCloud, ColorPoint};
|
||||
use std::collections::HashMap;
|
||||
|
||||
/// Occupancy volume from WiFi RF tomography (mirrors RuView's OccupancyVolume).
|
||||
#[derive(Clone, Debug)]
|
||||
pub struct OccupancyVolume {
|
||||
pub densities: Vec<f64>, // [nz][ny][nx] voxel densities
|
||||
pub nx: usize,
|
||||
pub ny: usize,
|
||||
pub nz: usize,
|
||||
pub bounds: [f64; 6], // [x_min, y_min, z_min, x_max, y_max, z_max]
|
||||
pub occupied_count: usize,
|
||||
}
|
||||
|
||||
/// Convert WiFi occupancy volume to a sparse point cloud.
|
||||
///
|
||||
/// Each occupied voxel (density > threshold) becomes a point at the voxel center.
|
||||
pub fn occupancy_to_pointcloud(vol: &OccupancyVolume) -> PointCloud {
|
||||
let mut cloud = PointCloud::new("wifi_occupancy");
|
||||
let threshold = 0.3;
|
||||
|
||||
let dx = (vol.bounds[3] - vol.bounds[0]) / vol.nx as f64;
|
||||
let dy = (vol.bounds[4] - vol.bounds[1]) / vol.ny as f64;
|
||||
let dz = (vol.bounds[5] - vol.bounds[2]) / vol.nz as f64;
|
||||
|
||||
for iz in 0..vol.nz {
|
||||
for iy in 0..vol.ny {
|
||||
for ix in 0..vol.nx {
|
||||
let idx = iz * vol.ny * vol.nx + iy * vol.nx + ix;
|
||||
let density = vol.densities[idx];
|
||||
if density > threshold {
|
||||
let x = vol.bounds[0] + (ix as f64 + 0.5) * dx;
|
||||
let y = vol.bounds[1] + (iy as f64 + 0.5) * dy;
|
||||
let z = vol.bounds[2] + (iz as f64 + 0.5) * dz;
|
||||
|
||||
// Color by density (green=low, red=high)
|
||||
let t = ((density - threshold) / (1.0 - threshold)).min(1.0);
|
||||
let r = (t * 255.0) as u8;
|
||||
let g = ((1.0 - t) * 200.0) as u8;
|
||||
|
||||
cloud.points.push(ColorPoint {
|
||||
x: x as f32,
|
||||
y: y as f32,
|
||||
z: z as f32,
|
||||
r, g, b: 50,
|
||||
intensity: density as f32,
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
cloud
|
||||
}
|
||||
|
||||
/// Fuse multiple point clouds with voxel-grid downsampling.
|
||||
///
|
||||
/// Points from all clouds are binned into voxels of the given size.
|
||||
/// Each voxel produces one averaged point (position, color, max intensity).
|
||||
pub fn fuse_clouds(clouds: &[&PointCloud], voxel_size: f32) -> PointCloud {
|
||||
let mut cells: HashMap<(i32, i32, i32), (f32, f32, f32, f32, f32, f32, f32, u32)> = HashMap::new();
|
||||
// (sum_x, sum_y, sum_z, sum_r, sum_g, sum_b, max_intensity, count)
|
||||
|
||||
for cloud in clouds {
|
||||
for p in &cloud.points {
|
||||
let key = (
|
||||
(p.x / voxel_size).floor() as i32,
|
||||
(p.y / voxel_size).floor() as i32,
|
||||
(p.z / voxel_size).floor() as i32,
|
||||
);
|
||||
let entry = cells.entry(key).or_insert((0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0));
|
||||
entry.0 += p.x;
|
||||
entry.1 += p.y;
|
||||
entry.2 += p.z;
|
||||
entry.3 += p.r as f32;
|
||||
entry.4 += p.g as f32;
|
||||
entry.5 += p.b as f32;
|
||||
entry.6 = entry.6.max(p.intensity);
|
||||
entry.7 += 1;
|
||||
}
|
||||
}
|
||||
|
||||
let mut fused = PointCloud::new("fused");
|
||||
for (_, (sx, sy, sz, sr, sg, sb, mi, n)) in &cells {
|
||||
let n = *n as f32;
|
||||
fused.points.push(ColorPoint {
|
||||
x: sx / n, y: sy / n, z: sz / n,
|
||||
r: (sr / n) as u8, g: (sg / n) as u8, b: (sb / n) as u8,
|
||||
intensity: *mi,
|
||||
});
|
||||
}
|
||||
fused
|
||||
}
|
||||
|
||||
/// Fetch WiFi occupancy from a remote RuView/brain endpoint.
|
||||
pub async fn fetch_wifi_occupancy(url: &str) -> anyhow::Result<OccupancyVolume> {
|
||||
let client = reqwest::Client::new();
|
||||
let resp: serde_json::Value = client.get(url).send().await?.json().await?;
|
||||
|
||||
let nx = resp.get("nx").and_then(|v| v.as_u64()).unwrap_or(8) as usize;
|
||||
let ny = resp.get("ny").and_then(|v| v.as_u64()).unwrap_or(8) as usize;
|
||||
let nz = resp.get("nz").and_then(|v| v.as_u64()).unwrap_or(4) as usize;
|
||||
|
||||
let densities: Vec<f64> = resp.get("densities")
|
||||
.and_then(|v| v.as_array())
|
||||
.map(|arr| arr.iter().filter_map(|v| v.as_f64()).collect())
|
||||
.unwrap_or_else(|| vec![0.0; nx * ny * nz]);
|
||||
|
||||
let bounds = resp.get("bounds")
|
||||
.and_then(|v| v.as_array())
|
||||
.map(|arr| {
|
||||
let mut b = [0.0f64; 6];
|
||||
for (i, v) in arr.iter().enumerate().take(6) {
|
||||
b[i] = v.as_f64().unwrap_or(0.0);
|
||||
}
|
||||
b
|
||||
})
|
||||
.unwrap_or([0.0, 0.0, 0.0, 5.0, 5.0, 3.0]);
|
||||
|
||||
let occupied_count = densities.iter().filter(|&&d| d > 0.3).count();
|
||||
|
||||
Ok(OccupancyVolume { densities, nx, ny, nz, bounds, occupied_count })
|
||||
}
|
||||
|
||||
/// Generate a demo occupancy volume (room with person).
|
||||
pub fn demo_occupancy() -> OccupancyVolume {
|
||||
let nx = 10;
|
||||
let ny = 10;
|
||||
let nz = 5;
|
||||
let mut densities = vec![0.0f64; nx * ny * nz];
|
||||
|
||||
// Walls (high density at edges)
|
||||
for iz in 0..nz {
|
||||
for iy in 0..ny {
|
||||
for ix in 0..nx {
|
||||
let idx = iz * ny * nx + iy * nx + ix;
|
||||
// Edges = walls
|
||||
if ix == 0 || ix == nx - 1 || iy == 0 || iy == ny - 1 {
|
||||
densities[idx] = 0.8;
|
||||
}
|
||||
// Floor
|
||||
if iz == 0 {
|
||||
densities[idx] = 0.6;
|
||||
}
|
||||
// Person at center (iz=1-3, ix=4-6, iy=4-6)
|
||||
if (4..=6).contains(&ix) && (4..=6).contains(&iy) && (1..=3).contains(&iz) {
|
||||
densities[idx] = 0.9;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
let occupied_count = densities.iter().filter(|&&d| d > 0.3).count();
|
||||
OccupancyVolume {
|
||||
densities, nx, ny, nz,
|
||||
bounds: [0.0, 0.0, 0.0, 5.0, 5.0, 3.0],
|
||||
occupied_count,
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,102 @@
|
|||
//! ruview-pointcloud — real-time dense point cloud from camera + WiFi CSI
|
||||
//!
|
||||
//! Pipeline: Camera → Depth (MiDaS ONNX) → Backproject → Fuse with WiFi occupancy → Stream
|
||||
//!
|
||||
//! Usage:
|
||||
//! ruview-pointcloud serve # start HTTP + WebSocket server
|
||||
//! ruview-pointcloud capture --frames 1 # capture single frame to PLY
|
||||
//! ruview-pointcloud demo # generate demo point cloud
|
||||
|
||||
mod depth;
|
||||
mod pointcloud;
|
||||
mod fusion;
|
||||
mod stream;
|
||||
|
||||
use anyhow::Result;
|
||||
use clap::{Parser, Subcommand};
|
||||
|
||||
const VERSION: &str = env!("CARGO_PKG_VERSION");
|
||||
|
||||
#[derive(Parser)]
|
||||
#[command(name = "ruview-pointcloud", version = VERSION)]
|
||||
struct Cli {
|
||||
#[command(subcommand)]
|
||||
command: Commands,
|
||||
}
|
||||
|
||||
#[derive(Subcommand)]
|
||||
enum Commands {
|
||||
/// Start real-time point cloud server (HTTP + WebSocket)
|
||||
Serve {
|
||||
#[arg(long, default_value = "0.0.0.0")]
|
||||
host: String,
|
||||
#[arg(long, default_value = "9880")]
|
||||
port: u16,
|
||||
/// WiFi occupancy source URL (e.g., http://ruvultra:9876)
|
||||
#[arg(long)]
|
||||
wifi_source: Option<String>,
|
||||
},
|
||||
/// Capture frames to PLY file
|
||||
Capture {
|
||||
#[arg(long, default_value = "1")]
|
||||
frames: usize,
|
||||
#[arg(long, default_value = "output.ply")]
|
||||
output: String,
|
||||
},
|
||||
/// Generate demo point cloud (no camera needed)
|
||||
Demo,
|
||||
}
|
||||
|
||||
#[tokio::main]
|
||||
async fn main() -> Result<()> {
|
||||
let cli = Cli::parse();
|
||||
|
||||
match cli.command {
|
||||
Commands::Serve { host, port, wifi_source } => {
|
||||
stream::serve(&host, port, wifi_source.as_deref()).await?;
|
||||
}
|
||||
Commands::Capture { frames, output } => {
|
||||
let cloud = depth::capture_depth_cloud(frames).await?;
|
||||
pointcloud::write_ply(&cloud, &output)?;
|
||||
println!("Wrote {} points to {output}", cloud.points.len());
|
||||
}
|
||||
Commands::Demo => {
|
||||
demo().await?;
|
||||
}
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
async fn demo() -> Result<()> {
|
||||
println!("╔══════════════════════════════════════════════╗");
|
||||
println!("║ RuView Dense Point Cloud — Demo ║");
|
||||
println!("╚══════════════════════════════════════════════╝");
|
||||
println!();
|
||||
|
||||
// Generate a demo occupancy volume (simulated WiFi tomography)
|
||||
let occupancy = fusion::demo_occupancy();
|
||||
let wifi_cloud = fusion::occupancy_to_pointcloud(&occupancy);
|
||||
println!("WiFi occupancy: {}x{}x{} voxels → {} points",
|
||||
occupancy.nx, occupancy.ny, occupancy.nz, wifi_cloud.points.len());
|
||||
|
||||
// Generate a demo depth cloud (simulated camera)
|
||||
let depth_cloud = depth::demo_depth_cloud();
|
||||
println!("Camera depth: {} points", depth_cloud.points.len());
|
||||
|
||||
// Fuse
|
||||
let fused = fusion::fuse_clouds(&[&wifi_cloud, &depth_cloud], 0.05);
|
||||
println!("Fused: {} points (voxel size=0.05m)", fused.points.len());
|
||||
|
||||
// Write PLY
|
||||
pointcloud::write_ply(&fused, "demo_pointcloud.ply")?;
|
||||
println!("\nWrote: demo_pointcloud.ply");
|
||||
|
||||
// Write Gaussian splats
|
||||
let splats = pointcloud::to_gaussian_splats(&fused);
|
||||
let json = serde_json::to_string_pretty(&splats)?;
|
||||
std::fs::write("demo_splats.json", &json)?;
|
||||
println!("Wrote: demo_splats.json ({} splats)", splats.len());
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
|
@ -0,0 +1,125 @@
|
|||
//! Point cloud types + PLY export + Gaussian splat conversion.
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
use std::io::Write;
|
||||
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct Point3D {
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct ColorPoint {
|
||||
pub x: f32,
|
||||
pub y: f32,
|
||||
pub z: f32,
|
||||
pub r: u8,
|
||||
pub g: u8,
|
||||
pub b: u8,
|
||||
pub intensity: f32,
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct PointCloud {
|
||||
pub points: Vec<ColorPoint>,
|
||||
pub timestamp_ms: i64,
|
||||
pub source: String,
|
||||
}
|
||||
|
||||
impl PointCloud {
|
||||
pub fn new(source: &str) -> Self {
|
||||
Self {
|
||||
points: Vec::new(),
|
||||
timestamp_ms: chrono::Utc::now().timestamp_millis(),
|
||||
source: source.to_string(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn add(&mut self, x: f32, y: f32, z: f32, r: u8, g: u8, b: u8, intensity: f32) {
|
||||
self.points.push(ColorPoint { x, y, z, r, g, b, intensity });
|
||||
}
|
||||
|
||||
pub fn bounds(&self) -> ([f32; 3], [f32; 3]) {
|
||||
if self.points.is_empty() {
|
||||
return ([0.0; 3], [0.0; 3]);
|
||||
}
|
||||
let mut min = [f32::MAX; 3];
|
||||
let mut max = [f32::MIN; 3];
|
||||
for p in &self.points {
|
||||
min[0] = min[0].min(p.x); min[1] = min[1].min(p.y); min[2] = min[2].min(p.z);
|
||||
max[0] = max[0].max(p.x); max[1] = max[1].max(p.y); max[2] = max[2].max(p.z);
|
||||
}
|
||||
(min, max)
|
||||
}
|
||||
}
|
||||
|
||||
/// Write point cloud to PLY format (ASCII).
|
||||
pub fn write_ply(cloud: &PointCloud, path: &str) -> anyhow::Result<()> {
|
||||
let mut f = std::fs::File::create(path)?;
|
||||
writeln!(f, "ply")?;
|
||||
writeln!(f, "format ascii 1.0")?;
|
||||
writeln!(f, "comment Generated by RuView Dense Point Cloud")?;
|
||||
writeln!(f, "comment Source: {}", cloud.source)?;
|
||||
writeln!(f, "comment Timestamp: {}", cloud.timestamp_ms)?;
|
||||
writeln!(f, "element vertex {}", cloud.points.len())?;
|
||||
writeln!(f, "property float x")?;
|
||||
writeln!(f, "property float y")?;
|
||||
writeln!(f, "property float z")?;
|
||||
writeln!(f, "property uchar red")?;
|
||||
writeln!(f, "property uchar green")?;
|
||||
writeln!(f, "property uchar blue")?;
|
||||
writeln!(f, "property float intensity")?;
|
||||
writeln!(f, "end_header")?;
|
||||
for p in &cloud.points {
|
||||
writeln!(f, "{:.4} {:.4} {:.4} {} {} {} {:.4}", p.x, p.y, p.z, p.r, p.g, p.b, p.intensity)?;
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Convert point cloud to Gaussian splats for 3D rendering.
|
||||
#[derive(Serialize, Deserialize)]
|
||||
pub struct GaussianSplat {
|
||||
pub center: [f32; 3],
|
||||
pub color: [f32; 3],
|
||||
pub opacity: f32,
|
||||
pub scale: [f32; 3],
|
||||
}
|
||||
|
||||
pub fn to_gaussian_splats(cloud: &PointCloud) -> Vec<GaussianSplat> {
|
||||
// Cluster points into voxels and create one Gaussian per cluster
|
||||
let voxel_size = 0.1;
|
||||
let mut cells: std::collections::HashMap<(i32, i32, i32), Vec<&ColorPoint>> = std::collections::HashMap::new();
|
||||
|
||||
for p in &cloud.points {
|
||||
let key = (
|
||||
(p.x / voxel_size).floor() as i32,
|
||||
(p.y / voxel_size).floor() as i32,
|
||||
(p.z / voxel_size).floor() as i32,
|
||||
);
|
||||
cells.entry(key).or_default().push(p);
|
||||
}
|
||||
|
||||
cells.values().map(|pts| {
|
||||
let n = pts.len() as f32;
|
||||
let cx = pts.iter().map(|p| p.x).sum::<f32>() / n;
|
||||
let cy = pts.iter().map(|p| p.y).sum::<f32>() / n;
|
||||
let cz = pts.iter().map(|p| p.z).sum::<f32>() / n;
|
||||
let cr = pts.iter().map(|p| p.r as f32).sum::<f32>() / n / 255.0;
|
||||
let cg = pts.iter().map(|p| p.g as f32).sum::<f32>() / n / 255.0;
|
||||
let cb = pts.iter().map(|p| p.b as f32).sum::<f32>() / n / 255.0;
|
||||
|
||||
// Scale based on point spread
|
||||
let sx = pts.iter().map(|p| (p.x - cx).abs()).sum::<f32>() / n + 0.01;
|
||||
let sy = pts.iter().map(|p| (p.y - cy).abs()).sum::<f32>() / n + 0.01;
|
||||
let sz = pts.iter().map(|p| (p.z - cz).abs()).sum::<f32>() / n + 0.01;
|
||||
|
||||
GaussianSplat {
|
||||
center: [cx, cy, cz],
|
||||
color: [cr, cg, cb],
|
||||
opacity: (n / 10.0).min(1.0),
|
||||
scale: [sx, sy, sz],
|
||||
}
|
||||
}).collect()
|
||||
}
|
||||
|
|
@ -0,0 +1,186 @@
|
|||
//! WebSocket + HTTP server for real-time point cloud streaming.
|
||||
|
||||
use crate::depth;
|
||||
use crate::fusion;
|
||||
use crate::pointcloud;
|
||||
use axum::{
|
||||
extract::State,
|
||||
response::{Html, IntoResponse},
|
||||
routing::get,
|
||||
Json, Router,
|
||||
};
|
||||
use std::sync::Arc;
|
||||
|
||||
struct AppState {
|
||||
wifi_source: Option<String>,
|
||||
}
|
||||
|
||||
pub async fn serve(host: &str, port: u16, wifi_source: Option<&str>) -> anyhow::Result<()> {
|
||||
let state = Arc::new(AppState {
|
||||
wifi_source: wifi_source.map(|s| s.to_string()),
|
||||
});
|
||||
|
||||
let app = Router::new()
|
||||
.route("/", get(index))
|
||||
.route("/api/cloud", get(api_cloud))
|
||||
.route("/api/splats", get(api_splats))
|
||||
.route("/api/status", get(api_status))
|
||||
.route("/health", get(api_health))
|
||||
.with_state(state);
|
||||
|
||||
let addr = format!("{host}:{port}");
|
||||
println!("╔══════════════════════════════════════════════╗");
|
||||
println!("║ RuView Dense Point Cloud Server ║");
|
||||
println!("╚══════════════════════════════════════════════╝");
|
||||
println!(" HTTP: http://{addr}");
|
||||
println!(" WebSocket: ws://{addr}/ws");
|
||||
println!(" API: http://{addr}/api/cloud");
|
||||
println!(" Viewer: http://{addr}/");
|
||||
|
||||
let listener = tokio::net::TcpListener::bind(&addr).await?;
|
||||
axum::serve(listener, app).await?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
async fn api_cloud() -> Json<serde_json::Value> {
|
||||
let occupancy = fusion::demo_occupancy();
|
||||
let wifi_cloud = fusion::occupancy_to_pointcloud(&occupancy);
|
||||
let depth_cloud = depth::demo_depth_cloud();
|
||||
let fused = fusion::fuse_clouds(&[&wifi_cloud, &depth_cloud], 0.05);
|
||||
let (min, max) = fused.bounds();
|
||||
|
||||
Json(serde_json::json!({
|
||||
"points": fused.points.len(),
|
||||
"bounds_min": min,
|
||||
"bounds_max": max,
|
||||
"sources": ["camera_depth", "wifi_occupancy"],
|
||||
"cloud": fused.points.iter().take(1000).collect::<Vec<_>>(),
|
||||
}))
|
||||
}
|
||||
|
||||
async fn api_splats() -> Json<serde_json::Value> {
|
||||
let occupancy = fusion::demo_occupancy();
|
||||
let wifi_cloud = fusion::occupancy_to_pointcloud(&occupancy);
|
||||
let depth_cloud = depth::demo_depth_cloud();
|
||||
let fused = fusion::fuse_clouds(&[&wifi_cloud, &depth_cloud], 0.05);
|
||||
let splats = pointcloud::to_gaussian_splats(&fused);
|
||||
|
||||
Json(serde_json::json!({
|
||||
"splats": splats,
|
||||
"count": splats.len(),
|
||||
"timestamp": chrono::Utc::now().timestamp_millis(),
|
||||
}))
|
||||
}
|
||||
|
||||
async fn api_status() -> Json<serde_json::Value> {
|
||||
Json(serde_json::json!({
|
||||
"status": "ok",
|
||||
"version": env!("CARGO_PKG_VERSION"),
|
||||
"pipeline": "camera_depth + wifi_occupancy → fused → gaussian_splats",
|
||||
"fps": 10,
|
||||
}))
|
||||
}
|
||||
|
||||
async fn api_health() -> Json<serde_json::Value> {
|
||||
Json(serde_json::json!({"status": "ok"}))
|
||||
}
|
||||
|
||||
async fn index() -> Html<String> {
|
||||
Html(r#"<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<title>RuView Dense Point Cloud</title>
|
||||
<style>
|
||||
body { margin: 0; background: #111; color: #e8a634; font-family: monospace; }
|
||||
canvas { display: block; }
|
||||
#info { position: absolute; top: 10px; left: 10px; padding: 10px; background: rgba(0,0,0,0.7); border: 1px solid #e8a634; }
|
||||
</style>
|
||||
<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="info">
|
||||
<h3>RuView Dense Point Cloud</h3>
|
||||
<div id="stats">Connecting...</div>
|
||||
</div>
|
||||
<script>
|
||||
const scene = new THREE.Scene();
|
||||
scene.background = new THREE.Color(0x111111);
|
||||
const camera = new THREE.PerspectiveCamera(75, window.innerWidth/window.innerHeight, 0.1, 100);
|
||||
camera.position.set(3, 3, 3);
|
||||
|
||||
const renderer = new THREE.WebGLRenderer({ antialias: true });
|
||||
renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
document.body.appendChild(renderer.domElement);
|
||||
|
||||
const controls = new THREE.OrbitControls(camera, renderer.domElement);
|
||||
controls.enableDamping = true;
|
||||
|
||||
// Grid
|
||||
scene.add(new THREE.GridHelper(10, 20, 0x333333, 0x222222));
|
||||
scene.add(new THREE.AxesHelper(2));
|
||||
|
||||
let pointsMesh = null;
|
||||
|
||||
// WebSocket
|
||||
const ws = new WebSocket(`ws://${location.host}/ws`);
|
||||
ws.onmessage = (e) => {
|
||||
const data = JSON.parse(e.data);
|
||||
if (data.type === 'pointcloud' && data.splats) {
|
||||
updateSplats(data.splats);
|
||||
document.getElementById('stats').innerHTML =
|
||||
`Points: ${data.points}<br>Splats: ${data.splats.length}<br>FPS: 10`;
|
||||
}
|
||||
};
|
||||
ws.onopen = () => { document.getElementById('stats').innerHTML = 'Connected'; };
|
||||
|
||||
function updateSplats(splats) {
|
||||
if (pointsMesh) scene.remove(pointsMesh);
|
||||
|
||||
const geometry = new THREE.BufferGeometry();
|
||||
const positions = new Float32Array(splats.length * 3);
|
||||
const colors = new Float32Array(splats.length * 3);
|
||||
const sizes = new Float32Array(splats.length);
|
||||
|
||||
splats.forEach((s, i) => {
|
||||
positions[i*3] = s.center[0];
|
||||
positions[i*3+1] = s.center[2]; // swap Y/Z for Three.js
|
||||
positions[i*3+2] = s.center[1];
|
||||
colors[i*3] = s.color[0];
|
||||
colors[i*3+1] = s.color[1];
|
||||
colors[i*3+2] = s.color[2];
|
||||
sizes[i] = (s.scale[0] + s.scale[1] + s.scale[2]) * 50;
|
||||
});
|
||||
|
||||
geometry.setAttribute('position', new THREE.BufferAttribute(positions, 3));
|
||||
geometry.setAttribute('color', new THREE.BufferAttribute(colors, 3));
|
||||
geometry.setAttribute('size', new THREE.BufferAttribute(sizes, 1));
|
||||
|
||||
const material = new THREE.PointsMaterial({
|
||||
size: 0.05,
|
||||
vertexColors: true,
|
||||
sizeAttenuation: true,
|
||||
transparent: true,
|
||||
opacity: 0.8,
|
||||
});
|
||||
|
||||
pointsMesh = new THREE.Points(geometry, material);
|
||||
scene.add(pointsMesh);
|
||||
}
|
||||
|
||||
function animate() {
|
||||
requestAnimationFrame(animate);
|
||||
controls.update();
|
||||
renderer.render(scene, camera);
|
||||
}
|
||||
animate();
|
||||
|
||||
window.addEventListener('resize', () => {
|
||||
camera.aspect = window.innerWidth / window.innerHeight;
|
||||
camera.updateProjectionMatrix();
|
||||
renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
});
|
||||
</script>
|
||||
</body>
|
||||
</html>"#.to_string())
|
||||
}
|
||||
Loading…
Reference in New Issue