MultistaticArray::fuse / fuse_ungated cloned every viewpoint embedding twice per
fusion (once into `extracted`, again when building the attention input). Now the
embeddings are MOVED out of `extracted` (one clone per viewpoint instead of two),
capturing geometry/ids by Copy in the same pass. Correctness-neutral — all 100
viewpoint/mat lib tests pass unchanged.
MEASURED (new benches/fusion_bench.rs, embedding_extract A/B, 8 vp x 128-d):
before_double_clone 1.0029 us -> after_single_clone 461.6 ns (~2.17x)
End-to-end fusion_pipeline (8 vp): 202 us — marshalling is <1% of fusion
(n*n attention dominates), so end-to-end win is modest; the A/B isolates the
clone elimination. Reproduce:
cargo bench -p wifi-densepose-ruvector --bench fusion_bench
Co-Authored-By: claude-flow <ruv@ruv.net>
Two correctness/integrity fixes on the cross-viewpoint fusion geometry path,
each pinned by a regression test that fails on the old code.
- GDOP mislabel (§2.3): CramerRaoBound.gdop was `sqrt(crb_x+crb_y)` — identical
to rmse_lower_bound (metres, noise-dependent), NOT a dimensionless GDOP. Now
computes true GDOP = sqrt(trace(G^-1)) on the unit-variance bearing geometry,
in both estimate() and estimate_regularised(); INFINITY (not NaN) for
degenerate collinear geometry. Test gdop_is_dimensionless_and_noise_independent
asserts GDOP is unchanged under 10x noise while RMSE scales 10x (old code
failed: it scaled with noise, proving it was RMSE).
- Angular wrap (§2.1): GeometricBias::build_matrix used raw |delta-azimuth|
(can exceed pi, mis-states the 0/2pi seam) instead of the wrapped distance.
angular_distance made pub and reused as the single canonical helper. HONEST:
under the current cos() kernel this is a NUMERIC NO-OP (cos is even/periodic,
cos(raw)==cos(wrapped)); landed for contract correctness + single-source-of-
truth + future non-even kernels, not as a behaviour change. Tests pin the
contract (wrapped value in [0,pi], seam symmetry).
ruvector lib tests: 100 passed / 0 failed (+ new tests).
Co-Authored-By: claude-flow <ruv@ruv.net>
The Rust port lived two directories deep (rust-port/wifi-densepose-rs/)
without any sibling under rust-port/ that warranted the extra level.
Move the whole workspace up to v2/ to match v1/ (Python) at the same
depth and shorten every cd / build command across the repo.
git mv preserves history for all tracked files. 60 files updated for
path references (CI workflows, ADRs, docs, scripts, READMEs, internal
.claude-flow state). Two manual fixes for relative-cd paths in
CLAUDE.md and ADR-043 that became wrong after the depth change
(cd ../.. → cd ..).
Validated:
- cargo check --workspace --no-default-features → clean (after target/
nuke; the gitignored target/ was carried by the OS rename and had
hard-coded old paths in build scripts)
- cargo test --workspace --no-default-features → 1,539 passed, 0 failed,
8 ignored (same totals as pre-rename)
- ESP32-S3 on COM7 → still streaming live CSI (cb #40300, RSSI -64 dBm)
After-merge follow-up: contributors should `rm -rf v2/target` once and
let cargo regenerate from the new path.
ruv