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Wire three existing signal-crate components into the live sensing path: Step 1 — Kalman Tracker (tracker_bridge.rs): - PoseTracker from wifi-densepose-signal wired into all 5 mutable derive_pose_from_sensing call sites - Stable TrackId-based person IDs replace ephemeral 0-based indices - Greedy Mahalanobis assignment with proper lifecycle transitions (Tentative → Active → Lost → Terminated) - Kalman-smoothed keypoint positions reduce frame-to-frame jitter Step 2 — Multi-Node Fusion (multistatic_bridge.rs): - MultistaticFuser replaces naive .sum() aggregation at both ESP32 paths - Attention-weighted CSI fusion across nodes with cosine-similarity weights - Fallback uses max (not sum) to avoid double-counting overlapping coverage - Node positions configurable via --node-positions CLI arg - Single-node passthrough preserved (min_nodes=1) Step 3 — Eigenvalue Person Counting (field_model.rs upgrade): - Full covariance matrix accumulation (replaces diagonal variance approx) - True eigendecomposition via ndarray-linalg Eigh (Marcenko-Pastur threshold) - estimate_occupancy() for runtime eigenvalue-based counting - Calibration API: POST /calibration/start|stop, GET /calibration/status - Graceful fallback to score_to_person_count when uncalibrated New files: tracker_bridge.rs, multistatic_bridge.rs, field_bridge.rs Modified: sensing-server main.rs, Cargo.toml; signal field_model.rs, Cargo.toml Refs: .swarm/plans/accuracy-sprint-001.md Co-Authored-By: claude-flow <ruv@ruv.net> |
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| patches/ruvector-crv | ||
| Cargo.lock | ||
| Cargo.toml | ||