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Phase 2 (sensing server): - Temporal keypoint smoothing via EMA (alpha=0.3) with coherence-adaptive blending - Coherence scoring: running variance of motion_energy over 20 frames - Low coherence → reduce alpha to 0.1 (trust measurements less) - Per-node prev_keypoints for frame-to-frame smoothing - Bone length clamping (±20%) in derive_single_person_pose Phase 3 (signal crate): - SkeletonConstraints: Jakobsen relaxation (3 iterations) on 12-bone COCO-17 kinematic tree — prevents impossible skeletons - CompressedPoseHistory: two-tier storage (hot f32 + warm i16 quantized) for trajectory matching and re-ID - 8 new tests for constraints + history Vendored ruvector updated to v2.1.0-40 (latest main, 316 commits). Workspace deps remain at v2.0.4 (crates.io) until v2.1.0 is published. 647 tests pass across both crates (0 failures). Refs #296 Co-Authored-By: claude-flow <ruv@ruv.net> |
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