wifi-densepose/examples/through-wall

Through-Wall WiFi Sensing Demo (LIVE CSI — no simulation, no fake skeleton)

A self-contained 3D demo that renders only real data streamed from the running wifi-densepose-sensing-server, which ingests genuine WiFi Channel State Information (CSI) from a live ESP32-S3 node over UDP.

It honestly shows what WiFi CSI sensing actually delivers:

• motion and presence — does the RF field say someone is here and moving?
• a coarse RF localization marker — roughly where the energy is, in metres.
• a 20×20 signal-field heatmap on the floor — the live "where is the motion" map.

…and it shows all of this through drywall. That is the real wow of WiFi sensing — not skeletal pose.

What this is NOT

• Not a skeleton / pose. The sensing-server's persons[].keypoints carry confidence: 0.0 (they are image-pixel placeholders, not real 3D joints), so this demo never draws them. WiFi CSI here gives motion / presence / coarse position — that is the honest output, and we render exactly that.
• Not a simulation. If the server is sending source: "simulated", the banner says SIMULATED — not real in orange. If the server is unreachable, the page shows NO SERVER with start instructions. It never invents frames.

What it renders (all driven by real /ws/sensing frames)

Element	Real field used
Floor heatmap (20×20 tiles)	signal_field.values (400 floats ~0..1)
Coarse localization puck	persons[0].position [x,0,z] (peak cell as fallback)
Motion / breathing / variance / RSSI bars	features.*
Presence / motion level / confidence	classification.*
Estimated persons	estimated_persons
Active node markers	nodes[].node_id (node 9 = office, node 13 = hallway)
Update rate (Hz)	measured from frame arrival times
Status banner	source verbatim ("esp32" = LIVE)

The 3D room is split by a wall + doorway into OFFICE (node 9) and HALLWAY (node 13). Node markers light up only when that node actually appears in the live nodes list.

The through-wall story

WiFi (2.4/5 GHz) penetrates interior drywall. When you walk from the office into the hallway — behind the wall — node 9's signal_field and motion_band_power still register the motion even though there is a wall between you and the antenna. That is real through-wall motion sensing on a single node.

Once a second ESP32-S3 is flashed and placed in the hallway (node 13, the esp32-csi-node firmware), the server fuses both nodes (multistatic) and the hallway node localizes you on its side of the wall — true two-room through-wall localization. With one node today you already get through-wall motion; the second node adds where.

How to run

1. Start the REAL sensing-server

cd v2
cargo build -p wifi-densepose-sensing-server
./target/debug/sensing-server.exe --ws-port 8765 --udp-port 5005

This is the process that ingests real CSI from the ESP32-S3 (UDP on 5005) and serves the live WebSocket on ws://localhost:8765/ws/sensing. A real ESP32-S3 must be provisioned and streaming for source to read esp32 (see the repo's ESP32 firmware build/provision steps in CLAUDE.local.md).

2. Start the static server for this page

python examples/through-wall/serve.py

(Serves on port 8080 — 8765 is the WebSocket, a different process.)

3. Open the page

http://localhost:8080/examples/through-wall/index.html

The page connects automatically. If you want to point at a server on another host (e.g. an ESP32 streaming to a Pi), override the endpoint:

http://localhost:8080/examples/through-wall/index.html?ws=ws://192.168.1.20:8765/ws/sensing

Optional: webcam ground-truth tile

The bottom-right tile can enable your webcam ("camera — ground truth when visible"). This is separate from the CSI sensing — it is only there to let a viewer confirm with their eyes what the WiFi is detecting. The WiFi works in the dark and through walls; the camera does not. The sensing itself is the CSI.

Honest scope

• Real: motion, presence, coarse position (incl. through drywall on the office node), the live signal-field heatmap, RSSI, and a measured update rate.
• The coarse-localization puck is labeled "RF localization (coarse)" — it is metre-scale, not centimetre pose. It uses persons[0].position when a person is tracked, otherwise the peak cell of the live signal_field.
• Two-room (office + hallway) through-wall localization needs the hallway node (node 13) flashed and placed; until then node 13 stays dimmed and the demo shows single-node through-wall motion.

Reused from existing examples

• 3D scene setup, lights, fog, post-processing bloom, dark amber CSS, and the optional webcam path — from examples/three.js/demos/05-skinned-realtime.html.
• Floor-heatmap-on-the-grid idea and presence/field rendering — from ui/observatory/js/ (presence-cartography.js, subcarrier-manifold.js).
• Threaded no-cache static server — from examples/three.js/server/serve-demo.py.