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feat: RuvSense multistatic sensing + field model + RuView fusion (ADR-029/030/031) #77

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ruvnet merged 15 commits from ruvsense-full-implementation into main 2026-03-02 21:24:28 +08:00
Conversation 0 Commits 15 Files Changed 67 +5 -3
1 changed files with 5 additions and 3 deletions
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8
rust-port/wifi-densepose-rs/crates/wifi-densepose-train/src/ruview_metrics.rs
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@@ -700,7 +700,7 @@ fn compute_p95_max_error(per_kp_errors: &[Vec<f32>]) -> f32 {
#[cfg(test)]
mod tests {
use super::*;
use ndarray::{array, Array1, Array2};
use ndarray::{Array1, Array2};
fn make_perfect_kpts() -> (Array2<f32>, Array2<f32>, Array1<f32>) {
let kp = Array2::from_shape_fn((17, 2), |(j, d)| {
@@ -712,9 +712,11 @@ mod tests {
fn make_noisy_kpts(noise: f32) -> (Array2<f32>, Array2<f32>, Array1<f32>) {
let gt = Array2::from_shape_fn((17, 2), |(j, d)| {
if d == 0 { j as f32 * 0.05 } else { j as f32 * 0.03 }
if d == 0 { j as f32 * 0.03 } else { j as f32 * 0.02 }
});
let pred = Array2::from_shape_fn((17, 2), |(j, d)| {
// Apply deterministic noise that varies per joint so some joints
// are definitely outside the PCK threshold.
gt[[j, d]] + noise * ((j * 7 + d * 3) as f32).sin()
});
let vis = Array1::ones(17);
@@ -749,7 +751,7 @@ mod tests {
#[test]
fn joint_error_noisy_predictions_lower_pck() {
let (pred, gt, vis) = make_noisy_kpts(0.1);
let (pred, gt, vis) = make_noisy_kpts(0.5);
let result = evaluate_joint_error(
&[pred],
&[gt],