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Update README + user guide with dense point cloud features

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Added pointcloud section to README (quick start, CLI, performance).
Added comprehensive user guide section: setup, sensors, commands,
pipeline components, API endpoints, training, output formats,
deep room scan, ESP32 provisioning.

Co-Authored-By: claude-flow <ruv@ruv.net>
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ruv
2026-04-19 21:25:19 -04:00
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@@ -96,6 +96,42 @@ node scripts/mincut-person-counter.js --port 5006 # Correct person counting
>
---
### Real-Time Dense Point Cloud (NEW)
RuView now generates **real-time 3D point clouds** by fusing camera depth + WiFi CSI + mmWave radar. All sensors stream simultaneously into a unified spatial model.
| Sensor | Data | Integration |
|--------|------|-------------|
| **Camera** | MiDaS monocular depth (GPU) | 640×480 → 19,200+ depth points per frame |
| **ESP32 CSI** | ADR-018 binary frames (UDP) | RF tomography → 8×8×4 occupancy grid |
| **WiFlow Pose** | 17 COCO keypoints from CSI | Skeleton overlay on point cloud |
| **Vital Signs** | Breathing rate from CSI phase | Stored in ruOS brain every 60s |
| **Motion** | CSI amplitude variance | Adaptive capture rate (skip depth when still) |
**Quick start:**
```bash
cd rust-port/wifi-densepose-rs
cargo build --release -p wifi-densepose-pointcloud
./target/release/ruview-pointcloud serve --port 9880
# Open http://localhost:9880 for live 3D viewer
```
**CLI commands:**
```bash
ruview-pointcloud demo # synthetic demo
ruview-pointcloud serve --port 9880 # live server + Three.js viewer
ruview-pointcloud capture --output room.ply # capture to PLY
ruview-pointcloud train # depth calibration + DPO pairs
ruview-pointcloud cameras # list available cameras
ruview-pointcloud csi-test --count 100 # send test CSI frames
```
**Performance:** 22ms pipeline, 905 req/s API, 40K voxel room model from 20 frames.
**Brain integration:** Spatial observations (motion, vitals, skeleton, occupancy) sync to the ruOS brain every 60 seconds for agent reasoning.
See [PR #405](https://github.com/ruvnet/RuView/pull/405) for full details.
### What's New in v0.7.0
<details>