update Tue 07/14/2026 12:21:23.58

public/js/ar/fuse.js

@@ -41,13 +41,13 @@ export class WorldFuser {
 
   /** estimates: [{ markerId, position(mm), quaternion, area }] */
   fuse(estimates) {
-    const MM = 0.001;
+    const MM2CM = 0.1; // POS-IT translation is in mm; world units are cm
     const cams = [];
     for (const e of estimates) {
       const entry = this.anchorMats.get(e.markerId);
       if (!entry) continue;
-      // marker pose in camera space -> matrix (translate mm->m)
-      _m.compose(_p.copy(e.position).multiplyScalar(MM), e.quaternion, _s.set(1, 1, 1));
+      // marker pose in camera space -> matrix (translate mm->cm)
+      _m.compose(_p.copy(e.position).multiplyScalar(MM2CM), e.quaternion, _s.set(1, 1, 1));
       _inv.copy(_m).invert();                    // camera in marker space
       const camWorld = new THREE.Matrix4().multiplyMatrices(entry.mat, _inv);
       const pos = new THREE.Vector3();

public/js/ar/pose.js

@@ -10,6 +10,13 @@ import * as THREE from 'three';
 const _m = new THREE.Matrix4();
 const _q = new THREE.Quaternion();
 
+/* Input convention (matches the v1-validated fix): raw centered image coords are
+ * passed to POS-IT — NO Y pre-flip. The -t[1]/-t[2] negation below is what converts
+ * to the Three.js camera frame. Pre-flipping Y here double-flips the vertical axis
+ * and inverts pitch response (ghosts move opposite when tilting the phone).
+ * If tilt ever reads inverted on a device, toggle this for a quick A/B test. */
+const FLIP_INPUT_Y = false;
+
 export class PoseEstimator {
   constructor(focalLength) {
     this.focal = focalLength;
@@ -26,7 +33,7 @@ export class PoseEstimator {
   /** corners: aruco marker corners, image-space; cx/cy: image center.
    *  Returns { position: THREE.Vector3 (mm, marker->camera), quaternion, error } */
   estimate(markerId, corners, cx, cy, sizeMM) {
-    const centered = corners.map(c => ({ x: c.x - cx, y: (cy - c.y) }));
+    const centered = corners.map(c => ({ x: c.x - cx, y: FLIP_INPUT_Y ? (cy - c.y) : (c.y - cy) }));
     const pose = this.positFor(sizeMM).pose(centered);
     if (!pose) return null;
 

public/js/exhibit.js

@@ -53,7 +53,7 @@ async function start() {
   renderer = new THREE.WebGLRenderer({ canvas: $('#gl'), alpha: true, antialias: true });
   renderer.setPixelRatio(Math.min(devicePixelRatio, 2));
   scene3 = new THREE.Scene();
-  camera3 = new THREE.PerspectiveCamera(60, innerWidth / innerHeight, 0.02, 50);
+  camera3 = new THREE.PerspectiveCamera(60, innerWidth / innerHeight, 2, 5000);
   scene3.add(new THREE.AmbientLight(0xffffff, 1.2));
   onResize(); addEventListener('resize', onResize);
 

public/js/ghosts/behavior.js

@@ -17,14 +17,14 @@ export function ghostTransform(rec, nowMs, out) {
 
   if (b.type === 'wander') {
     const s = b.seed || 1;
-    const R = b.radius ?? 0.6;
+    const R = b.radius ?? 60;      // cm
     const v = b.speed ?? 0.15;
     // smooth pseudo-random orbit-drift: two incommensurate sines per axis
     const ph = t * v;
     out.position.set(
       base.x + R * 0.9 * Math.sin(ph * 1.0 + hashNoise(s, 1) * 6.28) * 0.7
              + R * 0.4 * Math.sin(ph * 2.3 + hashNoise(s, 2) * 6.28) * 0.3,
-      base.y + 0.06 * Math.sin(t * 1.7 + hashNoise(s, 3) * 6.28),
+      base.y + 6 * Math.sin(t * 1.7 + hashNoise(s, 3) * 6.28),
       base.z + R * 0.9 * Math.cos(ph * 0.8 + hashNoise(s, 4) * 6.28) * 0.7
              + R * 0.4 * Math.cos(ph * 1.9 + hashNoise(s, 5) * 6.28) * 0.3
     );
@@ -37,7 +37,7 @@ export function ghostTransform(rec, nowMs, out) {
     const dir = ahead(t + eps).sub(ahead(t));
     out.rotationY = Math.atan2(dir.x, dir.z);
   } else {
-    const amp = b.bobAmp ?? 0.06;
+    const amp = b.bobAmp ?? 6;     // cm
     const hz = b.bobHz ?? 0.4;
     out.position.set(base.x, base.y + amp * Math.sin(t * hz * Math.PI * 2), base.z);
     out.rotationY = 0.25 * Math.sin(t * 0.3); // slow idle sway

public/js/ghosts/loader.js

@@ -59,12 +59,12 @@ async function loadOBJ(url) {
 
 function proceduralWisp() {
   const g = new THREE.Group();
-  const body = new THREE.Mesh(new THREE.SphereGeometry(0.09, 20, 16));
+  const body = new THREE.Mesh(new THREE.SphereGeometry(9, 20, 16));
   body.scale.set(1, 1.35, 1);
-  body.position.y = 0.14;
-  const tail = new THREE.Mesh(new THREE.ConeGeometry(0.07, 0.16, 16));
+  body.position.y = 14;
+  const tail = new THREE.Mesh(new THREE.ConeGeometry(7, 16, 16));
   tail.rotation.x = Math.PI;
-  tail.position.y = 0.0;
+  tail.position.y = 0;
   g.add(body, tail);
   return g;
 }