Initial Comming

2026-06-26 13:58:39 +10:00
parent 8b064bbd39
commit 0d1d66a85d
28 changed files with 4328 additions and 2 deletions
@@ -1,3 +1,110 @@
-# newbury-exhibit
+# Newbury Exhibit

-Shared multi-device AR exhibit viewer for a physical Newbury LEGO build. View-only, fiducial-anchored, WebSocket-synchronized ghosts. Fan tribute to LEGO Hidden Side.
+Shared, view-only AR experience for a **physical Newbury LEGO display** (max 700 × 1500 mm).
+Multiple phones/tablets see the *same* ghosts, in the *same* real-world spots on the build,
+each from their own viewpoint — the "Hidden Side" made visible to a room full of people at once.
+
+This is a sibling project to **newbury-nights** (the single-player hunt). The architecture is
+deliberately different: instead of ghosts spawning around one player, ghosts live at fixed
+**world anchors** on the build, and every device localises itself against printed/LEGO markers
+so they all agree on where those anchors are.
+
+---
+
+## How it fits together
+
+```
+ physical marker  ──►  world origin  ──►  anchors  ──►  ghosts  ──►  broadcast  ──►  every phone
+ (Newbury Crest)       (one corner)       (scene.json)   (motion)     (WebSocket)     (renders identically)
+```
+
+1. **Localisation.** Each device's camera detects an ArUco 4×4 marker of known size and known
+   world position. From the marker's four corners it solves where the device is in the build's
+   coordinate frame. (Proof of concept: `public/ar-test.html`.)
+2. **Authoritative state.** `server/sync-server.js` runs one motion loop and broadcasts ghost
+   poses at 20 Hz over WebSocket (`/sync`). The server is the single source of truth, so all
+   viewers see synchronised motion.
+3. **Rendering.** Each device renders its own scene locally. `public/js/viewer.js` is the desktop
+   "god-view" for authoring/testing; the phone AR client (next milestone) will render ghosts at
+   anchor world-positions seen through the camera.
+
+All coordinates are in **millimetres**, world origin at the **front-left corner** of the baseplate.
+This maps 1:1 to the physical build, so tape-measure values drop straight into `data/scene.json`.
+
+---
+
+## Markers — "Newbury Crests"
+
+The markers are **ArUco 4×4** (dictionary `ARUCO_4X4_1000`), chosen because a 4×4 data grid maps
+cleanly onto LEGO tiles. Physically each marker is a **6×6 grid**: a 1-cell black quiet border
+around the 4×4 code.
+
+**Design decision — colour wheel as frame, not code.** ArUco detection is brightness-based
+(each cell reads black or white), which is exactly what makes it robust under bad lighting and
+shallow angles. Encoding the Red/Yellow/Blue Hidden Side colours *into* the code cells would make
+it pretty but fragile. So:
+
+- **Detector core (6×6):** black & white flat tiles — this is what the camera reads.
+- **Colour-wheel ring:** a decorative Red/Yellow/Blue border *around* the core, in the zone the
+  detector ignores. On-theme for humans, invisible to the maths.
+
+See `markers/` for printable SVGs, per-anchor LEGO build maps, and `crest-01_buildplan.svg`
+(a visual of core + colour ring). Print a marker now to test robustness before committing to a build.
+
+### Marker → anchor mapping
+`markers/manifest.json` maps each physical ArUco id to a scene anchor. The `fiducialId` in
+`data/scene.json` must match the `arucoId` of the marker you place there.
+
+| Crest | ArUco id | Ward (placeholder) |
+|-------|----------|--------------------|
+| crest-01 | 0 | North-West |
+| crest-02 | 1 | North-East |
+| crest-03 | 2 | Town Square |
+| crest-04 | 3 | South-West |
+| crest-05 | 4 | South-East |
+
+---
+
+## Proof of concept: `ar-test.html`
+
+Camera → marker detection → a ghost sprite locked to the marker, bobbing above it. No server
+needed for this page. Use it to test detection robustness on your iPhone 15 Pro.
+
+**Must be served over HTTPS** for the camera to work on iOS. Behind your existing nginx that's
+already handled; for the exhibit it'll sit at the same kind of URL as newbury-nights.
+
+Drop an animated WebP at `public/assets/ghost_blue.webp` to use a real sprite; otherwise it draws
+a procedural blue "Sad" wisp.
+
+---
+
+## Run
+
+```bash
+npm install
+npm start            # PORT defaults to 34034
+# open http://localhost:34034/ar-test.html  (camera needs HTTPS on phones)
+# open http://localhost:34034/               god-view viewer (viewer.js)
+```
+
+Env: `PORT` (default 34034), `TICK_HZ` (default 20).
+
+---
+
+## Status / roadmap
+
+- [x] Authoritative sync server (hover + patrol motion solvers, 20 Hz broadcast)
+- [x] God-view desktop viewer
+- [x] Scene + anchor + spawn data model (mm, corner origin)
+- [x] ArUco 4×4 marker system + LEGO build maps ("Newbury Crests")
+- [x] AR PoC: camera + detection + ghost locked to marker
+- [ ] Phone AR client: render anchored ghosts through the camera using marker pose
+- [ ] Calibration page: scan each crest, record its measured world position
+- [ ] Per-ghost colour/sprite wiring from the enriched roster
+- [ ] Multi-device soak test on the real build under exhibition lighting
+
+---
+
+## Licence
+MIT (project). Vendored `js-aruco2` is MIT (Damiano Falcioni / Juan Mellado); ArUco dictionary
+data is 3-clause BSD (OpenCV). See headers in `public/vendor/`.
@@ -0,0 +1,103 @@
+{
+  "_note": "Newbury exhibit scene definition. All coordinates in MILLIMETRES, world origin at one corner of the baseplate. X runs along the 1500mm length, Z along the 700mm depth, Y is height above the table surface. This maps 1:1 to the physical build so measured tape values drop straight in.",
+  "world": {
+    "units": "mm",
+    "buildSize": { "x": 1500, "y": 600, "z": 700 },
+    "origin": "front-left corner of baseplate, table surface = Y0",
+    "upAxis": "Y"
+  },
+  "anchors": [
+    {
+      "id": "anchor-nw",
+      "label": "North-West Ward",
+      "fiducialType": "apriltag",
+      "fiducialId": 0,
+      "fiducialSizeMm": 40,
+      "position": { "x": 120, "y": 30, "z": 120 },
+      "rotationDeg": { "x": 0, "y": 0, "z": 0 },
+      "note": "Measure precisely once installed; these are placeholders."
+    },
+    {
+      "id": "anchor-ne",
+      "label": "North-East Ward",
+      "fiducialType": "apriltag",
+      "fiducialId": 1,
+      "fiducialSizeMm": 40,
+      "position": { "x": 1380, "y": 30, "z": 120 },
+      "rotationDeg": { "x": 0, "y": 0, "z": 0 },
+      "note": "Placeholder."
+    },
+    {
+      "id": "anchor-mid",
+      "label": "Town Square Ward",
+      "fiducialType": "apriltag",
+      "fiducialId": 2,
+      "fiducialSizeMm": 40,
+      "position": { "x": 750, "y": 30, "z": 350 },
+      "rotationDeg": { "x": 0, "y": 0, "z": 0 },
+      "note": "Placeholder, mid-span for overlap coverage."
+    },
+    {
+      "id": "anchor-sw",
+      "label": "South-West Ward",
+      "fiducialType": "apriltag",
+      "fiducialId": 3,
+      "fiducialSizeMm": 40,
+      "position": { "x": 120, "y": 30, "z": 580 },
+      "rotationDeg": { "x": 0, "y": 0, "z": 0 },
+      "note": "Placeholder."
+    },
+    {
+      "id": "anchor-se",
+      "label": "South-East Ward",
+      "fiducialType": "apriltag",
+      "fiducialId": 4,
+      "fiducialSizeMm": 40,
+      "position": { "x": 1380, "y": 30, "z": 580 },
+      "rotationDeg": { "x": 0, "y": 0, "z": 0 },
+      "note": "Placeholder."
+    }
+  ],
+  "spawns": [
+    {
+      "id": "spawn-graveyard",
+      "ghostId": "lil-bo-pumpkins",
+      "label": "Graveyard hover",
+      "motion": "hover",
+      "position": { "x": 300, "y": 180, "z": 250 },
+      "hoverRadiusMm": 60,
+      "hoverPeriodS": 6,
+      "bobAmplitudeMm": 40,
+      "bobPeriodS": 3,
+      "yawDegPerS": 12
+    },
+    {
+      "id": "spawn-square-patrol",
+      "ghostId": "tragico",
+      "label": "Town square patrol",
+      "motion": "patrol",
+      "path": [
+        { "x": 600, "y": 200, "z": 350 },
+        { "x": 900, "y": 240, "z": 350 },
+        { "x": 900, "y": 200, "z": 450 },
+        { "x": 600, "y": 240, "z": 450 }
+      ],
+      "patrolPeriodS": 16,
+      "bobAmplitudeMm": 25,
+      "bobPeriodS": 2.5,
+      "faceTravel": true
+    },
+    {
+      "id": "spawn-highschool",
+      "ghostId": "samuel-mason",
+      "label": "High school boss anchor",
+      "motion": "hover",
+      "position": { "x": 1200, "y": 220, "z": 300 },
+      "hoverRadiusMm": 40,
+      "hoverPeriodS": 8,
+      "bobAmplitudeMm": 50,
+      "bobPeriodS": 3.5,
+      "yawDegPerS": -8
+    }
+  ]
+}
@@ -0,0 +1,51 @@
+# Building a Newbury Crest (marker ID 0)
+
+A "Newbury Crest" is the physical anchor marker. It has two parts:
+
+1. **Detector core** — a 6×6 grid of flat black & white tiles. This is the part the camera reads.
+   It is an ArUco 4×4 marker (1-cell black border + 4×4 data), so it must be **exact**.
+2. **Colour-wheel ring** — a decorative 1-tile-wide border of Red / Yellow / Blue around the core.
+   Purely cosmetic (Hidden Side theme); the detector ignores it.
+
+See `crest-01_buildplan.svg` for the full picture and `crest-01_buildmap.json` for the raw grid.
+
+## The detector core (6×6) — ID 0
+
+`#` = **black** tile, `.` = **white** tile. Build it in this exact orientation; the single
+yellow corner dot in the app shows which corner is the reference (top-left here).
+
+```
+# # # # # #
+# . # . . #
+# # . # . #
+# # # . . #
+# # # . # #
+# # # # # #
+```
+
+- Outer ring is **all black** (the ArUco quiet border) — do not substitute colours here.
+- Use **flat tiles**, not plates with exposed studs — studs cast shadows that hurt detection.
+- Suggested scale: one **2×2 tile per cell** = 16 mm cells → **96 × 96 mm** core.
+  (For a crisper read at distance, go 2×2 *studs* per cell using four 1×1 tiles — finer edges.)
+
+## The colour-wheel ring
+
+Wrap one tile-row of Red/Yellow/Blue around the 96 mm core, cycling R→Y→B. Keep it **outside**
+the black border (it can touch the black border directly — black separates it from the data).
+
+- Red `#F65151`  ·  Yellow `#FFF35D`  ·  Blue `#529EFF`
+- These are the exact Hidden Side ghost-lure gradient tops, so it reads as the colour wheel.
+
+## Mounting
+
+- Mount flat on a black baseplate, flush and rigid (no warping — a curved marker breaks pose).
+- Matte tiles beat glossy if you have the choice; glare is the main real-world enemy.
+- Place at "street level" where a phone naturally frames it as part of the scene.
+
+## Test before you commit
+
+1. Print `crest-01_aruco0.svg` at ~100 mm and tape it down.
+2. Open `ar-test.html` on your phone (over HTTPS), point at it.
+3. HUD should show **id: 0** and a blue wisp should hover above it.
+4. Try angles, distance, and your real exhibition lighting. If it holds lock well, build the
+   LEGO version with confidence; if glare is an issue, matte it down.
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" viewBox="0 0 100 100"><rect width="100" height="100" fill="#ffffff"/><rect x="20" y="20" width="10" height="10" fill="#000000"/><rect x="30" y="20" width="10" height="10" fill="#000000"/><rect x="40" y="20" width="10" height="10" fill="#000000"/><rect x="50" y="20" width="10" height="10" fill="#000000"/><rect x="60" y="20" width="10" height="10" fill="#000000"/><rect x="70" y="20" width="10" height="10" fill="#000000"/><rect x="20" y="30" width="10" height="10" fill="#000000"/><rect x="30" y="30" width="10" height="10" fill="#ffffff"/><rect x="40" y="30" width="10" height="10" fill="#000000"/><rect x="50" y="30" width="10" height="10" fill="#ffffff"/><rect x="60" y="30" width="10" height="10" fill="#ffffff"/><rect x="70" y="30" width="10" height="10" fill="#000000"/><rect x="20" y="40" width="10" height="10" fill="#000000"/><rect x="30" y="40" width="10" height="10" fill="#000000"/><rect x="40" y="40" width="10" height="10" fill="#ffffff"/><rect x="50" y="40" width="10" height="10" fill="#000000"/><rect x="60" y="40" width="10" height="10" fill="#ffffff"/><rect x="70" y="40" width="10" height="10" fill="#000000"/><rect x="20" y="50" width="10" height="10" fill="#000000"/><rect x="30" y="50" width="10" height="10" fill="#000000"/><rect x="40" y="50" width="10" height="10" fill="#000000"/><rect x="50" y="50" width="10" height="10" fill="#ffffff"/><rect x="60" y="50" width="10" height="10" fill="#ffffff"/><rect x="70" y="50" width="10" height="10" fill="#000000"/><rect x="20" y="60" width="10" height="10" fill="#000000"/><rect x="30" y="60" width="10" height="10" fill="#000000"/><rect x="40" y="60" width="10" height="10" fill="#000000"/><rect x="50" y="60" width="10" height="10" fill="#ffffff"/><rect x="60" y="60" width="10" height="10" fill="#000000"/><rect x="70" y="60" width="10" height="10" fill="#000000"/><rect x="20" y="70" width="10" height="10" fill="#000000"/><rect x="30" y="70" width="10" height="10" fill="#000000"/><rect x="40" y="70" width="10" height="10" fill="#000000"/><rect x="50" y="70" width="10" height="10" fill="#000000"/><rect x="60" y="70" width="10" height="10" fill="#000000"/><rect x="70" y="70" width="10" height="10" fill="#000000"/><text x="50" y="96" font-family="monospace" font-size="7" text-anchor="middle" fill="#000">ArUco4x4 id 0</text></svg>
@@ -0,0 +1,79 @@
+{
+  "anchorName": "crest-01",
+  "ward": "North-West Ward",
+  "arucoId": 0,
+  "dictionary": "ARUCO_4X4_1000",
+  "detectorCore": {
+    "gridSize": 6,
+    "note": "1-cell black quiet border + 4x4 data. Use FLAT TILES. 0=Black, 1=White.",
+    "cells": [
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      [
+        0,
+        1,
+        0,
+        1,
+        1,
+        0
+      ],
+      [
+        0,
+        0,
+        1,
+        0,
+        1,
+        0
+      ],
+      [
+        0,
+        0,
+        0,
+        1,
+        1,
+        0
+      ],
+      [
+        0,
+        0,
+        0,
+        1,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ]
+    ]
+  },
+  "colourWheelFrame": {
+    "note": "Decorative Hidden Side border, 1 tile-row wide around the 6x6 core. Cycle R/Y/B. Detector ignores this zone but it must sit OUTSIDE the white quiet margin OR be separated by a black/white gap so it does not bleed into detection.",
+    "palette": {
+      "Red": "#F65151",
+      "Yellow": "#FFF35D",
+      "Blue": "#529EFF"
+    },
+    "cycle": [
+      "Red",
+      "Yellow",
+      "Blue"
+    ]
+  },
+  "physical": {
+    "cellMm": 16,
+    "coreMm": 96,
+    "recommendedPart": "2x2 tile per cell (or 1x1 tiles 4-up for finer)",
+    "mountNote": "Flat on a black baseplate. Keep flush, no studs proud of tile surface."
+  }
+}
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" viewBox="0 0 100 100"><rect width="100" height="100" fill="#ffffff"/><rect x="20" y="20" width="10" height="10" fill="#000000"/><rect x="30" y="20" width="10" height="10" fill="#000000"/><rect x="40" y="20" width="10" height="10" fill="#000000"/><rect x="50" y="20" width="10" height="10" fill="#000000"/><rect x="60" y="20" width="10" height="10" fill="#000000"/><rect x="70" y="20" width="10" height="10" fill="#000000"/><rect x="20" y="30" width="10" height="10" fill="#000000"/><rect x="30" y="30" width="10" height="10" fill="#000000"/><rect x="40" y="30" width="10" height="10" fill="#000000"/><rect x="50" y="30" width="10" height="10" fill="#000000"/><rect x="60" y="30" width="10" height="10" fill="#000000"/><rect x="70" y="30" width="10" height="10" fill="#000000"/><rect x="20" y="40" width="10" height="10" fill="#000000"/><rect x="30" y="40" width="10" height="10" fill="#ffffff"/><rect x="40" y="40" width="10" height="10" fill="#ffffff"/><rect x="50" y="40" width="10" height="10" fill="#ffffff"/><rect x="60" y="40" width="10" height="10" fill="#ffffff"/><rect x="70" y="40" width="10" height="10" fill="#000000"/><rect x="20" y="50" width="10" height="10" fill="#000000"/><rect x="30" y="50" width="10" height="10" fill="#ffffff"/><rect x="40" y="50" width="10" height="10" fill="#000000"/><rect x="50" y="50" width="10" height="10" fill="#000000"/><rect x="60" y="50" width="10" height="10" fill="#ffffff"/><rect x="70" y="50" width="10" height="10" fill="#000000"/><rect x="20" y="60" width="10" height="10" fill="#000000"/><rect x="30" y="60" width="10" height="10" fill="#ffffff"/><rect x="40" y="60" width="10" height="10" fill="#000000"/><rect x="50" y="60" width="10" height="10" fill="#ffffff"/><rect x="60" y="60" width="10" height="10" fill="#000000"/><rect x="70" y="60" width="10" height="10" fill="#000000"/><rect x="20" y="70" width="10" height="10" fill="#000000"/><rect x="30" y="70" width="10" height="10" fill="#000000"/><rect x="40" y="70" width="10" height="10" fill="#000000"/><rect x="50" y="70" width="10" height="10" fill="#000000"/><rect x="60" y="70" width="10" height="10" fill="#000000"/><rect x="70" y="70" width="10" height="10" fill="#000000"/><text x="50" y="96" font-family="monospace" font-size="7" text-anchor="middle" fill="#000">ArUco4x4 id 1</text></svg>
@@ -0,0 +1,79 @@
+{
+  "anchorName": "crest-02",
+  "ward": "North-East Ward",
+  "arucoId": 1,
+  "dictionary": "ARUCO_4X4_1000",
+  "detectorCore": {
+    "gridSize": 6,
+    "note": "1-cell black quiet border + 4x4 data. Use FLAT TILES. 0=Black, 1=White.",
+    "cells": [
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      [
+        0,
+        1,
+        1,
+        1,
+        1,
+        0
+      ],
+      [
+        0,
+        1,
+        0,
+        0,
+        1,
+        0
+      ],
+      [
+        0,
+        1,
+        0,
+        1,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ]
+    ]
+  },
+  "colourWheelFrame": {
+    "note": "Decorative Hidden Side border, 1 tile-row wide around the 6x6 core. Cycle R/Y/B. Detector ignores this zone but it must sit OUTSIDE the white quiet margin OR be separated by a black/white gap so it does not bleed into detection.",
+    "palette": {
+      "Red": "#F65151",
+      "Yellow": "#FFF35D",
+      "Blue": "#529EFF"
+    },
+    "cycle": [
+      "Red",
+      "Yellow",
+      "Blue"
+    ]
+  },
+  "physical": {
+    "cellMm": 16,
+    "coreMm": 96,
+    "recommendedPart": "2x2 tile per cell (or 1x1 tiles 4-up for finer)",
+    "mountNote": "Flat on a black baseplate. Keep flush, no studs proud of tile surface."
+  }
+}
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" viewBox="0 0 100 100"><rect width="100" height="100" fill="#ffffff"/><rect x="20" y="20" width="10" height="10" fill="#000000"/><rect x="30" y="20" width="10" height="10" fill="#000000"/><rect x="40" y="20" width="10" height="10" fill="#000000"/><rect x="50" y="20" width="10" height="10" fill="#000000"/><rect x="60" y="20" width="10" height="10" fill="#000000"/><rect x="70" y="20" width="10" height="10" fill="#000000"/><rect x="20" y="30" width="10" height="10" fill="#000000"/><rect x="30" y="30" width="10" height="10" fill="#000000"/><rect x="40" y="30" width="10" height="10" fill="#000000"/><rect x="50" y="30" width="10" height="10" fill="#ffffff"/><rect x="60" y="30" width="10" height="10" fill="#ffffff"/><rect x="70" y="30" width="10" height="10" fill="#000000"/><rect x="20" y="40" width="10" height="10" fill="#000000"/><rect x="30" y="40" width="10" height="10" fill="#000000"/><rect x="40" y="40" width="10" height="10" fill="#000000"/><rect x="50" y="40" width="10" height="10" fill="#ffffff"/><rect x="60" y="40" width="10" height="10" fill="#ffffff"/><rect x="70" y="40" width="10" height="10" fill="#000000"/><rect x="20" y="50" width="10" height="10" fill="#000000"/><rect x="30" y="50" width="10" height="10" fill="#000000"/><rect x="40" y="50" width="10" height="10" fill="#000000"/><rect x="50" y="50" width="10" height="10" fill="#ffffff"/><rect x="60" y="50" width="10" height="10" fill="#000000"/><rect x="70" y="50" width="10" height="10" fill="#000000"/><rect x="20" y="60" width="10" height="10" fill="#000000"/><rect x="30" y="60" width="10" height="10" fill="#ffffff"/><rect x="40" y="60" width="10" height="10" fill="#ffffff"/><rect x="50" y="60" width="10" height="10" fill="#000000"/><rect x="60" y="60" width="10" height="10" fill="#ffffff"/><rect x="70" y="60" width="10" height="10" fill="#000000"/><rect x="20" y="70" width="10" height="10" fill="#000000"/><rect x="30" y="70" width="10" height="10" fill="#000000"/><rect x="40" y="70" width="10" height="10" fill="#000000"/><rect x="50" y="70" width="10" height="10" fill="#000000"/><rect x="60" y="70" width="10" height="10" fill="#000000"/><rect x="70" y="70" width="10" height="10" fill="#000000"/><text x="50" y="96" font-family="monospace" font-size="7" text-anchor="middle" fill="#000">ArUco4x4 id 2</text></svg>
@@ -0,0 +1,79 @@
+{
+  "anchorName": "crest-03",
+  "ward": "Town Square Ward",
+  "arucoId": 2,
+  "dictionary": "ARUCO_4X4_1000",
+  "detectorCore": {
+    "gridSize": 6,
+    "note": "1-cell black quiet border + 4x4 data. Use FLAT TILES. 0=Black, 1=White.",
+    "cells": [
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      [
+        0,
+        0,
+        0,
+        1,
+        1,
+        0
+      ],
+      [
+        0,
+        0,
+        0,
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+  "colourWheelFrame": {
+    "note": "Decorative Hidden Side border, 1 tile-row wide around the 6x6 core. Cycle R/Y/B. Detector ignores this zone but it must sit OUTSIDE the white quiet margin OR be separated by a black/white gap so it does not bleed into detection.",
+    "palette": {
+      "Red": "#F65151",
+      "Yellow": "#FFF35D",
+      "Blue": "#529EFF"
+    },
+    "cycle": [
+      "Red",
+      "Yellow",
+      "Blue"
+    ]
+  },
+  "physical": {
+    "cellMm": 16,
+    "coreMm": 96,
+    "recommendedPart": "2x2 tile per cell (or 1x1 tiles 4-up for finer)",
+    "mountNote": "Flat on a black baseplate. Keep flush, no studs proud of tile surface."
+  }
+}
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" viewBox="0 0 100 100"><rect width="100" height="100" fill="#ffffff"/><rect x="20" y="20" width="10" height="10" fill="#000000"/><rect x="30" y="20" width="10" height="10" fill="#000000"/><rect x="40" y="20" width="10" height="10" fill="#000000"/><rect x="50" y="20" width="10" height="10" fill="#000000"/><rect x="60" y="20" width="10" height="10" fill="#000000"/><rect x="70" y="20" width="10" height="10" fill="#000000"/><rect x="20" y="30" width="10" height="10" fill="#000000"/><rect x="30" y="30" width="10" height="10" fill="#ffffff"/><rect x="40" y="30" width="10" height="10" fill="#000000"/><rect x="50" y="30" width="10" height="10" fill="#000000"/><rect x="60" y="30" width="10" height="10" fill="#ffffff"/><rect x="70" y="30" width="10" height="10" fill="#000000"/><rect x="20" y="40" width="10" height="10" fill="#000000"/><rect x="30" y="40" width="10" height="10" fill="#ffffff"/><rect x="40" y="40" width="10" height="10" fill="#000000"/><rect x="50" y="40" width="10" height="10" fill="#000000"/><rect x="60" y="40" width="10" height="10" fill="#ffffff"/><rect x="70" y="40" width="10" height="10" fill="#000000"/><rect x="20" y="50" width="10" height="10" fill="#000000"/><rect x="30" y="50" width="10" height="10" fill="#000000"/><rect x="40" y="50" width="10" height="10" fill="#ffffff"/><rect x="50" y="50" width="10" height="10" fill="#000000"/><rect x="60" y="50" width="10" height="10" fill="#000000"/><rect x="70" y="50" width="10" height="10" fill="#000000"/><rect x="20" y="60" width="10" height="10" fill="#000000"/><rect x="30" y="60" width="10" height="10" fill="#000000"/><rect x="40" y="60" width="10" height="10" fill="#ffffff"/><rect x="50" y="60" width="10" height="10" fill="#ffffff"/><rect x="60" y="60" width="10" height="10" fill="#000000"/><rect x="70" y="60" width="10" height="10" fill="#000000"/><rect x="20" y="70" width="10" height="10" fill="#000000"/><rect x="30" y="70" width="10" height="10" fill="#000000"/><rect x="40" y="70" width="10" height="10" fill="#000000"/><rect x="50" y="70" width="10" height="10" fill="#000000"/><rect x="60" y="70" width="10" height="10" fill="#000000"/><rect x="70" y="70" width="10" height="10" fill="#000000"/><text x="50" y="96" font-family="monospace" font-size="7" text-anchor="middle" fill="#000">ArUco4x4 id 3</text></svg>
@@ -0,0 +1,79 @@
+{
+  "anchorName": "crest-04",
+  "ward": "South-West Ward",
+  "arucoId": 3,
+  "dictionary": "ARUCO_4X4_1000",
+  "detectorCore": {
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+    "note": "1-cell black quiet border + 4x4 data. Use FLAT TILES. 0=Black, 1=White.",
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+        0,
+        0,
+        0,
+        0,
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+        0,
+        0,
+        0,
+        0,
+        0
+      ]
+    ]
+  },
+  "colourWheelFrame": {
+    "note": "Decorative Hidden Side border, 1 tile-row wide around the 6x6 core. Cycle R/Y/B. Detector ignores this zone but it must sit OUTSIDE the white quiet margin OR be separated by a black/white gap so it does not bleed into detection.",
+    "palette": {
+      "Red": "#F65151",
+      "Yellow": "#FFF35D",
+      "Blue": "#529EFF"
+    },
+    "cycle": [
+      "Red",
+      "Yellow",
+      "Blue"
+    ]
+  },
+  "physical": {
+    "cellMm": 16,
+    "coreMm": 96,
+    "recommendedPart": "2x2 tile per cell (or 1x1 tiles 4-up for finer)",
+    "mountNote": "Flat on a black baseplate. Keep flush, no studs proud of tile surface."
+  }
+}
@@ -0,0 +1 @@
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@@ -0,0 +1,79 @@
+{
+  "anchorName": "crest-05",
+  "ward": "South-East Ward",
+  "arucoId": 4,
+  "dictionary": "ARUCO_4X4_1000",
+  "detectorCore": {
+    "gridSize": 6,
+    "note": "1-cell black quiet border + 4x4 data. Use FLAT TILES. 0=Black, 1=White.",
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+        0,
+        0,
+        0,
+        0,
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+        1,
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+        0
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+      [
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+        0,
+        0,
+        0,
+        0,
+        0
+      ]
+    ]
+  },
+  "colourWheelFrame": {
+    "note": "Decorative Hidden Side border, 1 tile-row wide around the 6x6 core. Cycle R/Y/B. Detector ignores this zone but it must sit OUTSIDE the white quiet margin OR be separated by a black/white gap so it does not bleed into detection.",
+    "palette": {
+      "Red": "#F65151",
+      "Yellow": "#FFF35D",
+      "Blue": "#529EFF"
+    },
+    "cycle": [
+      "Red",
+      "Yellow",
+      "Blue"
+    ]
+  },
+  "physical": {
+    "cellMm": 16,
+    "coreMm": 96,
+    "recommendedPart": "2x2 tile per cell (or 1x1 tiles 4-up for finer)",
+    "mountNote": "Flat on a black baseplate. Keep flush, no studs proud of tile surface."
+  }
+}
@@ -0,0 +1,31 @@
+{
+  "dictionary": "ARUCO_4X4_1000",
+  "note": "Maps physical ArUco marker IDs to scene.json anchors. fiducialId in scene.json must match arucoId here.",
+  "markers": [
+    {
+      "id": 0,
+      "name": "crest-01",
+      "ward": "North-West Ward"
+    },
+    {
+      "id": 1,
+      "name": "crest-02",
+      "ward": "North-East Ward"
+    },
+    {
+      "id": 2,
+      "name": "crest-03",
+      "ward": "Town Square Ward"
+    },
+    {
+      "id": 3,
+      "name": "crest-04",
+      "ward": "South-West Ward"
+    },
+    {
+      "id": 4,
+      "name": "crest-05",
+      "ward": "South-East Ward"
+    }
+  ]
+}
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+}
@@ -0,0 +1,19 @@
+{
+  "name": "newbury-exhibit",
+  "version": "0.1.0",
+  "description": "Shared multi-device AR exhibit viewer for a physical Newbury LEGO build.",
+  "type": "module",
+  "main": "server/sync-server.js",
+  "scripts": {
+    "start": "node server/sync-server.js"
+  },
+  "engines": {
+    "node": ">=18"
+  },
+  "dependencies": {
+    "dotenv": "^16.4.5",
+    "express": "^5.0.0",
+    "ws": "^8.18.0"
+  },
+  "license": "MIT"
+}
@@ -0,0 +1,75 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1, viewport-fit=cover, maximum-scale=1" />
+<title>Newbury Exhibit — AR marker test</title>
+<style>
+  :root {
+    --red: #f65151; --yellow: #fff35d; --blue: #529eff;
+    --ink: #e8eaf2; --dim: #8a93ad; --panel: rgba(12,14,22,0.82);
+  }
+  * { box-sizing: border-box; }
+  html, body { margin: 0; height: 100%; background: #05060a; color: var(--ink);
+    font-family: 'Segoe UI', system-ui, -apple-system, sans-serif; overflow: hidden; }
+  #stage { position: fixed; inset: 0; }
+  /* camera + canvas stack, all same size, centred */
+  #video, #overlay { position: absolute; top: 50%; left: 50%;
+    transform: translate(-50%, -50%); }
+  #video { object-fit: cover; }
+  #overlay { pointer-events: none; }
+
+  /* HUD */
+  #hud { position: fixed; left: 12px; top: calc(12px + env(safe-area-inset-top));
+    background: var(--panel); border: 1px solid rgba(255,255,255,0.08);
+    border-radius: 12px; padding: 10px 12px; font-size: 13px; line-height: 1.5;
+    backdrop-filter: blur(8px); max-width: 70vw; }
+  #hud b { color: var(--blue); font-weight: 600; }
+  .tag { display: inline-block; padding: 1px 7px; border-radius: 999px;
+    font-size: 11px; font-weight: 600; margin-left: 6px; }
+  .tag.on { background: rgba(82,158,255,0.18); color: var(--blue); }
+  .tag.off { background: rgba(246,81,81,0.16); color: var(--red); }
+
+  #start { position: fixed; inset: 0; display: flex; flex-direction: column;
+    align-items: center; justify-content: center; gap: 20px; text-align: center;
+    background: radial-gradient(circle at 50% 38%, #161a2b, #05060a 70%); padding: 24px; }
+  #start h1 { font-size: 26px; margin: 0; letter-spacing: -0.01em; }
+  #start h1 span { background: linear-gradient(90deg, var(--red), var(--yellow), var(--blue));
+    -webkit-background-clip: text; background-clip: text; color: transparent; }
+  #start p { color: var(--dim); max-width: 30ch; margin: 0; line-height: 1.6; font-size: 15px; }
+  #go { appearance: none; border: 0; cursor: pointer; font-size: 16px; font-weight: 600;
+    color: #06121f; background: linear-gradient(135deg, var(--blue), #51eaf1);
+    padding: 14px 30px; border-radius: 999px; box-shadow: 0 8px 30px rgba(82,158,255,0.35); }
+  #go:active { transform: translateY(1px); }
+  .hidden { display: none !important; }
+  #err { color: var(--red); font-size: 13px; max-width: 34ch; }
+</style>
+</head>
+<body>
+  <div id="stage">
+    <video id="video" playsinline muted autoplay></video>
+    <canvas id="overlay"></canvas>
+  </div>
+
+  <div id="hud" class="hidden">
+    <div>Marker <span id="seen" class="tag off">searching…</span></div>
+    <div>id: <b id="mid">—</b> · fps: <b id="fps">0</b></div>
+    <div style="color:var(--dim);font-size:11px;margin-top:4px">Point at a Newbury Crest</div>
+  </div>
+
+  <div id="start">
+    <h1>Newbury <span>Hidden Side</span></h1>
+    <p>Point your camera at a Newbury Crest marker to reveal the ghost bound to it.</p>
+    <button id="go">Start camera</button>
+    <div id="err"></div>
+  </div>
+
+  <!-- js-aruco2 (vendored, MIT) -->
+  <script src="vendor/cv.js"></script>
+  <script src="vendor/svd.js"></script>
+  <script src="vendor/posit1.js"></script>
+  <script src="vendor/aruco.js"></script>
+  <script src="vendor/dictionaries/aruco_4x4_1000.js"></script>
+  <script src="js/ar-test.js"></script>
+</body>
+</html>
@@ -0,0 +1,30 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1" />
+<title>Newbury Exhibit — god view</title>
+<style>
+  :root { --ink:#e8eaf2; --dim:#8a93ad; }
+  * { box-sizing:border-box; }
+  html,body { margin:0; height:100%; background:#0a0a14; color:var(--ink);
+    font-family:'Segoe UI',system-ui,-apple-system,sans-serif; overflow:hidden; }
+  #panel { position:fixed; left:12px; top:12px; z-index:10;
+    background:rgba(12,14,22,0.82); border:1px solid rgba(255,255,255,0.08);
+    border-radius:12px; padding:10px 14px; font-size:13px; line-height:1.6;
+    backdrop-filter:blur(8px); }
+  #panel b { color:#529eff; }
+  #panel .row { color:var(--dim); font-size:12px; }
+  #status { font-weight:600; }
+  #status.ok { color:#51eaf1; } #status.warn { color:#fff35d; }
+</style>
+</head>
+<body>
+  <div id="panel">
+    <div>Newbury Exhibit · <b>god view</b></div>
+    <div class="row">link: <span id="status" class="warn">connecting…</span> · ghosts: <b id="count">0</b></div>
+    <div class="row">drag to orbit · scroll to zoom</div>
+  </div>
+  <script type="module" src="js/viewer.js"></script>
+</body>
+</html>
@@ -0,0 +1,214 @@
+/* Newbury Exhibit — AR marker proof of concept
+ *
+ * Goal of this module: prove the full chain works on a real phone —
+ *   camera frame -> ArUco 4x4 detection -> a ghost sprite locked onto the marker.
+ * No server/sync yet; this is the localisation primitive everything else builds on.
+ *
+ * Detector: js-aruco2 (global `AR`), dictionary ARUCO_4X4_1000.
+ */
+(function () {
+  'use strict';
+
+  const video = document.getElementById('video');
+  const overlay = document.getElementById('overlay');
+  const ctx = overlay.getContext('2d');
+  const startScreen = document.getElementById('start');
+  const goBtn = document.getElementById('go');
+  const errEl = document.getElementById('err');
+  const hud = document.getElementById('hud');
+  const seenTag = document.getElementById('seen');
+  const midEl = document.getElementById('mid');
+  const fpsEl = document.getElementById('fps');
+
+  // Offscreen canvas we actually read pixels from (matches video native size).
+  const grab = document.createElement('canvas');
+  const gctx = grab.getContext('2d', { willReadFrequently: true });
+
+  let detector = null;
+  let running = false;
+  let lastSeen = 0;          // timestamp of last successful detection
+  const HOLD_MS = 250;       // keep ghost visible briefly through dropped frames
+
+  // Ghost sprite (animated WebP if present, else procedural wisp fallback).
+  const ghostImg = new Image();
+  let ghostReady = false;
+  ghostImg.onload = () => { ghostReady = true; };
+  ghostImg.onerror = () => { ghostReady = false; }; // fall back to procedural
+  // Optional: drop a sprite at this path to use it. Safe if 404 -> procedural wisp.
+  ghostImg.src = 'assets/ghost_blue.webp';
+
+  function sizeToVideo() {
+    const vw = video.videoWidth, vh = video.videoHeight;
+    if (!vw || !vh) return;
+    grab.width = vw; grab.height = vh;
+
+    // Cover-fit the viewport while keeping native pixels for detection.
+    const scale = Math.max(window.innerWidth / vw, window.innerHeight / vh);
+    const dw = vw * scale, dh = vh * scale;
+    for (const el of [video, overlay]) {
+      el.style.width = dw + 'px';
+      el.style.height = dh + 'px';
+    }
+    overlay.width = dw; overlay.height = dh;
+    overlay._scale = scale; // px-per-native-pixel for drawing in display space
+  }
+
+  async function start() {
+    errEl.textContent = '';
+    try {
+      const stream = await navigator.mediaDevices.getUserMedia({
+        video: { facingMode: { ideal: 'environment' }, width: { ideal: 1280 }, height: { ideal: 720 } },
+        audio: false,
+      });
+      video.srcObject = stream;
+      await video.play();
+    } catch (e) {
+      errEl.textContent = 'Camera unavailable: ' + (e.message || e.name) +
+        '. On iPhone this page must be served over HTTPS and you must allow camera access.';
+      return;
+    }
+
+    detector = new AR.Detector({ dictionaryName: 'ARUCO_4X4_1000' });
+
+    await new Promise((res) => {
+      if (video.readyState >= 2) return res();
+      video.onloadeddata = () => res();
+    });
+    sizeToVideo();
+    window.addEventListener('resize', sizeToVideo);
+
+    startScreen.classList.add('hidden');
+    hud.classList.remove('hidden');
+    running = true;
+    requestAnimationFrame(loop);
+  }
+
+  // ---- detection + render loop ----
+  let frames = 0, fpsStamp = performance.now();
+
+  function loop(now) {
+    if (!running) return;
+    requestAnimationFrame(loop);
+    if (video.readyState < 2 || !grab.width) return;
+
+    gctx.drawImage(video, 0, 0, grab.width, grab.height);
+    const img = gctx.getImageData(0, 0, grab.width, grab.height);
+
+    let markers = [];
+    try { markers = detector.detect(img); } catch (_) { markers = []; }
+
+    const s = overlay._scale || 1;
+    ctx.clearRect(0, 0, overlay.width, overlay.height);
+
+    if (markers.length) {
+      lastSeen = now;
+      const m = markers[0];
+      drawMarkerOutline(m, s);
+      drawGhostOnMarker(m, s, now);
+      seenTag.textContent = 'locked';
+      seenTag.className = 'tag on';
+      midEl.textContent = m.id;
+    } else if (now - lastSeen < HOLD_MS) {
+      // brief hold-over: keep last ghost roughly; (cheap version: skip)
+      seenTag.textContent = 'holding…';
+      seenTag.className = 'tag on';
+    } else {
+      seenTag.textContent = 'searching…';
+      seenTag.className = 'tag off';
+      midEl.textContent = '—';
+    }
+
+    frames++;
+    if (now - fpsStamp > 500) {
+      fpsEl.textContent = Math.round((frames * 1000) / (now - fpsStamp));
+      frames = 0; fpsStamp = now;
+    }
+  }
+
+  function corners(m, s) {
+    // js-aruco corners are in native pixel space (origin top-left).
+    return m.corners.map((c) => ({ x: c.x * s, y: c.y * s }));
+  }
+
+  function drawMarkerOutline(m, s) {
+    const c = corners(m, s);
+    ctx.lineWidth = 3;
+    ctx.strokeStyle = 'rgba(82,158,255,0.9)';
+    ctx.beginPath();
+    ctx.moveTo(c[0].x, c[0].y);
+    for (let i = 1; i < c.length; i++) ctx.lineTo(c[i].x, c[i].y);
+    ctx.closePath();
+    ctx.stroke();
+    // corner dot to show orientation lock (first corner)
+    ctx.fillStyle = 'var(--yellow)';
+    ctx.fillStyle = '#fff35d';
+    ctx.beginPath(); ctx.arc(c[0].x, c[0].y, 5, 0, Math.PI * 2); ctx.fill();
+  }
+
+  function centroid(c) {
+    let x = 0, y = 0;
+    for (const p of c) { x += p.x; y += p.y; }
+    return { x: x / c.length, y: y / c.length };
+  }
+
+  function markerSpan(c) {
+    // average side length in display px -> sprite scale reference
+    let sum = 0;
+    for (let i = 0; i < c.length; i++) {
+      const a = c[i], b = c[(i + 1) % c.length];
+      sum += Math.hypot(b.x - a.x, b.y - a.y);
+    }
+    return sum / c.length;
+  }
+
+  function drawGhostOnMarker(m, s, now) {
+    const c = corners(m, s);
+    const mid = centroid(c);
+    const span = markerSpan(c);
+
+    // Ghost hovers above the marker, gently bobbing — a tiny taste of the
+    // motion solver the sync server will eventually drive.
+    const t = now / 1000;
+    const bob = Math.sin(t * 2.2) * span * 0.10;
+    const sway = Math.cos(t * 1.3) * span * 0.06;
+    const cx = mid.x + sway;
+    const cy = mid.y - span * 0.95 + bob; // float above the plaque
+    const size = span * 1.4;
+
+    if (ghostReady) {
+      ctx.save();
+      ctx.globalAlpha = 0.92;
+      ctx.drawImage(ghostImg, cx - size / 2, cy - size / 2, size, size);
+      ctx.restore();
+    } else {
+      drawWisp(cx, cy, size * 0.5, t);
+    }
+
+    // tether line so it reads as "bound to this marker"
+    ctx.strokeStyle = 'rgba(81,234,241,0.35)';
+    ctx.lineWidth = 2;
+    ctx.setLineDash([4, 6]);
+    ctx.beginPath(); ctx.moveTo(mid.x, mid.y); ctx.lineTo(cx, cy + size * 0.25); ctx.stroke();
+    ctx.setLineDash([]);
+  }
+
+  // Procedural fallback wisp in Hidden Side "Sad/Blue" gradient.
+  function drawWisp(cx, cy, r, t) {
+    const grad = ctx.createRadialGradient(cx, cy - r * 0.3, r * 0.2, cx, cy, r);
+    grad.addColorStop(0, 'rgba(81,234,241,0.95)');
+    grad.addColorStop(0.5, 'rgba(82,158,255,0.65)');
+    grad.addColorStop(1, 'rgba(82,158,255,0)');
+    ctx.fillStyle = grad;
+    ctx.beginPath();
+    // teardrop-ish body
+    const wob = Math.sin(t * 3) * r * 0.08;
+    ctx.ellipse(cx, cy, r * 0.8 + wob, r, 0, 0, Math.PI * 2);
+    ctx.fill();
+    // eyes
+    ctx.fillStyle = 'rgba(8,12,30,0.85)';
+    ctx.beginPath(); ctx.ellipse(cx - r * 0.28, cy - r * 0.1, r * 0.10, r * 0.16, 0, 0, Math.PI * 2); ctx.fill();
+    ctx.beginPath(); ctx.ellipse(cx + r * 0.28, cy - r * 0.1, r * 0.10, r * 0.16, 0, 0, Math.PI * 2); ctx.fill();
+  }
+
+  goBtn.addEventListener('click', start);
+})();
@@ -0,0 +1,165 @@
+import * as THREE from 'https://cdn.jsdelivr.net/npm/three@0.160.0/build/three.module.js';
+import { OrbitControls } from 'https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/controls/OrbitControls.js';
+
+// ---- Config --------------------------------------------------------------
+const MM = 0.001; // millimetre -> Three.js metre scale
+
+const statusEl = document.getElementById('status');
+const countEl = document.getElementById('count');
+
+// ---- Scene setup ---------------------------------------------------------
+const scene = new THREE.Scene();
+scene.background = new THREE.Color(0x0a0a14);
+
+const camera = new THREE.PerspectiveCamera(
+  55,
+  window.innerWidth / window.innerHeight,
+  0.01,
+  100
+);
+camera.position.set(0.75, 0.9, 1.6);
+
+const renderer = new THREE.WebGLRenderer({ antialias: true });
+renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
+renderer.setSize(window.innerWidth, window.innerHeight);
+document.body.appendChild(renderer.domElement);
+
+const controls = new OrbitControls(camera, renderer.domElement);
+controls.enableDamping = true;
+controls.target.set(0.75, 0.2, 0.35); // centre of a 1500x700 build in metres
+
+scene.add(new THREE.AmbientLight(0x8090b0, 0.8));
+const key = new THREE.DirectionalLight(0xffffff, 1.0);
+key.position.set(2, 3, 1);
+scene.add(key);
+
+// ---- Ghost tint gradients (from recovered GhostType data) ----------------
+const GHOST_GRADIENTS = {
+  Red: { top: 0xf65151, bottom: 0xff2678 },
+  Yellow: { top: 0xb57f0b, bottom: 0xfff35d },
+  Blue: { top: 0x529eff, bottom: 0x51eaf1 },
+};
+
+// We don't have per-ghost colour on the client snapshot yet, so default to Blue;
+// colour wiring comes when we feed the enriched roster in. Kept simple for M1.
+function ghostMaterial(colorKey = 'Blue') {
+  const g = GHOST_GRADIENTS[colorKey] || GHOST_GRADIENTS.Blue;
+  return new THREE.MeshStandardMaterial({
+    color: g.bottom,
+    emissive: g.top,
+    emissiveIntensity: 0.6,
+    transparent: true,
+    opacity: 0.85,
+    roughness: 0.4,
+  });
+}
+
+// ---- Build footprint + anchor markers (drawn once from /api/scene) --------
+let worldDims = { x: 1500, y: 600, z: 700 };
+
+function drawBuildFootprint() {
+  const w = worldDims.x * MM;
+  const d = worldDims.z * MM;
+  const geo = new THREE.PlaneGeometry(w, d);
+  const mat = new THREE.MeshStandardMaterial({
+    color: 0x141422,
+    roughness: 0.9,
+    side: THREE.DoubleSide,
+  });
+  const plane = new THREE.Mesh(geo, mat);
+  plane.rotation.x = -Math.PI / 2;
+  // origin is a corner, so shift plane so corner sits at (0,0,0)
+  plane.position.set(w / 2, 0, d / 2);
+  scene.add(plane);
+
+  const grid = new THREE.GridHelper(Math.max(w, d), 15, 0x334466, 0x223355);
+  grid.position.set(w / 2, 0.001, d / 2);
+  scene.add(grid);
+}
+
+function drawAnchors(anchors) {
+  const mat = new THREE.MeshStandardMaterial({
+    color: 0x00e5c0,
+    emissive: 0x00e5c0,
+    emissiveIntensity: 0.5,
+  });
+  anchors.forEach((a) => {
+    const s = (a.fiducialSizeMm || 40) * MM;
+    const geo = new THREE.BoxGeometry(s, s * 0.15, s);
+    const m = new THREE.Mesh(geo, mat);
+    m.position.set(a.position.x * MM, a.position.y * MM, a.position.z * MM);
+    scene.add(m);
+  });
+}
+
+// ---- Ghost pool ----------------------------------------------------------
+const ghostMeshes = new Map(); // spawnId -> THREE.Mesh
+
+function ensureGhost(spawnId) {
+  if (ghostMeshes.has(spawnId)) return ghostMeshes.get(spawnId);
+  const geo = new THREE.IcosahedronGeometry(0.05, 1); // placeholder until OBJ wired
+  const mesh = new THREE.Mesh(geo, ghostMaterial('Blue'));
+  scene.add(mesh);
+  ghostMeshes.set(spawnId, mesh);
+  return mesh;
+}
+
+function applyState(ghosts) {
+  const seen = new Set();
+  for (const g of ghosts) {
+    seen.add(g.spawnId);
+    const mesh = ensureGhost(g.spawnId);
+    mesh.position.set(g.pos.x * MM, g.pos.y * MM, g.pos.z * MM);
+    mesh.rotation.y = (g.yawDeg * Math.PI) / 180;
+  }
+  // remove any ghosts no longer present
+  for (const [id, mesh] of ghostMeshes) {
+    if (!seen.has(id)) {
+      scene.remove(mesh);
+      ghostMeshes.delete(id);
+    }
+  }
+  countEl.textContent = String(ghosts.length);
+}
+
+// ---- WebSocket sync ------------------------------------------------------
+function connect() {
+  const proto = location.protocol === 'https:' ? 'wss' : 'ws';
+  const ws = new WebSocket(`${proto}://${location.host}/sync`);
+
+  ws.onopen = () => {
+    statusEl.textContent = 'connected';
+    statusEl.className = 'ok';
+  };
+  ws.onclose = () => {
+    statusEl.textContent = 'reconnecting…';
+    statusEl.className = 'warn';
+    setTimeout(connect, 1500);
+  };
+  ws.onerror = () => ws.close();
+  ws.onmessage = (ev) => {
+    const msg = JSON.parse(ev.data);
+    if (msg.type === 'hello') {
+      if (msg.world?.buildSize) worldDims = msg.world.buildSize;
+      drawBuildFootprint();
+      if (msg.anchors) drawAnchors(msg.anchors);
+    } else if (msg.type === 'state') {
+      applyState(msg.ghosts);
+    }
+  };
+}
+connect();
+
+// ---- Render loop ---------------------------------------------------------
+function animate() {
+  requestAnimationFrame(animate);
+  controls.update();
+  renderer.render(scene, camera);
+}
+animate();
+
+window.addEventListener('resize', () => {
+  camera.aspect = window.innerWidth / window.innerHeight;
+  camera.updateProjectionMatrix();
+  renderer.setSize(window.innerWidth, window.innerHeight);
+});
@@ -0,0 +1,737 @@
+/*
+Copyright (c) 2011 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "OpenCV: Open Computer Vision Library"
+  http://sourceforge.net/projects/opencvlibrary/
+- "Stack Blur: Fast But Goodlooking"
+  http://incubator.quasimondo.com/processing/fast_blur_deluxe.php
+*/
+
+var CV = CV || {};
+this.CV = CV;
+
+CV.Image = function(width, height, data){
+  this.width = width || 0;
+  this.height = height || 0;
+  this.data = data || [];
+};
+
+CV.grayscale = function(imageSrc, imageDst){
+  var src = imageSrc.data, dst = imageDst.data, len = src.length,
+      i = 0, j = 0;
+
+  for (; i < len; i += 4){
+    dst[j ++] =
+      (src[i] * 0.299 + src[i + 1] * 0.587 + src[i + 2] * 0.114 + 0.5) & 0xff;
+  }
+
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+
+  return imageDst;
+};
+
+CV.threshold = function(imageSrc, imageDst, threshold){
+  var src = imageSrc.data, dst = imageDst.data,
+      len = src.length, tab = [], i;
+
+  for (i = 0; i < 256; ++ i){
+    tab[i] = i <= threshold? 0: 255;
+  }
+
+  for (i = 0; i < len; ++ i){
+    dst[i] = tab[ src[i] ];
+  }
+
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+
+  return imageDst;
+};
+
+CV.adaptiveThreshold = function(imageSrc, imageDst, kernelSize, threshold){
+  var src = imageSrc.data, dst = imageDst.data, len = src.length, tab = [], i;
+
+  CV.stackBoxBlur(imageSrc, imageDst, kernelSize);
+
+  for (i = 0; i < 768; ++ i){
+    tab[i] = (i - 255 <= -threshold)? 255: 0;
+  }
+
+  for (i = 0; i < len; ++ i){
+    dst[i] = tab[ src[i] - dst[i] + 255 ];
+  }
+
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+
+  return imageDst;
+};
+
+CV.otsu = function(imageSrc){
+  var src = imageSrc.data, len = src.length, hist = [],
+      threshold = 0, sum = 0, sumB = 0, wB = 0, wF = 0, max = 0,
+      mu, between, i;
+
+  for (i = 0; i < 256; ++ i){
+    hist[i] = 0;
+  }
+
+  for (i = 0; i < len; ++ i){
+    hist[ src[i] ] ++;
+  }
+
+  for (i = 0; i < 256; ++ i){
+    sum += hist[i] * i;
+  }
+
+  for (i = 0; i < 256; ++ i){
+    wB += hist[i];
+    if (0 !== wB){
+
+      wF = len - wB;
+      if (0 === wF){
+        break;
+      }
+
+      sumB += hist[i] * i;
+
+      mu = (sumB / wB) - ( (sum - sumB) / wF );
+
+      between = wB * wF * mu * mu;
+
+      if (between > max){
+        max = between;
+        threshold = i;
+      }
+    }
+  }
+
+  return threshold;
+};
+
+CV.stackBoxBlurMult =
+  [1, 171, 205, 293, 57, 373, 79, 137, 241, 27, 391, 357, 41, 19, 283, 265];
+
+CV.stackBoxBlurShift =
+  [0, 9, 10, 11, 9, 12, 10, 11, 12, 9, 13, 13, 10, 9, 13, 13];
+
+CV.BlurStack = function(){
+  this.color = 0;
+  this.next = null;
+};
+
+CV.stackBoxBlur = function(imageSrc, imageDst, kernelSize){
+  var src = imageSrc.data, dst = imageDst.data,
+      height = imageSrc.height, width = imageSrc.width,
+      heightMinus1 = height - 1, widthMinus1 = width - 1,
+      size = kernelSize + kernelSize + 1, radius = kernelSize + 1,
+      mult = CV.stackBoxBlurMult[kernelSize],
+      shift = CV.stackBoxBlurShift[kernelSize],
+      stack, stackStart, color, sum, pos, start, p, x, y, i;
+
+  stack = stackStart = new CV.BlurStack();
+  for (i = 1; i < size; ++ i){
+    stack = stack.next = new CV.BlurStack();
+  }
+  stack.next = stackStart;
+
+  pos = 0;
+
+  for (y = 0; y < height; ++ y){
+    start = pos;
+
+    color = src[pos];
+    sum = radius * color;
+
+    stack = stackStart;
+    for (i = 0; i < radius; ++ i){
+      stack.color = color;
+      stack = stack.next;
+    }
+    for (i = 1; i < radius; ++ i){
+      stack.color = src[pos + i];
+      sum += stack.color;
+      stack = stack.next;
+    }
+
+    stack = stackStart;
+    for (x = 0; x < width; ++ x){
+      dst[pos ++] = (sum * mult) >>> shift;
+
+      p = x + radius;
+      p = start + (p < widthMinus1? p: widthMinus1);
+      sum -= stack.color - src[p];
+
+      stack.color = src[p];
+      stack = stack.next;
+    }
+  }
+
+  for (x = 0; x < width; ++ x){
+    pos = x;
+    start = pos + width;
+
+    color = dst[pos];
+    sum = radius * color;
+
+    stack = stackStart;
+    for (i = 0; i < radius; ++ i){
+      stack.color = color;
+      stack = stack.next;
+    }
+    for (i = 1; i < radius; ++ i){
+      stack.color = dst[start];
+      sum += stack.color;
+      stack = stack.next;
+
+      start += width;
+    }
+
+    stack = stackStart;
+    for (y = 0; y < height; ++ y){
+      dst[pos] = (sum * mult) >>> shift;
+
+      p = y + radius;
+      p = x + ( (p < heightMinus1? p: heightMinus1) * width );
+      sum -= stack.color - dst[p];
+
+      stack.color = dst[p];
+      stack = stack.next;
+
+      pos += width;
+    }
+  }
+
+  return imageDst;
+};
+
+CV.gaussianBlur = function(imageSrc, imageDst, imageMean, kernelSize){
+  var kernel = CV.gaussianKernel(kernelSize);
+
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+
+  imageMean.width = imageSrc.width;
+  imageMean.height = imageSrc.height;
+
+  CV.gaussianBlurFilter(imageSrc, imageMean, kernel, true);
+  CV.gaussianBlurFilter(imageMean, imageDst, kernel, false);
+
+  return imageDst;
+};
+
+CV.gaussianBlurFilter = function(imageSrc, imageDst, kernel, horizontal){
+  var src = imageSrc.data, dst = imageDst.data,
+      height = imageSrc.height, width = imageSrc.width,
+      pos = 0, limit = kernel.length >> 1,
+      cur, value, i, j, k;
+
+  for (i = 0; i < height; ++ i){
+
+    for (j = 0; j < width; ++ j){
+      value = 0.0;
+
+      for (k = -limit; k <= limit; ++ k){
+
+        if (horizontal){
+          cur = pos + k;
+          if (j + k < 0){
+            cur = pos;
+          }
+          else if (j + k >= width){
+            cur = pos;
+          }
+        }else{
+          cur = pos + (k * width);
+          if (i + k < 0){
+            cur = pos;
+          }
+          else if (i + k >= height){
+            cur = pos;
+          }
+        }
+
+        value += kernel[limit + k] * src[cur];
+      }
+
+      dst[pos ++] = horizontal? value: (value + 0.5) & 0xff;
+    }
+  }
+
+  return imageDst;
+};
+
+CV.gaussianKernel = function(kernelSize){
+  var tab =
+    [ [1],
+      [0.25, 0.5, 0.25],
+      [0.0625, 0.25, 0.375, 0.25, 0.0625],
+      [0.03125, 0.109375, 0.21875, 0.28125, 0.21875, 0.109375, 0.03125] ],
+    kernel = [], center, sigma, scale2X, sum, x, i;
+
+  if ( (kernelSize <= 7) && (kernelSize % 2 === 1) ){
+    kernel = tab[kernelSize >> 1];
+  }else{
+    center = (kernelSize - 1.0) * 0.5;
+    sigma = 0.8 + (0.3 * (center - 1.0) );
+    scale2X = -0.5 / (sigma * sigma);
+    sum = 0.0;
+    for (i = 0; i < kernelSize; ++ i){
+      x = i - center;
+      sum += kernel[i] = Math.exp(scale2X * x * x);
+    }
+    sum = 1 / sum;
+    for (i = 0; i < kernelSize; ++ i){
+      kernel[i] *= sum;
+    }
+  }
+
+  return kernel;
+};
+
+CV.findContours = function(imageSrc, binary){
+  var width = imageSrc.width, height = imageSrc.height, contours = [],
+      src, deltas, pos, pix, nbd, outer, hole, i, j;
+
+  src = CV.binaryBorder(imageSrc, binary);
+
+  deltas = CV.neighborhoodDeltas(width + 2);
+
+  pos = width + 3;
+  nbd = 1;
+
+  for (i = 0; i < height; ++ i, pos += 2){
+
+    for (j = 0; j < width; ++ j, ++ pos){
+      pix = src[pos];
+
+      if (0 !== pix){
+        outer = hole = false;
+
+        if (1 === pix && 0 === src[pos - 1]){
+          outer = true;
+        }
+        else if (pix >= 1 && 0 === src[pos + 1]){
+          hole = true;
+        }
+
+        if (outer || hole){
+          ++ nbd;
+
+          contours.push( CV.borderFollowing(src, pos, nbd, {x: j, y: i}, hole, deltas) );
+        }
+      }
+    }
+  }
+
+  return contours;
+};
+
+CV.borderFollowing = function(src, pos, nbd, point, hole, deltas){
+  var contour = [], pos1, pos3, pos4, s, s_end, s_prev;
+
+  contour.hole = hole;
+
+  s = s_end = hole? 0: 4;
+  do{
+    s = (s - 1) & 7;
+    pos1 = pos + deltas[s];
+    if (src[pos1] !== 0){
+      break;
+    }
+  }while(s !== s_end);
+
+  if (s === s_end){
+    src[pos] = -nbd;
+    contour.push( {x: point.x, y: point.y} );
+
+  }else{
+    pos3 = pos;
+    s_prev = s ^ 4;
+
+    while(true){
+      s_end = s;
+
+      do{
+        pos4 = pos3 + deltas[++ s];
+      }while(src[pos4] === 0);
+
+      s &= 7;
+
+      if ( ( (s - 1) >>> 0) < (s_end >>> 0) ){
+        src[pos3] = -nbd;
+      }
+      else if (src[pos3] === 1){
+        src[pos3] = nbd;
+      }
+
+      contour.push( {x: point.x, y: point.y} );
+
+      s_prev = s;
+
+      point.x += CV.neighborhood[s][0];
+      point.y += CV.neighborhood[s][1];
+
+      if ( (pos4 === pos) && (pos3 === pos1) ){
+        break;
+      }
+
+      pos3 = pos4;
+      s = (s + 4) & 7;
+    }
+  }
+
+  return contour;
+};
+
+CV.neighborhood =
+  [ [1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1], [0, 1], [1, 1] ];
+
+CV.neighborhoodDeltas = function(width){
+  var deltas = [], len = CV.neighborhood.length, i = 0;
+
+  for (; i < len; ++ i){
+    deltas[i] = CV.neighborhood[i][0] + (CV.neighborhood[i][1] * width);
+  }
+
+  return deltas.concat(deltas);
+};
+
+CV.approxPolyDP = function(contour, epsilon){
+  var slice = {start_index: 0, end_index: 0},
+      right_slice = {start_index: 0, end_index: 0},
+      poly = [], stack = [], len = contour.length,
+      pt, start_pt, end_pt, dist, max_dist, le_eps,
+      dx, dy, i, j, k;
+
+  epsilon *= epsilon;
+
+  k = 0;
+
+  for (i = 0; i < 3; ++ i){
+    max_dist = 0;
+
+    k = (k + right_slice.start_index) % len;
+    start_pt = contour[k];
+    if (++ k === len) {k = 0;}
+
+    for (j = 1; j < len; ++ j){
+      pt = contour[k];
+      if (++ k === len) {k = 0;}
+
+      dx = pt.x - start_pt.x;
+      dy = pt.y - start_pt.y;
+      dist = dx * dx + dy * dy;
+
+      if (dist > max_dist){
+        max_dist = dist;
+        right_slice.start_index = j;
+      }
+    }
+  }
+
+  if (max_dist <= epsilon){
+    poly.push( {x: start_pt.x, y: start_pt.y} );
+
+  }else{
+    slice.start_index = k;
+    slice.end_index = (right_slice.start_index += slice.start_index);
+
+    right_slice.start_index -= right_slice.start_index >= len? len: 0;
+    right_slice.end_index = slice.start_index;
+    if (right_slice.end_index < right_slice.start_index){
+      right_slice.end_index += len;
+    }
+
+    stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
+    stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
+  }
+
+  while(stack.length !== 0){
+    slice = stack.pop();
+
+    end_pt = contour[slice.end_index % len];
+    start_pt = contour[k = slice.start_index % len];
+    if (++ k === len) {k = 0;}
+
+    if (slice.end_index <= slice.start_index + 1){
+      le_eps = true;
+
+    }else{
+      max_dist = 0;
+
+      dx = end_pt.x - start_pt.x;
+      dy = end_pt.y - start_pt.y;
+
+      for (i = slice.start_index + 1; i < slice.end_index; ++ i){
+        pt = contour[k];
+        if (++ k === len) {k = 0;}
+
+        dist = Math.abs( (pt.y - start_pt.y) * dx - (pt.x - start_pt.x) * dy);
+
+        if (dist > max_dist){
+          max_dist = dist;
+          right_slice.start_index = i;
+        }
+      }
+
+      le_eps = max_dist * max_dist <= epsilon * (dx * dx + dy * dy);
+    }
+
+    if (le_eps){
+      poly.push( {x: start_pt.x, y: start_pt.y} );
+
+    }else{
+      right_slice.end_index = slice.end_index;
+      slice.end_index = right_slice.start_index;
+
+      stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
+      stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
+    }
+  }
+
+  return poly;
+};
+
+CV.warp = function(imageSrc, imageDst, contour, warpSize){
+  var src = imageSrc.data, dst = imageDst.data,
+      width = imageSrc.width, height = imageSrc.height,
+      pos = 0,
+      sx1, sx2, dx1, dx2, sy1, sy2, dy1, dy2, p1, p2, p3, p4,
+      m, r, s, t, u, v, w, x, y, i, j;
+
+  m = CV.getPerspectiveTransform(contour, warpSize - 1);
+
+  r = m[8];
+  s = m[2];
+  t = m[5];
+
+  for (i = 0; i < warpSize; ++ i){
+    r += m[7];
+    s += m[1];
+    t += m[4];
+
+    u = r;
+    v = s;
+    w = t;
+
+    for (j = 0; j < warpSize; ++ j){
+      u += m[6];
+      v += m[0];
+      w += m[3];
+
+      x = v / u;
+      y = w / u;
+
+      sx1 = x >>> 0;
+      sx2 = (sx1 === width - 1)? sx1: sx1 + 1;
+      dx1 = x - sx1;
+      dx2 = 1.0 - dx1;
+
+      sy1 = y >>> 0;
+      sy2 = (sy1 === height - 1)? sy1: sy1 + 1;
+      dy1 = y - sy1;
+      dy2 = 1.0 - dy1;
+
+      p1 = p2 = sy1 * width;
+      p3 = p4 = sy2 * width;
+
+      dst[pos ++] =
+        (dy2 * (dx2 * src[p1 + sx1] + dx1 * src[p2 + sx2]) +
+         dy1 * (dx2 * src[p3 + sx1] + dx1 * src[p4 + sx2]) ) & 0xff;
+
+    }
+  }
+
+  imageDst.width = warpSize;
+  imageDst.height = warpSize;
+
+  return imageDst;
+};
+
+CV.getPerspectiveTransform = function(src, size){
+  var rq = CV.square2quad(src);
+
+  rq[0] /= size;
+  rq[1] /= size;
+  rq[3] /= size;
+  rq[4] /= size;
+  rq[6] /= size;
+  rq[7] /= size;
+
+  return rq;
+};
+
+CV.square2quad = function(src){
+  var sq = [], px, py, dx1, dx2, dy1, dy2, den;
+
+  px = src[0].x - src[1].x + src[2].x - src[3].x;
+  py = src[0].y - src[1].y + src[2].y - src[3].y;
+
+  if (0 === px && 0 === py){
+    sq[0] = src[1].x - src[0].x;
+    sq[1] = src[2].x - src[1].x;
+    sq[2] = src[0].x;
+    sq[3] = src[1].y - src[0].y;
+    sq[4] = src[2].y - src[1].y;
+    sq[5] = src[0].y;
+    sq[6] = 0;
+    sq[7] = 0;
+    sq[8] = 1;
+
+  }else{
+    dx1 = src[1].x - src[2].x;
+    dx2 = src[3].x - src[2].x;
+    dy1 = src[1].y - src[2].y;
+    dy2 = src[3].y - src[2].y;
+    den = dx1 * dy2 - dx2 * dy1;
+
+    sq[6] = (px * dy2 - dx2 * py) / den;
+    sq[7] = (dx1 * py - px * dy1) / den;
+    sq[8] = 1;
+    sq[0] = src[1].x - src[0].x + sq[6] * src[1].x;
+    sq[1] = src[3].x - src[0].x + sq[7] * src[3].x;
+    sq[2] = src[0].x;
+    sq[3] = src[1].y - src[0].y + sq[6] * src[1].y;
+    sq[4] = src[3].y - src[0].y + sq[7] * src[3].y;
+    sq[5] = src[0].y;
+  }
+
+  return sq;
+};
+
+CV.isContourConvex = function(contour){
+  var orientation = 0, convex = true,
+      len = contour.length, i = 0, j = 0,
+      cur_pt, prev_pt, dxdy0, dydx0, dx0, dy0, dx, dy;
+
+  prev_pt = contour[len - 1];
+  cur_pt = contour[0];
+
+  dx0 = cur_pt.x - prev_pt.x;
+  dy0 = cur_pt.y - prev_pt.y;
+
+  for (; i < len; ++ i){
+    if (++ j === len) {j = 0;}
+
+    prev_pt = cur_pt;
+    cur_pt = contour[j];
+
+    dx = cur_pt.x - prev_pt.x;
+    dy = cur_pt.y - prev_pt.y;
+    dxdy0 = dx * dy0;
+    dydx0 = dy * dx0;
+
+    orientation |= dydx0 > dxdy0? 1: (dydx0 < dxdy0? 2: 3);
+
+    if (3 === orientation){
+        convex = false;
+        break;
+    }
+
+    dx0 = dx;
+    dy0 = dy;
+  }
+
+  return convex;
+};
+
+CV.perimeter = function(poly){
+  var len = poly.length, i = 0, j = len - 1,
+      p = 0.0, dx, dy;
+
+  for (; i < len; j = i ++){
+    dx = poly[i].x - poly[j].x;
+    dy = poly[i].y - poly[j].y;
+
+    p += Math.sqrt(dx * dx + dy * dy) ;
+  }
+
+  return p;
+};
+
+CV.minEdgeLength = function(poly){
+  var len = poly.length, i = 0, j = len - 1,
+      min = Infinity, d, dx, dy;
+
+  for (; i < len; j = i ++){
+    dx = poly[i].x - poly[j].x;
+    dy = poly[i].y - poly[j].y;
+
+    d = dx * dx + dy * dy;
+
+    if (d < min){
+      min = d;
+    }
+  }
+
+  return Math.sqrt(min);
+};
+
+CV.countNonZero = function(imageSrc, square){
+  var src = imageSrc.data, height = square.height, width = square.width,
+      pos = square.x + (square.y * imageSrc.width),
+      span = imageSrc.width - width,
+      nz = 0, i, j;
+
+  for (i = 0; i < height; ++ i){
+
+    for (j = 0; j < width; ++ j){
+
+      if ( 0 !== src[pos ++] ){
+        ++ nz;
+      }
+    }
+
+    pos += span;
+  }
+
+  return nz;
+};
+
+CV.binaryBorder = function(imageSrc, dst){
+  var src = imageSrc.data, height = imageSrc.height, width = imageSrc.width,
+      posSrc = 0, posDst = 0, i, j;
+
+  for (j = -2; j < width; ++ j){
+    dst[posDst ++] = 0;
+  }
+
+  for (i = 0; i < height; ++ i){
+    dst[posDst ++] = 0;
+
+    for (j = 0; j < width; ++ j){
+      dst[posDst ++] = (0 === src[posSrc ++]? 0: 1);
+    }
+
+    dst[posDst ++] = 0;
+  }
+
+  for (j = -2; j < width; ++ j){
+    dst[posDst ++] = 0;
+  }
+
+  return dst;
+};
@@ -0,0 +1,495 @@
+/*
+Copyright (c) 2012 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "Iterative Pose Estimation using Coplanar Feature Points"
+  Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis
+  http://www.cfar.umd.edu/~daniel/daniel_papersfordownload/CoplanarPts.pdf
+*/
+
+var POS = POS || {};
+this.POS = POS;
+
+var SVD = this.SVD || require('./svd').SVD;
+
+POS.Posit = function(modelSize, focalLength){
+  this.objectPoints = this.buildModel(modelSize);
+  this.focalLength = focalLength;
+
+  this.objectVectors = [];
+  this.objectNormal = [];
+  this.objectMatrix = [[],[],[]];
+  
+  this.init();
+};
+
+POS.Posit.prototype.buildModel = function(modelSize){
+  var half = modelSize / 2.0;
+  
+  return [
+    [-half,  half, 0.0],
+    [ half,  half, 0.0],
+    [ half, -half, 0.0],
+    [-half, -half, 0.0] ];
+};
+
+POS.Posit.prototype.init = function(){
+  var np = this.objectPoints.length,
+      vectors = [], n = [], len = 0.0, row = 2, i;
+  
+  for (i = 0; i < np; ++ i){
+    this.objectVectors[i] = [this.objectPoints[i][0] - this.objectPoints[0][0],
+                             this.objectPoints[i][1] - this.objectPoints[0][1],
+                             this.objectPoints[i][2] - this.objectPoints[0][2]];
+                             
+    vectors[i] = [this.objectVectors[i][0],
+                  this.objectVectors[i][1],
+                  this.objectVectors[i][2]];
+  }
+
+  while(0.0 === len){
+    n[0] = this.objectVectors[1][1] * this.objectVectors[row][2] -
+           this.objectVectors[1][2] * this.objectVectors[row][1];
+    n[1] = this.objectVectors[1][2] * this.objectVectors[row][0] -
+           this.objectVectors[1][0] * this.objectVectors[row][2];
+    n[2] = this.objectVectors[1][0] * this.objectVectors[row][1] -
+           this.objectVectors[1][1] * this.objectVectors[row][0];
+    
+    len = Math.sqrt(n[0] * n[0] + n[1] * n[1] + n[2] * n[2]);
+    
+    ++ row;
+  }
+
+  for (i = 0; i < 3; ++ i){
+    this.objectNormal[i] = n[i] / len;
+  }
+
+  POS.pseudoInverse(vectors, np, this.objectMatrix);
+};
+
+POS.Posit.prototype.pose = function(imagePoints){
+  var posRotation1 = [[],[],[]], posRotation2 = [[],[],[]], posTranslation = [],
+      rotation1 = [[],[],[]], rotation2 = [[],[],[]], translation1 = [], translation2 = [],
+      error1, error2, valid1, valid2, i, j;
+
+  this.pos(imagePoints, posRotation1, posRotation2, posTranslation);
+
+  valid1 = this.isValid(posRotation1, posTranslation);
+  if (valid1){
+    error1 = this.iterate(imagePoints, posRotation1, posTranslation, rotation1, translation1);
+  }else{
+    error1 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
+  }
+  
+  valid2 = this.isValid(posRotation2, posTranslation);
+  if (valid2){
+    error2 = this.iterate(imagePoints, posRotation2, posTranslation, rotation2, translation2);
+  }else{
+    error2 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
+  }
+
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < 3; ++ j){
+      if (valid1){
+        translation1[i] -= rotation1[i][j] * this.objectPoints[0][j];
+      }
+      if (valid2){
+        translation2[i] -= rotation2[i][j] * this.objectPoints[0][j];
+      }
+    }
+  }
+
+  return error1.euclidean < error2.euclidean?
+    new POS.Pose(error1.pixels, rotation1, translation1, error2.pixels, rotation2, translation2):
+    new POS.Pose(error2.pixels, rotation2, translation2, error1.pixels, rotation1, translation1);
+};
+
+POS.Posit.prototype.pos = function(imagePoints, rotation1, rotation2, translation){
+  var np = this.objectPoints.length, imageVectors = [],
+      i0 = [], j0 = [], ivec = [], jvec = [], row1 = [], row2 = [], row3 = [],
+      i0i0, j0j0, i0j0, delta, q, lambda, mu, scale, i, j;
+
+  for (i = 0; i < np; ++ i){
+    imageVectors[i] = [imagePoints[i].x - imagePoints[0].x,
+                       imagePoints[i].y - imagePoints[0].y];
+  }
+
+  //i0 and j0
+  for (i = 0; i < 3; ++ i){
+    i0[i] = 0.0;
+    j0[i] = 0.0;
+    for (j = 0; j < np; ++ j){
+      i0[i] += this.objectMatrix[i][j] * imageVectors[j][0];
+      j0[i] += this.objectMatrix[i][j] * imageVectors[j][1];
+    }
+  }
+
+  i0i0 = i0[0] * i0[0] + i0[1] * i0[1] + i0[2] * i0[2];
+  j0j0 = j0[0] * j0[0] + j0[1] * j0[1] + j0[2] * j0[2];
+  i0j0 = i0[0] * j0[0] + i0[1] * j0[1] + i0[2] * j0[2];
+
+  //Lambda and mu
+  delta = (j0j0 - i0i0) * (j0j0 - i0i0) + 4.0 * (i0j0 * i0j0);
+  
+  if (j0j0 - i0i0 >= 0.0){
+    q = (j0j0 - i0i0 + Math.sqrt(delta) ) / 2.0;
+  }else{
+    q = (j0j0 - i0i0 - Math.sqrt(delta) ) / 2.0;
+  }
+  
+  if (q >= 0.0){
+    lambda = Math.sqrt(q);
+    if (0.0 === lambda){
+      mu = 0.0;
+    }else{
+      mu = -i0j0 / lambda;
+    }
+  }else{
+    lambda = Math.sqrt( -(i0j0 * i0j0) / q);
+    if (0.0 === lambda){
+      mu = Math.sqrt(i0i0 - j0j0);
+    }else{
+      mu = -i0j0 / lambda;
+    }
+  }
+
+  //First rotation
+  for (i = 0; i < 3; ++ i){
+    ivec[i] = i0[i] + lambda * this.objectNormal[i];
+    jvec[i] = j0[i] + mu * this.objectNormal[i];
+  }
+  
+  scale = Math.sqrt(ivec[0] * ivec[0] + ivec[1] * ivec[1] + ivec[2] * ivec[2]);
+  
+  for (i = 0; i < 3; ++ i){
+    row1[i] = ivec[i] / scale;
+    row2[i] = jvec[i] / scale;
+  }
+  
+  row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+  row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+  row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+
+  for (i = 0; i < 3; ++ i){
+    rotation1[0][i] = row1[i];
+    rotation1[1][i] = row2[i];
+    rotation1[2][i] = row3[i];
+  }
+
+  //Second rotation
+  for (i = 0; i < 3; ++ i){
+    ivec[i] = i0[i] - lambda * this.objectNormal[i];
+    jvec[i] = j0[i] - mu * this.objectNormal[i];
+  }
+  
+  for (i = 0; i < 3; ++ i){
+    row1[i] = ivec[i] / scale;
+    row2[i] = jvec[i] / scale;
+  }
+  
+  row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+  row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+  row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+  
+  for (i = 0; i < 3; ++ i){
+    rotation2[0][i] = row1[i];
+    rotation2[1][i] = row2[i];
+    rotation2[2][i] = row3[i];
+  }
+
+  //Translation
+  translation[0] = imagePoints[0].x / scale;
+  translation[1] = imagePoints[0].y / scale;
+  translation[2] = this.focalLength / scale;
+};
+
+POS.Posit.prototype.isValid = function(rotation, translation){
+  var np = this.objectPoints.length, zmin = Infinity, i = 0, zi;
+
+  for (; i < np; ++ i){
+    zi = translation[2] +
+      (rotation[2][0] * this.objectVectors[i][0] +
+       rotation[2][1] * this.objectVectors[i][1] +
+       rotation[2][2] * this.objectVectors[i][2]);
+    if (zi < zmin){
+      zmin = zi;
+    }
+  }
+
+  return zmin >= 0.0;
+};
+
+POS.Posit.prototype.iterate = function(imagePoints, posRotation, posTranslation, rotation, translation){
+  var np = this.objectPoints.length,
+      oldSopImagePoints = [], sopImagePoints = [],
+      rotation1 = [[],[],[]], rotation2 = [[],[],[]],
+      translation1 = [], translation2 = [],
+      converged = false, iteration = 0,
+      oldImageDifference, imageDifference, factor,
+      error, error1, error2, delta, i, j;
+
+  for (i = 0; i < np; ++ i){
+    oldSopImagePoints[i] = {x: imagePoints[i].x,
+                            y: imagePoints[i].y};
+  }
+  
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < 3; ++ j){
+      rotation[i][j] = posRotation[i][j];
+    }
+    translation[i] = posTranslation[i];
+  }
+
+  for (i = 0; i < np; ++ i){
+    factor = 0.0;
+    for (j = 0; j < 3; ++ j){
+      factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+    }
+    sopImagePoints[i] = {x: (1.0 + factor) * imagePoints[i].x,
+                         y: (1.0 + factor) * imagePoints[i].y};
+  }
+
+  imageDifference = 0.0;
+  
+  for (i = 0; i < np; ++ i){
+    imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+    imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+  }
+
+  for (i = 0; i < 3; ++ i){
+    translation1[i] = translation[i] -
+      (rotation[i][0] * this.objectPoints[0][0] +
+       rotation[i][1] * this.objectPoints[0][1] +
+       rotation[i][2] * this.objectPoints[0][2]);
+  }
+  
+  error = error1 = this.error(imagePoints, rotation, translation1);
+
+  //Convergence
+  converged = (0.0 === error1.pixels) || (imageDifference < 0.01);
+  
+  while( iteration ++ < 100 && !converged ){
+  
+    for (i = 0; i < np; ++ i){
+      oldSopImagePoints[i].x = sopImagePoints[i].x;
+      oldSopImagePoints[i].y = sopImagePoints[i].y;
+    }
+
+    this.pos(sopImagePoints, rotation1, rotation2, translation);
+
+    for (i = 0; i < 3; ++ i){
+      translation1[i] = translation[i] -
+        (rotation1[i][0] * this.objectPoints[0][0] +
+         rotation1[i][1] * this.objectPoints[0][1] +
+         rotation1[i][2] * this.objectPoints[0][2]);
+        
+      translation2[i] = translation[i] -
+        (rotation2[i][0] * this.objectPoints[0][0] +
+         rotation2[i][1] * this.objectPoints[0][1] +
+         rotation2[i][2] * this.objectPoints[0][2]);
+    }
+
+    error1 = this.error(imagePoints, rotation1, translation1);
+    error2 = this.error(imagePoints, rotation2, translation2);
+
+    if ( (error1.euclidean >= 0.0) && (error2.euclidean >= 0.0) ){
+      if (error2.euclidean < error1.euclidean){
+        error = error2;
+        for (i = 0; i < 3; ++ i){
+          for (j = 0; j < 3; ++ j){
+            rotation[i][j] = rotation2[i][j];
+          }
+        }
+      }else{
+        error = error1;
+        for (i = 0; i < 3; ++ i){
+          for (j = 0; j < 3; ++ j){
+            rotation[i][j] = rotation1[i][j];
+          }
+        }
+      }
+    }
+
+    if ( (error1.euclidean < 0.0) && (error2.euclidean >= 0.0) ){
+      error = error2;
+      for (i = 0; i < 3; ++ i){
+        for (j = 0; j < 3; ++ j){
+          rotation[i][j] = rotation2[i][j];
+        }
+      }
+    }
+    
+    if ( (error2.euclidean < 0.0) && (error1.euclidean >= 0.0) ){
+      error = error1;
+      for (i = 0; i < 3; ++ i){
+        for (j = 0; j < 3; ++ j){
+          rotation[i][j] = rotation1[i][j];
+        }
+      }
+    }
+
+    for (i = 0; i < np; ++ i){
+      factor = 0.0;
+      for (j = 0; j < 3; ++ j){
+        factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+      }
+      sopImagePoints[i].x = (1.0 + factor) * imagePoints[i].x;
+      sopImagePoints[i].y = (1.0 + factor) * imagePoints[i].y;
+    }
+
+    oldImageDifference = imageDifference;
+    imageDifference = 0.0;
+    
+    for (i = 0; i < np; ++ i){
+      imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+      imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+    }
+
+    delta = Math.abs(imageDifference - oldImageDifference);
+
+    converged = (0.0 === error.pixels) || (delta < 0.01);
+  }
+  
+  return error;
+};
+
+POS.Posit.prototype.error = function(imagePoints, rotation, translation){
+  var np = this.objectPoints.length,
+      move = [], projection = [], errorvec = [],
+      euclidean = 0.0, pixels = 0.0, maximum = 0.0,
+      i, j, k;
+
+  if ( !this.isValid(rotation, translation) ){
+    return {euclidean: -1.0, pixels: -1, maximum: -1.0};
+  }
+  
+  for (i = 0; i < np; ++ i){
+    move[i] = [];
+    for (j = 0; j < 3; ++ j){
+      move[i][j] = translation[j];
+    }
+  }
+  
+  for (i = 0; i < np; ++ i){
+    for (j = 0; j < 3; ++ j){
+      for (k = 0; k < 3; ++ k){
+        move[i][j] += rotation[j][k] * this.objectPoints[i][k];
+      }
+    }
+  }
+
+  for (i = 0; i < np; ++ i){
+    projection[i] = [];
+    for (j = 0; j < 2; ++ j){
+      projection[i][j] = this.focalLength * move[i][j] / move[i][2];
+    }
+  }
+  
+  for (i = 0; i < np; ++ i){
+    errorvec[i] = [projection[i][0] - imagePoints[i].x,
+                   projection[i][1] - imagePoints[i].y];
+  }
+
+  for (i = 0; i < np; ++ i){
+    euclidean += Math.sqrt(errorvec[i][0] * errorvec[i][0] +
+                           errorvec[i][1] * errorvec[i][1]);
+                       
+    pixels += Math.abs( Math.round(projection[i][0]) - Math.round(imagePoints[i].x) ) +
+              Math.abs( Math.round(projection[i][1]) - Math.round(imagePoints[i].y) );
+              
+    if (Math.abs(errorvec[i][0]) > maximum){
+      maximum = Math.abs(errorvec[i][0]);
+    }
+    if (Math.abs(errorvec[i][1]) > maximum){
+      maximum = Math.abs(errorvec[i][1]);
+    }
+  }
+
+  return {euclidean: euclidean / np, pixels: pixels, maximum: maximum};
+};
+
+POS.pseudoInverse = function(a, n, b){
+  var w = [], v = [[],[],[]], s = [[],[],[]],
+      wmax = 0.0, cn = 0,
+      i, j, k;
+
+  SVD.svdcmp(a, n, 3, w, v);
+
+  for (i = 0; i < 3; ++ i){
+    if (w[i] > wmax){
+      wmax = w[i];
+    }
+  }
+
+  wmax *= 0.01;
+
+  for (i = 0; i < 3; ++ i){
+    if (w[i] < wmax){
+      w[i] = 0.0;
+    }
+  }
+
+  for (j = 0; j < 3; ++ j){
+    if (0.0 === w[j]){
+      ++ cn;
+      for (k = j; k < 2; ++ k){
+        for (i = 0; i < n; ++ i){
+          a[i][k] = a[i][k + 1];
+        }
+        for (i = 0; i < 3; ++ i){
+          v[i][k] = v[i][k + 1];
+        }
+      }
+    }
+  }
+
+  for (j = 0; j < 2; ++ j){
+    if (0.0 === w[j]){
+      w[j] = w[j + 1];
+    }
+  }
+
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < 3 - cn; ++ j){
+      s[i][j] = v[i][j] / w[j];
+    }
+  }
+  
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < n; ++ j){
+      b[i][j] = 0.0;
+      for (k = 0; k < 3 - cn; ++ k){
+        b[i][j] += s[i][k] * a[j][k];
+      }
+    }
+  }
+};
+
+POS.Pose = function(error1, rotation1, translation1, error2, rotation2, translation2){
+  this.bestError = error1;
+  this.bestRotation = rotation1;
+  this.bestTranslation = translation1;
+  this.alternativeError = error2;
+  this.alternativeRotation = rotation2;
+  this.alternativeTranslation = translation2;
+};
@@ -0,0 +1,284 @@
+/*
+Copyright (c) 2012 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "Numerical Recipes in C - Second Edition"
+  http://www.nr.com/
+*/
+
+var SVD = SVD || {};
+this.SVD = SVD;
+
+SVD.svdcmp = function(a, m, n, w, v){
+  var flag, i, its, j, jj, k, l, nm,
+      anorm = 0.0, c, f, g = 0.0, h, s, scale = 0.0, x, y, z, rv1 = [];
+      
+  //Householder reduction to bidiagonal form
+  for (i = 0; i < n; ++ i){
+    l = i + 1;
+    rv1[i] = scale * g;
+    g = s = scale = 0.0;
+    if (i < m){
+      for (k = i; k < m; ++ k){
+        scale += Math.abs( a[k][i] );
+      }
+      if (0.0 !== scale){
+        for (k = i; k < m; ++ k){
+          a[k][i] /= scale;
+          s += a[k][i] * a[k][i];
+        }
+        f = a[i][i];
+        g = -SVD.sign( Math.sqrt(s), f );
+        h = f * g - s;
+        a[i][i] = f - g;
+        for (j = l; j < n; ++ j){
+          for (s = 0.0, k = i; k < m; ++ k){
+            s += a[k][i] * a[k][j];
+          }
+          f = s / h;
+          for (k = i; k < m; ++ k){
+            a[k][j] += f * a[k][i];
+          }
+        }
+        for (k = i; k < m; ++ k){
+          a[k][i] *= scale;
+        }
+      }
+    }
+    w[i] = scale * g;
+    g = s = scale = 0.0;
+    if ( (i < m) && (i !== n - 1) ){
+      for (k = l; k < n; ++ k){
+        scale += Math.abs( a[i][k] );
+      }
+      if (0.0 !== scale){
+        for (k = l; k < n; ++ k){
+          a[i][k] /= scale;
+          s += a[i][k] * a[i][k];
+        }
+        f = a[i][l];
+        g = -SVD.sign( Math.sqrt(s), f );
+        h = f * g - s;
+        a[i][l] = f - g;
+        for (k = l; k < n; ++ k){
+          rv1[k] = a[i][k] / h;
+        }
+        for (j = l; j < m; ++ j){
+          for (s = 0.0, k = l; k < n; ++ k){
+            s += a[j][k] * a[i][k];
+          }
+          for (k = l; k < n; ++ k){
+            a[j][k] += s * rv1[k];
+          }
+        }
+        for (k = l; k < n; ++ k){
+          a[i][k] *= scale;
+        }
+      }
+    }
+    anorm = Math.max(anorm, ( Math.abs( w[i] ) + Math.abs( rv1[i] ) ) );
+  }
+
+  //Acumulation of right-hand transformation
+  for (i = n - 1; i >= 0; -- i){
+    if (i < n - 1){
+      if (0.0 !== g){
+        for (j = l; j < n; ++ j){
+          v[j][i] = ( a[i][j] / a[i][l] ) / g;
+        }
+        for (j = l; j < n; ++ j){
+          for (s = 0.0, k = l; k < n; ++ k){
+            s += a[i][k] * v[k][j];
+          }
+          for (k = l; k < n; ++ k){
+            v[k][j] += s * v[k][i];
+          }
+        }
+      }
+      for (j = l; j < n; ++ j){
+        v[i][j] = v[j][i] = 0.0;
+      }
+    }
+    v[i][i] = 1.0;
+    g = rv1[i];
+    l = i;
+  }
+
+  //Acumulation of left-hand transformation
+  for (i = Math.min(n, m) - 1; i >= 0; -- i){
+    l = i + 1;
+    g = w[i];
+    for (j = l; j < n; ++ j){
+      a[i][j] = 0.0;
+    }
+    if (0.0 !== g){
+      g = 1.0 / g;
+      for (j = l; j < n; ++ j){
+        for (s = 0.0, k = l; k < m; ++ k){
+          s += a[k][i] * a[k][j];
+        }
+        f = (s / a[i][i]) * g;
+        for (k = i; k < m; ++ k){
+          a[k][j] += f * a[k][i];
+        }
+      }
+      for (j = i; j < m; ++ j){
+        a[j][i] *= g;
+      }
+    }else{
+        for (j = i; j < m; ++ j){
+          a[j][i] = 0.0;
+        }
+    }
+    ++ a[i][i];
+  }
+
+  //Diagonalization of the bidiagonal form
+  for (k = n - 1; k >= 0; -- k){
+    for (its = 1; its <= 30; ++ its){
+      flag = true;
+      for (l = k; l >= 0; -- l){
+        nm = l - 1;
+        if ( Math.abs( rv1[l] ) + anorm === anorm ){
+          flag = false;
+          break;
+        }
+        if ( Math.abs( w[nm] ) + anorm === anorm ){
+          break;
+        }
+      }
+      if (flag){
+        c = 0.0;
+        s = 1.0;
+        for (i = l; i <= k; ++ i){
+          f = s * rv1[i];
+          if ( Math.abs(f) + anorm === anorm ){
+            break;
+          }
+          g = w[i];
+          h = SVD.pythag(f, g);
+          w[i] = h;
+          h = 1.0 / h;
+          c = g * h;
+          s = -f * h;
+          for (j = 1; j <= m; ++ j){
+            y = a[j][nm];
+            z = a[j][i];
+            a[j][nm] = y * c + z * s;
+            a[j][i] = z * c - y * s;
+          }
+        }
+      }
+
+      //Convergence
+      z = w[k];
+      if (l === k){
+        if (z < 0.0){
+          w[k] = -z;
+          for (j = 0; j < n; ++ j){
+            v[j][k] = -v[j][k];
+          }
+        }
+        break;
+      }
+
+      if (30 === its){
+        return false;
+      }
+
+      //Shift from bottom 2-by-2 minor
+      x = w[l];
+      nm = k - 1;
+      y = w[nm];
+      g = rv1[nm];
+      h = rv1[k];
+      f = ( (y - z) * (y + z) + (g - h) * (g + h) ) / (2.0 * h * y);
+      g = SVD.pythag( f, 1.0 );
+      f = ( (x - z) * (x + z) + h * ( (y / (f + SVD.sign(g, f) ) ) - h) ) / x;
+
+      //Next QR transformation
+      c = s = 1.0;
+      for (j = l; j <= nm; ++ j){
+        i = j + 1;
+        g = rv1[i];
+        y = w[i];
+        h = s * g;
+        g = c * g;
+        z = SVD.pythag(f, h);
+        rv1[j] = z;
+        c = f / z;
+        s = h / z;
+        f = x * c + g * s;
+        g = g * c - x * s;
+        h = y * s;
+        y *= c;
+        for (jj = 0; jj < n; ++ jj){
+          x = v[jj][j];
+          z = v[jj][i];
+          v[jj][j] = x * c + z * s;
+          v[jj][i] = z * c - x * s;
+        }
+        z = SVD.pythag(f, h);
+        w[j] = z;
+        if (0.0 !== z){
+          z = 1.0 / z;
+          c = f * z;
+          s = h * z;
+        }
+        f = c * g + s * y;
+        x = c * y - s * g;
+        for (jj = 0; jj < m; ++ jj){
+          y = a[jj][j];
+          z = a[jj][i];
+          a[jj][j] = y * c + z * s;
+          a[jj][i] = z * c - y * s;
+        }
+      }
+      rv1[l] = 0.0;
+      rv1[k] = f;
+      w[k] = x;
+    }
+  }
+
+  return true;
+};
+
+SVD.pythag = function(a, b){
+  var at = Math.abs(a), bt = Math.abs(b), ct;
+
+  if (at > bt){
+    ct = bt / at;
+    return at * Math.sqrt(1.0 + ct * ct);
+  }
+    
+  if (0.0 === bt){
+    return 0.0;
+  }
+
+  ct = at / bt;
+  return bt * Math.sqrt(1.0 + ct * ct);
+};
+
+SVD.sign = function(a, b){
+  return b >= 0.0? Math.abs(a): -Math.abs(a);
+};
@@ -0,0 +1,141 @@
+import 'dotenv/config';
+import express from 'express';
+import { createServer } from 'http';
+import { WebSocketServer } from 'ws';
+import { readFileSync } from 'fs';
+import { fileURLToPath } from 'url';
+import { dirname, join } from 'path';
+
+const __dirname = dirname(fileURLToPath(import.meta.url));
+const ROOT = join(__dirname, '..');
+
+const PORT = process.env.PORT || 34034;
+const TICK_HZ = Number(process.env.TICK_HZ || 20); // server broadcast rate
+
+// ---- Load scene ----------------------------------------------------------
+function loadScene() {
+  const raw = readFileSync(join(ROOT, 'data', 'scene.json'), 'utf-8');
+  return JSON.parse(raw);
+}
+let scene = loadScene();
+
+// ---- Motion solvers ------------------------------------------------------
+// Every solver takes (spawn, tSeconds) and returns { x,y,z, yawDeg }.
+// Positions are in world millimetres, matching scene.json.
+
+function solveHover(spawn, t) {
+  const p = spawn.position;
+  const r = spawn.hoverRadiusMm ?? 0;
+  const hoverW = (2 * Math.PI) / (spawn.hoverPeriodS ?? 6);
+  const bobA = spawn.bobAmplitudeMm ?? 0;
+  const bobW = (2 * Math.PI) / (spawn.bobPeriodS ?? 3);
+  const yaw = ((spawn.yawDegPerS ?? 0) * t) % 360;
+  return {
+    x: p.x + Math.cos(hoverW * t) * r,
+    y: p.y + Math.sin(bobW * t) * bobA,
+    z: p.z + Math.sin(hoverW * t) * r,
+    yawDeg: yaw,
+  };
+}
+
+function solvePatrol(spawn, t) {
+  const path = spawn.path || [];
+  if (path.length === 0) return { x: 0, y: 0, z: 0, yawDeg: 0 };
+  if (path.length === 1) return { ...path[0], yawDeg: 0 };
+  const period = spawn.patrolPeriodS ?? 12;
+  const segCount = path.length; // looped path
+  const phase = ((t % period) / period) * segCount; // 0..segCount
+  const seg = Math.floor(phase) % segCount;
+  const frac = phase - Math.floor(phase);
+  const a = path[seg];
+  const b = path[(seg + 1) % segCount];
+  const x = a.x + (b.x - a.x) * frac;
+  const y = a.y + (b.y - a.y) * frac;
+  const z = a.z + (b.z - a.z) * frac;
+  const bobA = spawn.bobAmplitudeMm ?? 0;
+  const bobW = (2 * Math.PI) / (spawn.bobPeriodS ?? 3);
+  let yawDeg = 0;
+  if (spawn.faceTravel) {
+    yawDeg = (Math.atan2(b.x - a.x, b.z - a.z) * 180) / Math.PI;
+  }
+  return { x, y: y + Math.sin(bobW * t) * bobA, z, yawDeg };
+}
+
+const SOLVERS = { hover: solveHover, patrol: solvePatrol };
+
+function solveSpawn(spawn, t) {
+  const solver = SOLVERS[spawn.motion] || solveHover;
+  return solver(spawn, t);
+}
+
+// ---- Authoritative state -------------------------------------------------
+const startTime = Date.now();
+function nowSeconds() {
+  return (Date.now() - startTime) / 1000;
+}
+
+function buildSnapshot() {
+  const t = nowSeconds();
+  const ghosts = scene.spawns.map((spawn) => {
+    const pose = solveSpawn(spawn, t);
+    return {
+      spawnId: spawn.id,
+      ghostId: spawn.ghostId,
+      label: spawn.label,
+      pos: { x: round(pose.x), y: round(pose.y), z: round(pose.z) },
+      yawDeg: round(pose.yawDeg),
+    };
+  });
+  return { type: 'state', serverTime: t, ghosts };
+}
+
+function round(n) {
+  return Math.round(n * 10) / 10;
+}
+
+// ---- HTTP + static -------------------------------------------------------
+const app = express();
+app.use(express.static(join(ROOT, 'public')));
+
+// Scene metadata (anchors + spawn definitions) for clients to align/render.
+app.get('/api/scene', (_req, res) => {
+  res.json({
+    world: scene.world,
+    anchors: scene.anchors,
+    spawns: scene.spawns.map((s) => ({
+      id: s.id,
+      ghostId: s.ghostId,
+      label: s.label,
+      motion: s.motion,
+    })),
+  });
+});
+
+app.get('/api/health', (_req, res) => {
+  res.json({ ok: true, viewers: wss ? wss.clients.size : 0, tickHz: TICK_HZ });
+});
+
+const httpServer = createServer(app);
+
+// ---- WebSocket broadcast -------------------------------------------------
+const wss = new WebSocketServer({ server: httpServer, path: '/sync' });
+
+wss.on('connection', (socket) => {
+  // Send scene + immediate snapshot on connect so a new phone is instantly aligned.
+  socket.send(JSON.stringify({ type: 'hello', world: scene.world, anchors: scene.anchors }));
+  socket.send(JSON.stringify(buildSnapshot()));
+});
+
+setInterval(() => {
+  if (wss.clients.size === 0) return;
+  const payload = JSON.stringify(buildSnapshot());
+  for (const client of wss.clients) {
+    if (client.readyState === 1) client.send(payload);
+  }
+}, 1000 / TICK_HZ);
+
+httpServer.listen(PORT, () => {
+  console.log(`Newbury exhibit sync server on :${PORT} (broadcast ${TICK_HZ}Hz)`);
+  console.log(`  Viewer:  http://localhost:${PORT}/`);
+  console.log(`  Scene:   ${scene.spawns.length} spawns, ${scene.anchors.length} anchors`);
+});
@@ -0,0 +1,66 @@
+@echo off
+REM ============================================================
+REM  Newbury Exhibit -> Gitea uploader
+REM  Wipe-and-re-clone _deploy checkout, copy tree, commit, push.
+REM  Mirrors the newbury-nights deploy pattern.
+REM ============================================================
+setlocal enabledelayedexpansion
+
+set GITEA_HOST=gitea.hideawaygaming.com.au
+set OWNER=jessikitty
+set REPO=newbury-exhibit
+set BRANCH=dev
+set SRC=%~dp0
+
+echo.
+echo === Newbury Exhibit deploy ===
+echo Source: %SRC%
+echo Target: https://%GITEA_HOST%/%OWNER%/%REPO% (branch %BRANCH%)
+echo.
+
+REM --- fresh _deploy checkout ---
+if exist "%SRC%_deploy" (
+  echo Removing old _deploy checkout...
+  rmdir /s /q "%SRC%_deploy"
+)
+echo Cloning %BRANCH%...
+git clone -b %BRANCH% "https://%GITEA_HOST%/%OWNER%/%REPO%.git" "%SRC%_deploy"
+if errorlevel 1 (
+  echo ERROR: clone failed. Check credentials / branch exists.
+  pause & exit /b 1
+)
+
+REM --- auto-detect git identity from existing global config ---
+for /f "tokens=*" %%a in ('git config --global user.name') do set GITNAME=%%a
+for /f "tokens=*" %%a in ('git config --global user.email') do set GITEMAIL=%%a
+if "!GITNAME!"=="" set GITNAME=jessikitty
+if "!GITEMAIL!"=="" set GITEMAIL=jess.rogerson.29@outlook.com
+
+REM --- copy project files into checkout (exclude deploy/node_modules/git) ---
+echo Syncing files...
+robocopy "%SRC%." "%SRC%_deploy" /E /XD "_deploy" "node_modules" ".git" /XF "*.log" >nul
+
+pushd "%SRC%_deploy"
+git config user.name "!GITNAME!"
+git config user.email "!GITEMAIL!"
+
+echo.
+echo === Staged changes ===
+git add -A
+git status --short
+echo.
+
+set /p MSG="Commit message (blank = 'Update exhibit'): "
+if "!MSG!"=="" set MSG=Update exhibit
+
+git commit -m "!MSG!"
+if errorlevel 1 (
+  echo Nothing to commit, or commit failed.
+) else (
+  git push origin %BRANCH%
+  if errorlevel 1 ( echo ERROR: push failed. & popd & pause & exit /b 1 )
+  echo.
+  echo === Pushed to %BRANCH% successfully ===
+)
+popd
+pause
				`@@ -0,0 +1 @@`
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