Densepose Server Fusion error & Live Observatory issue

My Workstation:

OS: Parrot-7 [7.0.9+parrot7-amd64 (64-bit)]
ESP Nodes: ESP32-WROOM-32 with 4 MB flash.
No. of Nodes: 3

When I open. http://localhost:3000/health .. it shows..
clients 3
source "esp32"
status "ok"
tick 16589

For Debugging i have added below line of code in,
RuView/v2/crates/wifi-densepose-sensing-server/src/main.rs
to check about the packets arriving from diff nodes..
// ADR-110: recover mesh-aligned timestamp for this CSI frame.

                let mesh_timestamp_us = ns.mesh_aligned_us_for_csi_frame(frame.sequence);
                
                ns.last_mesh_timestamp_us = mesh_timestamp_us;
                
                tracing::info!(
                    "node={} seq={} mesh_ts={:?}",
                    node_id,
                    frame.sequence,
                    ns.last_mesh_timestamp_us
                );

Densepose Server Logs:
server_log.txt
Here, the logs confirm all 3 nodes are active & sending CSI data to the server..

On the server terminal.. it keep on showing me when more then 1 ESP Nodes connect,
fusion error: Timestamp spread 130920 us exceeds guard interval 60000 us

Here are the individual ESP Nodes logs:
ESP Node 1: ESP_Node_1.txt

ESP Node 2: ESP_Node_2.txt

ESP Node 3: ESP_Node_3.txt

But the Body localization on observaotry.html are not correct.. while this test, we were 2 person in the room.

Here, below are the fix/changes that I have made.. but it also didn't removed that issue.

Multistatic Timestamp Issue: :
RuView_Multistatic_Timestamp_Issue.md

Multistatic Guard Configuration:
RuView_Multistatic_Guard_Configuration_Update.md

Start with v2/crates/wifi-densepose-sensing-server/src/main.rs and reproduce the multi-node case using the server_log.txt and three ESP node logs. Compare the mesh timestamps with the reported 60000 us guard interval, then inspect the linked timestamp and guard-configuration notes. Done means the fusion error is resolved for the three nodes and observatory.html reports body localization correctly.