chore: bump version to 0.4.0 in Cargo.toml and package.json, updated ARCHITECTURE.md file

Author: kalwalt

ARCHITECTURE.md

@@ -27,13 +27,16 @@ The unified core library containing all AR functionality:
     -   `ar2::tracking` — runtime tracking structs and algorithms.
     -   `ar2::image_set` — `.iset` image pyramid I/O.
     -   `ar2::feature_set` — `.fset` feature point I/O.
--   **KPM module** (`kpm`): Keypoint Matching subsystem:
+-   **KPM module** (`kpm`): Keypoint Matching subsystem (FREAK descriptor-based tracking):
     -   `kpm::handle` — high-level KPM handle and matching orchestration.
-    -   `kpm::backend` — pluggable feature-extraction backend trait.
+    -   `kpm::backend` — pluggable feature-extraction backend trait and error types.
     -   `kpm::cpp_backend` — C++ FreakMatcher FFI backend (feature-gated: `ffi-backend`).
     -   `kpm::matching` — per-frame matching and ICP-based pose estimation.
-    -   `kpm::ref_data_set` — `.fset3` reference data I/O.
+    -   `kpm::ref_data_set` — `.fset3` reference data I/O and compression modes.
     -   `kpm::types` — KPM data structures and constants.
+    -   `kpm::freak` — FREAK descriptor math and homography utilities:
+        -   `freak::math` — linear algebra (matrix operations, linear solvers) and Padé matrix exponential.
+        -   `freak::homography` — homography estimation and refinement pipeline.
 -   **Types** (`types`): core data structures (`ARHandle`, `ARParam`, etc.).
 
 ### `crates/wasm` — `webarkitlib-wasm`
@@ -48,6 +51,7 @@ Depends only on `webarkitlib-rs` (the core crate).
 | `simd`         | Umbrella: enables all SIMD sub-features |
 | `simd-wasm32`  | WASM SIMD128 intrinsics |
 | `simd-x86-sse41` | x86 SSE4.1 intrinsics |
+| `log-helpers`  | Enable logging infrastructure (installs `env_logger` for desktop/tests, `console_log` for WASM) |
 | `ffi-backend`  | Compile the C++ FreakMatcher library and generate FFI bindings |
 | `dual-mode`    | Reserved for future dual Rust/C++ backend support |
 

CHANGELOG.md

@@ -2,6 +2,31 @@
 
 All notable changes to this project will be documented in this file.
 
+## [0.4.0] - 2026-05-06
+
+### Milestone 6 — Math & homography in pure Rust
+
+### 🐛 Bug Fixes
+
+- *(kpm)* Satisfy clippy on freak::math constants and helpers
+- *(bench)* Resolve SIMD benchmark compilation errors
+
+### 📚 Documentation
+
+- *(kpm)* Clarify SolveLinearSystem2x2 is dead in OUR build context
+
+### 🚀 Features
+
+- *(kpm)* Port FREAK math utilities from C++ (Milestone 6 Phase 1-3)
+- *(kpm)* Port linear algebra and linear solvers (M6-2)
+- *(kpm)* Port homography pipeline + Padé matrix exp (M6-3)
+
+### 🧪 Testing
+
+- *(kpm)* Add dual-mode validation for FREAK math fast-paths
+- *(kpm)* Add dual-mode validation for M6-2 linear solvers
+- *(kpm)* Add dual-mode validation for M6-3 homography pipeline
+
 ## [0.3.8] - 2026-05-04
 
 ### Last action before  `Milestone 6 — Math & homography in pure Rust`

Cargo.toml

@@ -9,7 +9,7 @@ exclude = [
 resolver = "2"
 
 [workspace.package]
-version = "0.3.8"
+version = "0.4.0"
 authors = ["kalwalt <github@kalwaltart.it>"]
 edition = "2021"
 description = "A high-performance, memory-safe Rust port of WebARKitLib (ARToolKit) for native and WASM."

crates/wasm/pkg/package.json

@@ -5,7 +5,7 @@
                           "kalwalt \u003cgithub@kalwaltart.it\u003e"
                       ],
     "description":  "A high-performance, memory-safe Rust port of WebARKitLib (ARToolKit) for native and WASM.",
-    "version":  "0.3.8",
+    "version":  "0.4.0",
     "license":  "LGPL-3.0-or-later",
     "repository":  {
                        "type":  "git",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "webarkitlib-rs",
-  "version": "0.3.8",
+  "version": "0.4.0",
   "description": "Port of WebARKitLib (ARToolKit) to Rust and WASM",
   "private": true,
   "scripts": {