Documentation
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Overview ¶
Package debug provides instrumentation for LiDAR tracking algorithms. The DebugCollector captures algorithm internals (association decisions, gating thresholds, Kalman residuals) for visualisation and tuning.
Index ¶
- type AssociationRecord
- type DebugCollector
- func (c *DebugCollector) BeginFrame(frameID uint64)
- func (c *DebugCollector) Emit() *DebugFrame
- func (c *DebugCollector) IsEnabled() bool
- func (c *DebugCollector) RecordAssociation(clusterID int64, trackID string, distSquared float32, accepted bool)
- func (c *DebugCollector) RecordGatingRegion(trackID string, centerX, centerY, semiMajor, semiMinor, rotation float32)
- func (c *DebugCollector) RecordInnovation(trackID string, predX, predY, measX, measY, residualMag float32)
- func (c *DebugCollector) RecordPrediction(trackID string, x, y, vx, vy float32)
- func (c *DebugCollector) Reset()
- func (c *DebugCollector) SetEnabled(enabled bool)
- type DebugFrame
- type GatingRegion
- type KalmanInnovation
- type StatePrediction
Constants ¶
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Variables ¶
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Functions ¶
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Types ¶
type AssociationRecord ¶
type AssociationRecord struct {
ClusterID int64 // Which cluster
TrackID string // Which track
MahalanobisDistSquared float32 // Distance metric
Accepted bool // Whether association was accepted
}
AssociationRecord captures a single cluster-track pairing considered during association.
type DebugCollector ¶
type DebugCollector struct {
// contains filtered or unexported fields
}
DebugCollector accumulates debug artifacts during a single frame's processing. When enabled, it records tracking algorithm internals: which clusters were considered for association, gating decisions, Kalman filter innovations, etc.
The collector is stateful: call Record*() methods during processing, then Emit() at frame completion to extract the artifacts. Reset() before the next frame.
func NewDebugCollector ¶
func NewDebugCollector() *DebugCollector
NewDebugCollector creates a collector that's initially disabled. Call SetEnabled(true) to begin collecting artifacts.
func (*DebugCollector) BeginFrame ¶
func (c *DebugCollector) BeginFrame(frameID uint64)
BeginFrame initialises collection for a new frame. Must be called before any Record*() calls.
func (*DebugCollector) Emit ¶
func (c *DebugCollector) Emit() *DebugFrame
Emit returns the accumulated debug frame and prepares for the next frame. Returns nil if collection is disabled or no frame was begun.
func (*DebugCollector) IsEnabled ¶
func (c *DebugCollector) IsEnabled() bool
IsEnabled returns true if the collector is actively recording.
func (*DebugCollector) RecordAssociation ¶
func (c *DebugCollector) RecordAssociation(clusterID int64, trackID string, distSquared float32, accepted bool)
RecordAssociation captures a cluster-track pairing evaluation. Called during the association stage for each candidate pair.
func (*DebugCollector) RecordGatingRegion ¶
func (c *DebugCollector) RecordGatingRegion(trackID string, centerX, centerY, semiMajor, semiMinor, rotation float32)
RecordGatingRegion captures the Mahalanobis gating ellipse for a track. Called after computing the innovation covariance matrix.
func (*DebugCollector) RecordInnovation ¶
func (c *DebugCollector) RecordInnovation(trackID string, predX, predY, measX, measY, residualMag float32)
RecordInnovation captures a Kalman filter innovation (measurement residual). Called during the update step after computing predicted vs. measured state.
func (*DebugCollector) RecordPrediction ¶
func (c *DebugCollector) RecordPrediction(trackID string, x, y, vx, vy float32)
RecordPrediction captures a track's predicted state before measurement update. Called during the predict step for each active track.
func (*DebugCollector) Reset ¶
func (c *DebugCollector) Reset()
Reset clears any pending artifacts without emitting them. Useful when aborting frame processing.
func (*DebugCollector) SetEnabled ¶
func (c *DebugCollector) SetEnabled(enabled bool)
SetEnabled controls whether the collector records artifacts. When disabled, all Record*() calls are no-ops for zero overhead.
type DebugFrame ¶
type DebugFrame struct {
FrameID uint64
// Association stage: which cluster-track pairs were evaluated
AssociationCandidates []AssociationRecord
// Gating stage: Mahalanobis distance thresholds for each track
GatingRegions []GatingRegion
// Kalman update: innovation vectors (measurement - prediction)
Innovations []KalmanInnovation
// Kalman predict: state predictions before measurement update
StatePredictions []StatePrediction
}
DebugFrame contains all debug artifacts for a single frame. This structure is exported to the visualiser for overlay rendering.
type GatingRegion ¶
type GatingRegion struct {
TrackID string
CenterX float32
CenterY float32
SemiMajorM float32 // Semi-major axis length (metres)
SemiMinorM float32 // Semi-minor axis length (metres)
RotationRad float32 // Ellipse rotation (radians)
}
GatingRegion represents a Mahalanobis distance threshold ellipse around a track. Used to visualise the association search region.
type KalmanInnovation ¶
type KalmanInnovation struct {
TrackID string
PredictedX float32 // Predicted position before measurement
PredictedY float32
MeasuredX float32 // Actual measurement
MeasuredY float32
ResidualMag float32 // ||measured - predicted||
}
KalmanInnovation represents a measurement residual in the Kalman update step.
type StatePrediction ¶
type StatePrediction struct {
TrackID string
X float32 // Predicted X
Y float32 // Predicted Y
VX float32 // Predicted VX
VY float32 // Predicted VY
}
StatePrediction represents a track's predicted state after the predict step but before the update step. Useful for debugging motion models.
Source Files