Struct EngineConfig 

pub struct EngineConfig {
    pub association_radius_meters: f32,
    pub stale_timeout_seconds: f64,
}

Tunable thresholds for association and map maintenance.

Fields

association_radius_meters: f32

Detections farther than this from an existing object (in meters) are treated as a new object rather than a repeat observation of it.

0.3m comes from the ground-plane projection’s noise sensitivity: for this v0.1 monocular ground-plane method, a fixed pixel error in the detector’s bbox translates to a ground-position error that grows sharply with distance/viewing angle (near-grazing rays amplify small pixel noise into large position swings). At the indoor near-to-medium range this v0.1 engine targets (up to ~4m), +/-8-10px of detector localization error — representative of a moderate real-time detector — stays under ~0.26m of ground jitter, so 0.3m has margin without being so loose that distinct nearby objects merge. Beyond ~5-8m or at shallow viewing angles this margin erodes fast; that’s an inherent limitation of ground-plane-only projection, not something this constant can fix. Validated against real camera motion with synthetic +/-8px detector noise in tests/replay_tum_fixture.rs / tests/fixtures/tum_freiburg1_xyz.json.

stale_timeout_seconds: f64

An object not reinforced by a new observation within this many seconds (frame-timestamp time, not wall-clock) is dropped. One rule covers all of map maintenance: a one-off false detection never gets reinforced and ages out; a genuinely stale object ages out; an object that moved ages out at its old position while a new one forms at the new position.

2.0s is a reasoned assumption, not a measured one: object detection is usually the expensive stage of a mobile perception pipeline and commonly throttled well below camera framerate, so assume ~5Hz detections and tolerate ~10 consecutive misses (occlusion, motion blur) before treating an object as gone. There’s no real detector dropout data behind this yet — revisit once a live frontend exists.

Trait Implementations

impl Clone for EngineConfig

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for EngineConfig

impl Debug for EngineConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for EngineConfig

fn default() -> Self

Returns the “default value” for a type.