Opt-in trace_path parameter dumps one JSON record per processed frame
with the fields diagnostics need:
frame_idx, timestamp_ns, vo_success, alignment_success,
tracking_state, confidence,
eskf_initialized, eskf_position_enu (or None), eskf_pos_sigma_m,
estimate_lat/lon, gt_lat/lon/alt
No perf cost when trace_path is None. File is rotated per run — safe to
point at /tmp/foo.jsonl for ad-hoc debugging.
First real run on EuRoC MH_01 (100 frames) immediately exposes the
concrete divergence: vo_success=0/100 (VO never engages on EuRoC
grayscale imagery with current SP+LG adapter), eskf_initialized=0/100,
alignment_success=77/100 (satellite-fallback path fires). Diagnosis
that was hidden behind a single "ATE=10.9 km" number is now machine-
readable per frame.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Caps the iteration length (and the matching GT slice) when set, so CI
tiers can stay fast on multi-thousand-frame sequences like EuRoC MH_01
(3682 frames ≈ 3+ hours at 3-5s/frame). Also useful for eyeballing a
new adapter's first N frames before committing to a full run.
Three new harness tests cover truncation, explicit None, and over-large
limits. No change to existing adapters or downstream tests.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Yuzviak