- Add anomaly.css and sleep.css to dashboard includes
- Add sleep.js for sleep quality monitoring
- Implement analytics API handler (flow, dwell, corridors)
- Add tracks API and tests for time-based data queries
- Add sleep monitor tests
- AnomalyDetector initialized and running in main()
- Anomaly events broadcast via WebSocket to dashboard
- Security mode arm/disarm persists across restarts (learning_state table)
- Learning progress tracking and display
- Alert banner with acknowledge functionality
- All API endpoints wired: /api/anomalies, /api/security/*, /api/analytics/*
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Wire anomaly detection backend into dashboard WebSocket feed as
typed 'anomaly_detected' and 'alert' messages. Add security mode
state to snapshot/delta broadcasts via SecurityStateProvider.
Include load shedding integration for crowd flow, detection event
logging, identity matching improvements, and sleep integration
updates. All acceptance criteria met: arm/disarm persists,
learning progress refreshes, alert banner <2s, acknowledge flow.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
New package mothership/internal/tracker/ implementing full 3-D
Unscented Kalman Filter tracking for human figures detected by the
fusion engine.
Key features:
- 6-D UKF state [x, y, z, vx, vy, vz] using gonum.org/v1/gonum/mat
- Biomechanical constraints: max horiz velocity 2 m/s, max vert 0.8 m/s,
max acceleration 3 m/s², minimum turning radius 0.3 m
- Gravity-consistent Z: separate vertical speed cap for natural motion
- Blob ID assignment with persistence through up to 3 s occlusion gaps
- Collision avoidance: repulsion nudge when blobs closer than 0.4 m
- Posture estimation: lying (<0.4 m), seated (<0.8 m), standing/walking
from centroid height + horizontal speed
- 11 unit tests covering single-person tracking, occlusion recovery,
gap persistence, posture transitions, and constraint enforcement
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
