Added clone()
Disable noise rejection
Added diagnostics
gitignore update
Revamped clasification
Plot all non-background echoes
Made class a top-level field of vis, added shadowed, split out computation of pos, bbox
Added join legs
Don't continue not-target point into next scan line
Keep track of whether targets are bounded
Maintain tracking error in tracks
Store leg classification in vis
Plot all non-special,unmatched points in red
Modified automatic zooming of diagnostic plots
Display MSE in diagnostics
Reduced maxtgtsep