Interfaces
The runtime is organised around interfaces that the tracker depends on. Concrete implementations are wired up by the C-API entry point (sushitrack_create_ex in source/sushitrack_c.cpp) based on the sushitrack_params_t flags. The core orchestrator Tracker (see include/SushiTrack/tracker.hpp) consumes only the abstractions.
| Interface | Purpose | Concrete implementations |
|---|---|---|
IStatePredictor |
State propagation/update | KalmanFilter, NSAKalmanFilter |
IGateValidator |
Mahalanobis gating | KalmanFilter, NSAKalmanFilter, NullGateValidator |
IKalmanFilter |
Unified predictor + validator | KalmanFilter, NSAKalmanFilter |
IKalmanFactory |
Per-tracklet predictor factory | GenericKalmanFactory (registry-driven) |
ICostCalculator |
Pairwise association cost | IoUCostCalculator, DIoUCostCalculator, GIoUCostCalculator, SIoUCostCalculator, CosineCostCalculator, ReIDFirstCostCalculator, PureReIDCostCalculator, FusedCostCalculator, GatedIoUCostCalculator, FuseScoreDecorator |
IAssignmentSolver |
Bipartite assignment | LAPJVSolver (Jonker–Volgenant with active-row/column reduction) |
ITimingPolicy |
dt normalisation, expiry | FrameTimingPolicy, WallClockTimingPolicy |
KalmanFilterRegistry is a singleton plug-in registry. New Kalman variants register themselves through KalmanFilterRegistrar<T> and become selectable by kalman_type.
Track lifecycle is governed by TrackState (New, Tracked, Lost, Removed, Tentative). When the IMM estimator is selected (kalman_type=2), each track also reports a motion regime (Stationary, Cruising, Maneuvering, or Coasting) derived from the IMM mode probabilities, plus a continuous maneuver_probability on the output track.