C API

Header: include/SushiTrack/sushitrack_c.h. Link against the compiled sushitrack shared library.

Minimal usage:

#include "SushiTrack/sushitrack_c.h"

sushitrack_params_t params;
sushitrack_get_default_params(&params);
params.kalman_type      = 2;
params.enable_tentative  = 1;
params.frame_rate        = 25;

sushitrack_tracker_t hdl;
sushitrack_status_t s = sushitrack_create_ex(&params, &hdl);
if (s != SUSHITRACK_SUCCESS) { /* handle */ }

sushitrack_object_t  dets[MAX_DETS];   /* fill in per frame */
sushitrack_track_t   tracks[MAX_TRACKS];
int n = sushitrack_update(hdl, dets, n_dets, tracks, MAX_TRACKS, dt);

sushitrack_destroy(hdl);

sushitrack_create returns NULL on failure; sushitrack_create_ex returns a sushitrack_status_t code and writes the handle through out_hdl. sushitrack_update returns the number of tracks written. Output tracks are sorted by lifecycle priority (Tracked < Tentative < Lost < Removed); the buffer is truncated if too small, with a warning logged.

The track-output feat pointer references memory owned by the tracker and is only valid until the next sushitrack_update or sushitrack_destroy.

Status codes (sushitrack_status_t)

Logging

void my_logger(sushitrack_log_level_t level, const char* msg) { /* … */ }
sushitrack_set_log_callback(my_logger);  /* pass NULL to unregister */

sushitrack_log_level_t is SUSHITRACK_LOG_DEBUG=0, SUSHITRACK_LOG_INFO=1, SUSHITRACK_LOG_WARN=2, SUSHITRACK_LOG_ERROR=3. The callback is stored atomically and safe to set/clear from any thread.

Track output fields

sushitrack_track_t includes track_id, age (tracklet length in frames), last_seen_frame, feat/feat_dim, x/y/width/height, score, lost_time (seconds or frames depending on time_aware), label, state (TrackState enum integer), kinematic_state (0=Stationary, 1=Cruising, 2=Maneuvering, 3=Coasting), is_activated, is_confirmed, hits, frames_since_last_update, and maneuver_probability.