Struct SortTracker 

pub struct SortTracker { /* private fields */ }

A SORT (Simple Online and Realtime Tracking) multi-object tracker.

Each call to SortTracker::update advances every active track’s Kalman filter by one frame, solves the assignment between predicted track boxes and the frame’s detections by intersection-over-union, and writes the resulting identity into each detection’s tracker_id:

• Matched detections update their track’s filter and keep its id.
• Unmatched detections spawn a new track with a freshly allocated id.
• Tracks left unmatched for more than max_age consecutive frames are dropped.

Implementations

impl SortTracker

pub fn new(max_age: usize, iou_threshold: f32) -> Self

Creates a tracker.

• max_age: number of consecutive missed frames a track tolerates before being dropped.
• iou_threshold: minimum IoU between a predicted track box and a detection for them to be considered a match.

pub fn active_tracks(&self) -> usize

Number of tracks currently being maintained (including ones missed this frame but not yet aged out).

pub fn update(&mut self, detections: &mut Detections)

Advances the tracker by one frame, assigning tracker_id to every detection in place.

Trait Implementations

impl Default for SortTracker

fn default() -> Self

A tracker with commonly used SORT defaults: 30-frame track lifetime, 0.3 IoU match threshold.