Each tracker is an independent crate under crates/uify-<name>/ implementing uify_core::Tracker. Concrete trackers wrap a filter via uify_core::TrackerCommon<F> so dt-since-last-update, reset, and the filter snapshot are shared bookkeeping.

What "smoother" / "stub" mean

• Smoother (uify-plane): consumes already-extracted SE(3) pose measurements and produces smoothed Sample<Se3, Cov6>. The detector pipeline (homography + PnP, SuperPoint, LightGlue) is not part of what's shipped — it lives upstream of this crate and depends on uify-runtime::inference which is itself a stub.
• Stub: only a placeholder type exists; no filter, no measurement type, no integration tests yet.

Bounding box

uify-bbox::BboxTracker2D is axis-aligned with state (cx, cy, w, h, vcx, vcy) ∈ ℝ⁶. Position is constant-velocity; size is random-walk. An oriented variant ((SE(2), w, h)) will land separately once a use case justifies the extra DOFs.

Plane

uify-plane::PlaneTracker wraps uify_core::filters::ekf_manifold::Ekf3D with random-walk predict and direct-pose update. It's the layer a host pipeline plugs into once a detector exists.

Each tracker owns

• its measurement type (e.g. PointMeasurement, BboxMeasurement, PlaneMeasurement)
• its measurement-to-state mapping (H matrix for the linear KF, identity for the manifold EKF)
• its process model (constant-velocity for point/bbox; random walk for plane)
• a default filter configuration via the constructor

Tracker-specific reference pages (TODO):

• reference/trackers/point.mdx
• reference/trackers/bbox.mdx
• reference/trackers/plane.mdx
• reference/trackers/face.mdx
• reference/trackers/roto.mdx