Takes a bounding box in the form [x1,y1,x2,y2] and returns z in the form [x,y,s,r] where x,y is the centre of the box and s is the scale/area a

Takes a bounding box in the centre form [x,y,s,r] and returns it in the form [x1,y1,x2,y2] where x1,y1 is the top left and x2,y2 is the bottom

Params: dets - a numpy array of detections in the format [[x1,y1,x2,y2,score],[x1,y1,x2,y2,score],...] Requires: this method must be ca

Assigns detections to tracked object (both represented as bounding boxes) Returns 3 lists of matches, unmatched_detections and unmatched_tracker

Returns the current bounding box estimate.

From SORT: Computes IOU between two bboxes in the form [x1,y1,x2,y2]

Parse input arguments.

Advances the state vector and returns the predicted bounding box estimate.

Initialises a tracker using initial bounding box.

Sets key parameters for SORT

Updates the state vector with observed bbox.