├── .gitignore ├── .gitmodules ├── README.md ├── documentation └── trajectory_extractor.pdf ├── images ├── __init__.py ├── auburn1_camera_1_street.png ├── biloxi_det_zone.png ├── biloxi_hdmap.png ├── biloxi_hdmap_street_cam.png ├── brest_demo.gif ├── brest_det_zone.png ├── brest_hdmap.png ├── brest_hdmap_street_cam.png ├── global_archi.drawio ├── global_archi.png ├── varna_view_with_road_layout.png └── varna_view_without_road_layout.png ├── run_trajectory_extraction.sh ├── scripts ├── make_movie.sh └── split_video.sh ├── setup.py ├── test_dataset └── brest_20190609_130424_327_334 │ ├── brest_20190609_130424_327_334.mp4 │ ├── brest_area1_detection_zone.yml │ ├── brest_area1_detection_zone_im.yml │ ├── brest_area1_pedestrians_ignoreareas.csv │ ├── brest_area1_sat.png │ ├── brest_area1_sat_cfg.yml │ ├── brest_area1_street.jpg │ ├── brest_area1_street_cfg.yml │ ├── brest_area1_street_hd_map.csv │ ├── brest_area1_street_ignore_area.csv │ ├── img │ ├── brest_20190609_130424_327_334_0000000000.jpg │ ├── brest_20190609_130424_327_334_0000000100.jpg │ ├── brest_20190609_130424_327_334_0000000200.jpg │ ├── brest_20190609_130424_327_334_0000000300.jpg │ ├── brest_20190609_130424_327_334_0000000400.jpg │ ├── brest_20190609_130424_327_334_0000000500.jpg │ ├── brest_20190609_130424_327_334_0000000600.jpg │ ├── brest_20190609_130424_327_334_0000000700.jpg │ ├── brest_20190609_130424_327_334_0000000800.jpg │ ├── brest_20190609_130424_327_334_0000000900.jpg │ ├── brest_20190609_130424_327_334_0000001000.jpg │ ├── brest_20190609_130424_327_334_0000001100.jpg │ ├── brest_20190609_130424_327_334_0000001200.jpg │ ├── brest_20190609_130424_327_334_0000001300.jpg │ ├── brest_20190609_130424_327_334_0000001400.jpg │ ├── brest_20190609_130424_327_334_0000001500.jpg │ ├── brest_20190609_130424_327_334_0000001600.jpg │ ├── brest_20190609_130424_327_334_0000001700.jpg │ ├── brest_20190609_130424_327_334_0000001800.jpg │ ├── brest_20190609_130424_327_334_0000001900.jpg │ ├── brest_20190609_130424_327_334_0000002000.jpg │ ├── brest_20190609_130424_327_334_0000002100.jpg │ ├── brest_20190609_130424_327_334_0000002200.jpg │ ├── brest_20190609_130424_327_334_0000002300.jpg │ ├── brest_20190609_130424_327_334_0000002400.jpg │ ├── brest_20190609_130424_327_334_0000002500.jpg │ ├── brest_20190609_130424_327_334_0000002600.jpg │ ├── brest_20190609_130424_327_334_0000002700.jpg │ ├── brest_20190609_130424_327_334_0000002800.jpg │ ├── brest_20190609_130424_327_334_0000002900.jpg │ ├── brest_20190609_130424_327_334_0000003000.jpg │ ├── brest_20190609_130424_327_334_0000003100.jpg │ ├── brest_20190609_130424_327_334_0000003200.jpg │ ├── brest_20190609_130424_327_334_0000003300.jpg │ ├── brest_20190609_130424_327_334_0000003400.jpg │ ├── brest_20190609_130424_327_334_0000003500.jpg │ ├── brest_20190609_130424_327_334_0000003600.jpg │ ├── brest_20190609_130424_327_334_0000003700.jpg │ ├── brest_20190609_130424_327_334_0000003800.jpg │ ├── brest_20190609_130424_327_334_0000003900.jpg │ ├── brest_20190609_130424_327_334_0000004000.jpg │ ├── brest_20190609_130424_327_334_0000004100.jpg │ ├── brest_20190609_130424_327_334_0000004200.jpg │ ├── brest_20190609_130424_327_334_0000004300.jpg │ ├── brest_20190609_130424_327_334_0000004400.jpg │ ├── brest_20190609_130424_327_334_0000004500.jpg │ ├── brest_20190609_130424_327_334_0000004600.jpg │ ├── brest_20190609_130424_327_334_0000004700.jpg │ ├── brest_20190609_130424_327_334_0000004800.jpg │ ├── brest_20190609_130424_327_334_0000004900.jpg │ ├── brest_20190609_130424_327_334_0000005000.jpg │ ├── brest_20190609_130424_327_334_0000005100.jpg │ ├── brest_20190609_130424_327_334_0000005200.jpg │ ├── brest_20190609_130424_327_334_0000005300.jpg │ ├── brest_20190609_130424_327_334_0000005400.jpg │ ├── brest_20190609_130424_327_334_0000005500.jpg │ ├── brest_20190609_130424_327_334_0000005600.jpg │ ├── brest_20190609_130424_327_334_0000005700.jpg │ ├── brest_20190609_130424_327_334_0000005800.jpg │ ├── brest_20190609_130424_327_334_0000005900.jpg │ ├── brest_20190609_130424_327_334_0000006000.jpg │ ├── brest_20190609_130424_327_334_0000006100.jpg │ ├── brest_20190609_130424_327_334_0000006200.jpg │ ├── brest_20190609_130424_327_334_0000006300.jpg │ ├── brest_20190609_130424_327_334_0000006400.jpg │ ├── brest_20190609_130424_327_334_0000006500.jpg │ ├── brest_20190609_130424_327_334_0000006600.jpg │ ├── brest_20190609_130424_327_334_0000006700.jpg │ ├── brest_20190609_130424_327_334_0000006800.jpg │ ├── brest_20190609_130424_327_334_0000006900.jpg │ └── brest_20190609_130424_327_334_0000007000.jpg │ └── output │ ├── det │ ├── csv │ │ ├── brest_20190609_130424_327_334_0000000000_det.csv │ │ ├── brest_20190609_130424_327_334_0000000100_det.csv │ │ ├── brest_20190609_130424_327_334_0000000200_det.csv │ │ ├── brest_20190609_130424_327_334_0000000300_det.csv │ │ ├── brest_20190609_130424_327_334_0000000400_det.csv │ │ ├── brest_20190609_130424_327_334_0000000500_det.csv │ │ ├── brest_20190609_130424_327_334_0000000600_det.csv │ │ ├── brest_20190609_130424_327_334_0000000700_det.csv │ │ ├── brest_20190609_130424_327_334_0000000800_det.csv │ │ ├── brest_20190609_130424_327_334_0000000900_det.csv │ │ ├── brest_20190609_130424_327_334_0000001000_det.csv │ │ ├── brest_20190609_130424_327_334_0000001100_det.csv │ │ ├── brest_20190609_130424_327_334_0000001200_det.csv │ │ ├── brest_20190609_130424_327_334_0000001300_det.csv │ │ ├── brest_20190609_130424_327_334_0000001400_det.csv │ │ ├── brest_20190609_130424_327_334_0000001500_det.csv │ │ ├── brest_20190609_130424_327_334_0000001600_det.csv │ │ ├── brest_20190609_130424_327_334_0000001700_det.csv │ │ ├── brest_20190609_130424_327_334_0000001800_det.csv │ │ ├── brest_20190609_130424_327_334_0000001900_det.csv │ │ ├── brest_20190609_130424_327_334_0000002000_det.csv │ │ ├── brest_20190609_130424_327_334_0000002100_det.csv │ │ ├── brest_20190609_130424_327_334_0000002200_det.csv │ │ ├── brest_20190609_130424_327_334_0000002300_det.csv │ │ ├── brest_20190609_130424_327_334_0000002400_det.csv │ │ ├── brest_20190609_130424_327_334_0000002500_det.csv │ │ ├── brest_20190609_130424_327_334_0000002600_det.csv │ │ ├── brest_20190609_130424_327_334_0000002700_det.csv │ │ ├── brest_20190609_130424_327_334_0000002800_det.csv │ │ ├── brest_20190609_130424_327_334_0000002900_det.csv │ │ ├── brest_20190609_130424_327_334_0000003000_det.csv │ │ ├── brest_20190609_130424_327_334_0000003100_det.csv │ │ ├── brest_20190609_130424_327_334_0000003200_det.csv │ │ ├── brest_20190609_130424_327_334_0000003300_det.csv │ │ ├── brest_20190609_130424_327_334_0000003400_det.csv │ │ ├── brest_20190609_130424_327_334_0000003500_det.csv │ │ ├── brest_20190609_130424_327_334_0000003600_det.csv │ │ ├── brest_20190609_130424_327_334_0000003700_det.csv │ │ ├── brest_20190609_130424_327_334_0000003800_det.csv │ │ ├── brest_20190609_130424_327_334_0000003900_det.csv │ │ ├── brest_20190609_130424_327_334_0000004000_det.csv │ │ ├── brest_20190609_130424_327_334_0000004100_det.csv │ │ ├── brest_20190609_130424_327_334_0000004200_det.csv │ │ ├── brest_20190609_130424_327_334_0000004300_det.csv │ │ ├── brest_20190609_130424_327_334_0000004400_det.csv │ │ ├── brest_20190609_130424_327_334_0000004500_det.csv │ │ ├── brest_20190609_130424_327_334_0000004600_det.csv │ │ ├── brest_20190609_130424_327_334_0000004700_det.csv │ │ ├── brest_20190609_130424_327_334_0000004800_det.csv │ │ ├── brest_20190609_130424_327_334_0000004900_det.csv │ │ ├── brest_20190609_130424_327_334_0000005000_det.csv │ │ ├── brest_20190609_130424_327_334_0000005100_det.csv │ │ ├── brest_20190609_130424_327_334_0000005200_det.csv │ │ ├── brest_20190609_130424_327_334_0000005300_det.csv │ │ ├── brest_20190609_130424_327_334_0000005400_det.csv │ │ ├── brest_20190609_130424_327_334_0000005500_det.csv │ │ ├── brest_20190609_130424_327_334_0000005600_det.csv │ │ ├── brest_20190609_130424_327_334_0000005700_det.csv │ │ ├── brest_20190609_130424_327_334_0000005800_det.csv │ │ ├── brest_20190609_130424_327_334_0000005900_det.csv │ │ ├── brest_20190609_130424_327_334_0000006000_det.csv │ │ ├── brest_20190609_130424_327_334_0000006100_det.csv │ │ ├── brest_20190609_130424_327_334_0000006200_det.csv │ │ ├── brest_20190609_130424_327_334_0000006300_det.csv │ │ ├── brest_20190609_130424_327_334_0000006400_det.csv │ │ ├── brest_20190609_130424_327_334_0000006500_det.csv │ │ ├── brest_20190609_130424_327_334_0000006600_det.csv │ │ ├── brest_20190609_130424_327_334_0000006700_det.csv │ │ ├── brest_20190609_130424_327_334_0000006800_det.csv │ │ └── brest_20190609_130424_327_334_0000006900_det.csv │ └── detector_maskrcnn_cfg.json │ ├── pedestrians │ ├── det_association │ │ ├── brest_20190609_130424_327_334_tracks_merge.csv │ │ ├── csv │ │ │ ├── brest_20190609_130424_327_334_0000000000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006900_detassociation.csv │ │ │ └── brest_20190609_130424_327_334_0000007000_detassociation.csv │ │ └── det_association_cfg.json │ ├── traj │ │ ├── csv │ │ │ ├── brest_20190609_130424_327_334_time_ignore.csv │ │ │ ├── brest_20190609_130424_327_334_time_traj.csv │ │ │ ├── brest_20190609_130424_327_334_traj.csv │ │ │ ├── brest_20190609_130424_327_334_traj_ignore.csv │ │ │ ├── brest_20190609_130424_327_334_traj_meta.csv │ │ │ ├── brest_20190609_130424_327_334_traj_not_merged.csv │ │ │ ├── brest_20190609_130424_327_334_traj_reverse.csv │ │ │ └── brest_20190609_130424_327_334_traj_type_corr.csv │ │ └── tracker_postprocess_cfg.json │ └── traj_inspect │ │ ├── csv │ │ ├── brest_20190609_130424_327_334_time_traj.csv │ │ ├── brest_20190609_130424_327_334_traj.csv │ │ └── brest_20190609_130424_327_334_traj_meta.csv │ │ └── inspect_traj_cfg.json │ ├── vehicles │ ├── det_association │ │ ├── brest_20190609_130424_327_334_tracks_merge.csv │ │ ├── csv │ │ │ ├── brest_20190609_130424_327_334_0000000000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000000900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000001900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000002900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000003900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000004900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000005900_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006000_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006100_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006200_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006300_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006400_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006500_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006600_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006700_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006800_detassociation.csv │ │ │ ├── brest_20190609_130424_327_334_0000006900_detassociation.csv │ │ │ └── brest_20190609_130424_327_334_0000007000_detassociation.csv │ │ └── det_association_cfg.json │ ├── traj │ │ ├── csv │ │ │ ├── brest_20190609_130424_327_334_time_ignore.csv │ │ │ ├── brest_20190609_130424_327_334_time_traj.csv │ │ │ ├── brest_20190609_130424_327_334_traj.csv │ │ │ ├── brest_20190609_130424_327_334_traj_ignore.csv │ │ │ ├── brest_20190609_130424_327_334_traj_meta.csv │ │ │ ├── brest_20190609_130424_327_334_traj_not_merged.csv │ │ │ ├── brest_20190609_130424_327_334_traj_reverse.csv │ │ │ └── brest_20190609_130424_327_334_traj_type_corr.csv │ │ └── tracker_postprocess_cfg.json │ └── traj_inspect │ │ ├── csv │ │ ├── brest_20190609_130424_327_334_time_traj.csv │ │ ├── brest_20190609_130424_327_334_traj.csv │ │ └── brest_20190609_130424_327_334_traj_meta.csv │ │ └── inspect_traj_cfg.json │ └── visualizer │ └── visualize_traj_cfg.json └── traj_ext ├── __init__.py ├── box3D_fitting ├── .gitignore ├── Box3D_utils.py ├── box3D_object.py ├── det_association_stereo.py ├── optim_box_mono.py ├── optim_box_stereo.py ├── project_rectangle.py ├── run_optim_3Dbox_mono.py └── test │ ├── optim_3Dbox_mono_type_test.csv │ ├── optim_box3D_mono_test.json │ ├── test_box3D_object.py │ └── test_optim_3Dbox_mono.py ├── camera_calib ├── .gitignore ├── __init__.py ├── calib_file │ ├── auburn │ │ ├── auburn_camera_1_detection_zone.yml │ │ ├── auburn_camera_1_detection_zone_10.yml │ │ ├── auburn_camera_1_detection_zone_2.yml │ │ ├── auburn_camera_1_detection_zone_3.yml │ │ ├── auburn_camera_1_detection_zone_4.yml │ │ ├── auburn_camera_1_detection_zone_5.yml │ │ ├── auburn_camera_1_detection_zone_6.yml │ │ ├── auburn_camera_1_detection_zone_7.yml │ │ ├── auburn_camera_1_detection_zone_8.yml │ │ ├── auburn_camera_1_detection_zone_9.yml │ │ ├── auburn_camera_sat.csv │ │ ├── auburn_camera_sat.png │ │ ├── auburn_camera_sat_calib.png │ │ ├── auburn_camera_sat_cfg.yml │ │ ├── auburn_camera_street_1.csv │ │ ├── auburn_camera_street_1.png │ │ ├── auburn_camera_street_1_calib.png │ │ ├── auburn_camera_street_1_cfg.yml │ │ ├── auburn_camera_street_2.csv │ │ ├── auburn_camera_street_2.png │ │ ├── auburn_camera_street_2_calib.png │ │ ├── auburn_camera_street_2_cfg.yml │ │ └── auburn_camera_street_2_cfg_2.yml │ ├── biloxi │ │ ├── biloxi_cam.csv │ │ ├── biloxi_cam.jpg │ │ ├── biloxi_cam_calib.jpg │ │ ├── biloxi_cam_cfg.yml │ │ ├── biloxi_cam_hd_map.csv │ │ ├── biloxi_detection_zone.yml │ │ ├── biloxi_detection_zone_im.yml │ │ ├── biloxi_sat.csv │ │ ├── biloxi_sat.png │ │ ├── biloxi_sat_calib.png │ │ └── biloxi_sat_cfg.yml │ ├── brest │ │ ├── brest_area1_detection_zone.yml │ │ ├── brest_area1_detection_zone_im.yml │ │ ├── brest_area1_sat.csv │ │ ├── brest_area1_sat.png │ │ ├── brest_area1_sat_calib.png │ │ ├── brest_area1_sat_cfg.yml │ │ ├── brest_area1_sat_hd_map.csv │ │ ├── brest_area1_street.csv │ │ ├── brest_area1_street.jpg │ │ ├── brest_area1_street_calib.jpg │ │ ├── brest_area1_street_calib.png │ │ ├── brest_area1_street_cfg.yml │ │ ├── brest_area1_street_hd_map.csv │ │ └── brest_area1_street_ignore_area.csv │ ├── calib_stereo │ │ ├── auburn1_20171005_183440_0000072596.jpg │ │ ├── auburn2_20171005_183520_0000035596.jpg │ │ ├── camera_street_2_calib_2.jpg │ │ └── camera_street_2_cfg_2.yml │ ├── carla │ │ ├── carla_area1_1.csv │ │ ├── carla_area1_1.png │ │ ├── carla_area1_1_calib.png │ │ ├── carla_area1_1_cfg.yml │ │ ├── carla_area1_1_small.csv │ │ ├── carla_area1_1_small.png │ │ ├── carla_area1_1_small_calib.png │ │ ├── carla_area1_1_small_cfg.yml │ │ ├── carla_area1_2.csv │ │ ├── carla_area1_2.png │ │ ├── carla_area1_2_calib.png │ │ ├── carla_area1_2_cfg.yml │ │ ├── carla_area1_2_small.csv │ │ ├── carla_area1_2_small.png │ │ ├── carla_area1_2_small_calib.png │ │ ├── carla_area1_2_small_cfg.yml │ │ ├── carla_area1_camera_1_detection_zone.yml │ │ ├── carla_area1_camera_2_detection_zone.yml │ │ ├── carla_area1_sat.csv │ │ ├── carla_area1_sat.png │ │ ├── carla_area1_sat_calib.png │ │ ├── carla_area1_sat_cfg.yml │ │ ├── carla_area2_1.csv │ │ ├── carla_area2_1.png │ │ ├── carla_area2_1_calib.png │ │ ├── carla_area2_1_cfg.yml │ │ ├── carla_area2_1_small.csv │ │ ├── carla_area2_1_small.png │ │ ├── carla_area2_1_small_calib.png │ │ ├── carla_area2_1_small_cfg.yml │ │ ├── carla_area2_camera1_detection_zone.yml │ │ ├── carla_area2_sat.csv │ │ ├── carla_area2_sat.png │ │ ├── carla_area2_sat_calib.png │ │ └── carla_area2_sat_cfg.yml │ └── varna │ │ ├── varna_area1_camera_sat.png │ │ ├── varna_area1_camera_sat_cfg.yml │ │ ├── varna_area1_camera_street.jpg │ │ ├── varna_area1_camera_street_calib.jpg │ │ ├── varna_area1_camera_street_calib.png │ │ ├── varna_area1_camera_street_cfg.yml │ │ ├── varna_area1_camera_street_hd_map.csv │ │ ├── varna_area1_camera_street_ignore_area.csv │ │ ├── varna_area1_detection_zone_4.yml │ │ ├── varna_area1_detection_zone_4_shrinked_120.yml │ │ ├── varna_area1_detection_zone_4_shrinked_120_im.yml │ │ └── varna_area1_detection_zone_im_4.yml ├── calib_utils.py ├── run_calib_manual.py ├── run_calib_stereo.py ├── run_detection_zone.py ├── run_show_calib.py └── test │ ├── brest_area1_street.csv │ ├── brest_area1_street.jpg │ └── test_camera_calib.py ├── det_association ├── multiple_overlap_association.py ├── run_det_association.py ├── test │ ├── det_association_cfg_test.json │ ├── test_det_association.py │ └── test_track_2D.py ├── track_2D.py └── track_merge.py ├── hd_map ├── HD_map.py └── run_generate_HD_map.py ├── object_det ├── det_object.py ├── mask_rcnn │ ├── README.md │ ├── detect_utils.py │ ├── run_detections_csv.py │ └── test │ │ ├── detector_maskrcnn_cfg_test.json │ │ └── test_detections_csv.py ├── run_create_det_object.py ├── run_inspect_det.py ├── run_saveimages.py └── test │ └── test_det_object.py ├── postprocess_track ├── .gitignore ├── agent_type_correct.py ├── run_postprocess.py ├── test │ ├── test_postprocess_tracker.py │ ├── test_trajutil.py │ └── tracker_postprocess_cfg_test.json ├── time_ignore.py ├── track_process.py ├── trajectory.py └── trajutil.py ├── tracker ├── EKF.py ├── EKF_BM2.py ├── EKF_CV.py ├── EKF_CVCYR.py ├── 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