├── .gitignore ├── INSTALL.md ├── LICENSE ├── README.md ├── config ├── gs_linear.yml ├── gs_nonlinear.yml ├── nn_linear.yml ├── nn_nonlinear.yml ├── pda_linear.yml └── pda_nonlinear.yml ├── demo_mbm_tracker.py ├── demo_pmbm_tracker.py ├── scenarios ├── __init__.py ├── base.py ├── linear.py └── nonlinear.py ├── scripts ├── debug_radarinfo.py ├── demo_mbm_filter.py ├── ekf_slam.py ├── entry_bernoulli_sot.py ├── entry_config.py ├── entry_mot.py ├── entry_mot_rfs.py ├── entry_sot.py ├── test_kalman_error_ellipse.py └── test_range_bearing_meas_cov.py ├── snapshots ├── eval.png ├── meas.png └── res.png ├── statecircle ├── __init__.py ├── base.py ├── configuration │ ├── __init__.py │ └── base.py ├── datasets │ ├── __init__.py │ ├── base.py │ └── tests │ │ ├── __init__.py │ │ └── test_data_generators.py ├── estimator │ ├── __init__.py │ └── base.py ├── hypothesiser │ ├── __init__.py │ └── base.py ├── lib │ ├── harem │ │ ├── README.md │ │ ├── debugger.py │ │ └── test │ │ │ └── test_prev_state_decorator.py │ ├── lane_regressor.py │ └── ransac.py ├── models │ ├── __init__.py │ ├── base.py │ ├── birth │ │ ├── __init__.py │ │ └── base.py │ ├── density │ │ ├── __init__.py │ │ ├── base.py │ │ ├── kalman.py │ │ ├── kalman_accumulated.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ └── test_state_models.py │ │ ├── unscented.py │ │ └── unscented_accumulated.py │ ├── measurement │ │ ├── __init__.py │ │ ├── base.py │ │ ├── clutter.py │ │ ├── linear.py │ │ ├── nonlinear.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── test_linear.py │ │ │ └── test_nonlinear.py │ ├── sensor │ │ ├── __init__.py │ │ ├── base.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ └── test_sensor_models.py │ └── transition │ │ ├── __init__.py │ │ ├── base.py │ │ ├── linear.py │ │ ├── nonlinear.py │ │ └── tests │ │ ├── __init__.py │ │ ├── test_linear_model.py │ │ └── test_nonlinear_model.py ├── platform │ ├── __init__.py │ └── base.py ├── reader │ ├── __init__.py │ ├── base.py │ └── tests │ │ ├── __init__.py │ │ └── test_readers.py ├── reductor │ ├── __init__.py │ ├── base.py │ ├── gate.py │ ├── hypothesis_reductor.py │ └── tests │ │ ├── __init__.py │ │ └── test_gates.py ├── trackers │ ├── base.py │ ├── mot │ │ ├── __init__.py │ │ ├── global_nearest_neighbour_tracker.py │ │ ├── joint_probabilistic_data_association_tracker.py │ │ ├── mbm_filter.py │ │ ├── mbm_tracker.py │ │ ├── md_tracker.py │ │ ├── meas_driven_pmbm_tracker.py │ │ ├── multi_hypothesis_tracker.py │ │ ├── phd_filter.py │ │ ├── pmbm_filter.py │ │ ├── pmbm_tracker.py │ │ └── prototype_tracker.py │ └── sot │ │ ├── __init__.py │ │ ├── bernoulli_trackers.py │ │ ├── ego_slam_tracker.py │ │ ├── ego_tracker.py │ │ ├── gaussian_sum_tracker.py │ │ ├── nearest_neighbour_tracker.py │ │ └── probabilistic_data_association_tracker.py ├── types │ ├── __init__.py │ ├── base.py │ ├── data.py │ ├── state.py │ └── tests │ │ ├── __init__.py │ │ └── test_states.py ├── utils │ ├── __init__.py │ ├── assignment.py │ ├── common.py │ ├── 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