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Multiple object tracking with a fixed, overhead camera using background subtraction and Kalman filters

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I wonder how Kalman filter works in some first frames, since the birth of first tracking always starts some where in the tenth frame, even the object contours are there...

https://github.com/hariharsubramanyam/ObjectTracker/blob/71e612cb0503b28f8a47e0270ed96bb2cad5cc82/src/tracker/multi_object_tracker.cpp#L180

Hello thank you for sharing your code I have tried to compile your projects but i receives the following error Scanning dependencies of target main [ 6%] Building CXX object...