Not all detections are tracked

[arkadiy-telegin]

I have pipelined the object location data from Carla simulator to AB3DMOT. I have noticted that not all detections are tracked. Initially I had the same error with Qhull, as described by @johnwlambert in #32, but adding the code he provided has solved the issue. Still, only a small proportion of all detected cars is tracked.

Here is the detection and tracking vectors as specified in source files ([x,y,z,theta,l,w,h] and [x,y,z,theta,l,w,h,id,confidence] respectively) for several successive frames.
link to pastebin
First frame the tracker identifies all of the detections, but then for some reason tracks only 3 of 10.

[arkadiy-telegin]

It appears that tracker ignores the detections it thinks are way to far from the coordinate system origin. Is there a way to overcome this limitation?

[arkadiy-telegin]

Okay, found the real problem. I had XYZ coordinates, but the tracker expected ZYX and deleted all the detections with x coordinate less than zero.