Tracking bug with Hungarian

[shenyinzhe]

Hi,

Using Hungarian, I notice unmatched_dets is updated according to distance threshold (https://github.com/tianweiy/CenterPoint/blob/master/tools/nusc_tracking/pub_tracker.py#L115C17-L115C17)
However, unmatched_tracks is NOT updated accordingly.

This means, when a "matched" detection is filtered out by distance threshold and turn to unmatched, the corresponding track is still regarded as matched. As a result, this unmatched detection will create a new track (https://github.com/tianweiy/CenterPoint/blob/master/tools/nusc_tracking/pub_tracker.py#L130C29-L130C29), while the corresponding track is directly removed rather than age-growing.

Did I understand it wrong or it's a bug?