motcpp

✨ Features

📊 Benchmarks

MOT17 Ablation Split

C++ vs Python

🚀 Installation

Prerequisites

Build from Source

git clone https://github.com/Geekgineer/motcpp.git
cd motcpp
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build -j$(nproc)
sudo cmake --install build

CMake find_package

find_package(motcpp REQUIRED)
target_link_libraries(your_target PRIVATE motcpp::motcpp)

CMake FetchContent

include(FetchContent)
FetchContent_Declare(
    motcpp
    GIT_REPOSITORY https://github.com/Geekgineer/motcpp.git
    GIT_TAG        v1.0.0
)
FetchContent_MakeAvailable(motcpp)
target_link_libraries(your_target PRIVATE motcpp::motcpp)

Build Options

🎮 Quick Start

Motion-Only Tracker (no ReID)

#include <motcpp/trackers/bytetrack.hpp>
#include <opencv2/opencv.hpp>

int main() {
    motcpp::trackers::ByteTrack tracker;

    cv::VideoCapture cap("video.mp4");
    cv::Mat frame;

    while (cap.read(frame)) {
        // Detector output: [x1, y1, x2, y2, confidence, class_id]
        Eigen::MatrixXf dets = your_detector(frame);

        // Update — returns [x1, y1, x2, y2, track_id, conf, class_id, det_idx]
        Eigen::MatrixXf tracks = tracker.update(dets, frame);

        for (int i = 0; i < tracks.rows(); ++i) {
            int id = static_cast<int>(tracks(i, 4));
            cv::Rect box(tracks(i, 0), tracks(i, 1),
                         tracks(i, 2) - tracks(i, 0),
                         tracks(i, 3) - tracks(i, 1));
            cv::rectangle(frame, box, motcpp::BaseTracker::id_to_color(id), 2);
            cv::putText(frame, "ID " + std::to_string(id),
                        box.tl(), cv::FONT_HERSHEY_SIMPLEX, 0.6,
                        motcpp::BaseTracker::id_to_color(id), 2);
        }

        cv::imshow("Tracking", frame);
        if (cv::waitKey(1) == 27) break;
    }
}

ReID-Enhanced Tracker

#include <motcpp/trackers/boosttrack.hpp>

// Point to a ReID ONNX model (see docs/guides/trackers.md for download)
motcpp::trackers::BoostTrackTracker tracker("osnet_x1_0.onnx");

while (cap.read(frame)) {
    Eigen::MatrixXf dets  = detector(frame);
    Eigen::MatrixXf tracks = tracker.update(dets, frame);
    // ...
}

Per-Class Tracking

motcpp::trackers::ByteTrack tracker(
    0.3f,   // det_thresh
    30,     // max_age
    50,     // max_obs
    3,      // min_hits
    0.3f,   // iou_threshold
    true,   // per_class — track each class independently
    80      // nr_classes
);

Reset Between Sequences

tracker.reset();   // clears all track state and ID counter

📋 Trackers

Choosing the Right Tracker

Need maximum throughput (>500 FPS)?
    └─ SORT or ByteTrack

General purpose, great accuracy/speed balance?
    └─ ByteTrack · OC-SORT · OracleTrack

Heavy occlusion or non-linear motion?
    └─ OC-SORT · UCMCTrack · OracleTrack

Moving or drone camera?
    └─ UCMCTrack · BoT-SORT · OracleTrack

Have a ReID model and need best accuracy?
    └─ BoostTrack · StrongSORT · BoT-SORT

All Trackers at a Glance

ReID Model Download

# Download OSNet x1.0 (recommended — good accuracy/size balance)
./scripts/auto_benchmark.sh --download-reid

# Or directly:
wget https://github.com/Geekgineer/motcpp/releases/download/reid-models-v1.0.0/osnet_x1_0.onnx

🧪 Testing

cmake -B build -DMOTCPP_BUILD_TESTS=ON
cmake --build build -j$(nproc)
cd build && ctest --output-on-failure

# Single test suite
./build/tests/motcpp_tests --gtest_filter=ByteTrackTest.*

📚 Documentation

🤝 Contributing

📜 Citation

@software{motcpp2026,
  author  = {motcpp contributors},
  title   = {motcpp: Modern C++ Multi-Object Tracking Library},
  year    = {2026},
  url     = {https://github.com/Geekgineer/motcpp},
  license = {AGPL-3.0}
}

📄 License

🙏 Acknowledgments

Tracking Algorithms

Benchmark Tools

Inspiration