diff --git a/CMakeLists.txt b/CMakeLists.txt
index a9bdcc8c..fed4b1ae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -44,9 +44,9 @@ endif(SILENT_WORK)
 include(CheckIncludeFileCXX)
 check_include_file_cxx(filesystem HAVE_FILESYSTEM)
 if(HAVE_FILESYSTEM)
-    add_definitions(-DHAVE_FILESYSTEM)
     message("Founded filesystem header")
 else(HAVE_FILESYSTEM)
+    add_definitions(-DHAVE_EXPERIMENTAL_FILESYSTEM)
     message("Do not found filesystem header")
 endif(HAVE_FILESYSTEM)
 
diff --git a/async_detector/CMakeLists.txt b/async_detector/CMakeLists.txt
index 06b97ebe..2a552a62 100644
--- a/async_detector/CMakeLists.txt
+++ b/async_detector/CMakeLists.txt
@@ -12,7 +12,7 @@ set(HEADERS AsyncDetector.h
 # добавляем include директории
 # ----------------------------------------------------------------------------
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/../src
-                    ${PROJECT_SOURCE_DIR}/../src/common
+                    ${PROJECT_SOURCE_DIR}/../src/mtracking
                     ${PROJECT_SOURCE_DIR}/../src/Detector
                     ${PROJECT_SOURCE_DIR}/../src/Detector/vibe_src
                     ${PROJECT_SOURCE_DIR}/../src/Detector/Subsense
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
index 5674e9be..163680cb 100644
--- a/example/CMakeLists.txt
+++ b/example/CMakeLists.txt
@@ -20,7 +20,7 @@ endif(BUILD_CARS_COUNTING)
 # добавляем include директории
 # ----------------------------------------------------------------------------
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/../src
-                    ${PROJECT_SOURCE_DIR}/../src/common
+                    ${PROJECT_SOURCE_DIR}/../src/mtracking
                     ${PROJECT_SOURCE_DIR}/../src/Detector
                     ${PROJECT_SOURCE_DIR}/../src/Detector/vibe_src
                     ${PROJECT_SOURCE_DIR}/../src/Detector/Subsense
diff --git a/example/MotionDetectorExample.h b/example/MotionDetectorExample.h
index ac4e5409..7136b758 100644
--- a/example/MotionDetectorExample.h
+++ b/example/MotionDetectorExample.h
@@ -39,7 +39,7 @@ class MotionDetectorExample final : public VideoExample
 		m_logger->info("MotionDetectorExample::InitDetector");
 
         //m_minObjWidth = frame.cols / 20;
-		m_minObjWidth = 2;
+		m_minObjWidth = 4;
 
         config_t config;
 		config.emplace("useRotatedRect", "0");
@@ -56,7 +56,7 @@ class MotionDetectorExample final : public VideoExample
 			config.emplace("updateFactor", "16");
 			break;
 		case tracking::Detectors::Motion_MOG:
-            config.emplace("history", std::to_string(cvRound(50 * m_fps)));
+            config.emplace("history", std::to_string(cvRound(5000 * m_fps)));
 			config.emplace("nmixtures", "3");
 			config.emplace("backgroundRatio", "0.7");
 			config.emplace("noiseSigma", "0");
@@ -97,7 +97,7 @@ class MotionDetectorExample final : public VideoExample
 
 		if (!m_trackerSettingsLoaded)
 		{
-            m_trackerSettings.SetDistance(tracking::DistCenters);
+            m_trackerSettings.SetDistance(tracking::DistJaccard);
 			m_trackerSettings.m_kalmanType = tracking::KalmanLinear;
 			m_trackerSettings.m_filterGoal = tracking::FilterCenter;
             m_trackerSettings.m_lostTrackType = tracking::TrackNone; // Use visual objects tracker for collisions resolving. Used if m_filterGoal == tracking::FilterRect
@@ -197,8 +197,9 @@ class MotionDetectorExample final : public VideoExample
 				auto velocity = sqrt(sqr(track.m_velocity[0]) + sqr(track.m_velocity[1]));
 				if (track.IsRobust(4,             // Minimal trajectory size
 					0.3f,                         // Minimal ratio raw_trajectory_points / trajectory_lenght
-					cv::Size2f(0.2f, 5.0f)))    // Min and max ratio: width / height
-					//velocity > 30                // Velocity more than 30 pixels per second
+					cv::Size2f(0.2f, 5.0f),       // Min and max ratio: width / height
+					2))
+					//velocity > 30               // Velocity more than 30 pixels per second
 				{
 					//track_t mean = 0;
 					//track_t stddev = 0;
diff --git a/example/VideoExample.cpp b/example/VideoExample.cpp
index 323cde52..4c41e003 100644
--- a/example/VideoExample.cpp
+++ b/example/VideoExample.cpp
@@ -153,8 +153,14 @@ void VideoExample::SyncProcess()
 
     int64 startLoopTime = cv::getTickCount();
 
+    //double fps = capture.get(cv::CAP_PROP_FPS);
+    //double readPeriodSeconds = 2.;
+    //int readPeriodFrames = cvRound(readPeriodSeconds * fps);
+
     for (;;)
     {
+        //int currFramesPos = cvRound(capture.get(cv::CAP_PROP_POS_FRAMES));
+
 		size_t i = 0;
 		for (; i < m_batchSize; ++i)
 		{
@@ -177,6 +183,8 @@ void VideoExample::SyncProcess()
 		if (i < m_batchSize)
 			break;
 
+        //capture.set(cv::CAP_PROP_POS_FRAMES, currFramesPos + readPeriodFrames);
+
 		if (!m_isDetectorInitialized || !m_isTrackerInitialized)
 		{
 			cv::UMat ufirst = frameInfo.m_frames[0].GetUMatBGR();
@@ -202,7 +210,6 @@ void VideoExample::SyncProcess()
 
         int64 t1 = cv::getTickCount();
 
-        regions_t regions;
         Detection(frameInfo);
         Tracking(frameInfo);
         int64 t2 = cv::getTickCount();
diff --git a/example/VideoExample.h b/example/VideoExample.h
index b6b65918..b5e0fc69 100644
--- a/example/VideoExample.h
+++ b/example/VideoExample.h
@@ -281,7 +281,11 @@ class VideoExample
     bool m_isDetectorInitialized = false;
     std::string m_inFile;
     std::string m_outFile;
-    int m_fourcc = cv::VideoWriter::fourcc('h', '2', '6', '4'); //cv::VideoWriter::fourcc('M', 'J', 'P', 'G');
+#if 0
+    int m_fourcc = cv::VideoWriter::fourcc('h', '2', '6', '4');
+#else
+    int m_fourcc = cv::VideoWriter::fourcc('M', 'J', 'P', 'G');
+#endif
     int m_startFrame = 0;
     int m_endFrame = 0;
     int m_finishDelay = 0;
diff --git a/example/main.cpp b/example/main.cpp
index 34e413da..2ef4f32a 100644
--- a/example/main.cpp
+++ b/example/main.cpp
@@ -9,47 +9,39 @@
 #include <opencv2/opencv.hpp>
 #include <opencv2/core/ocl.hpp>
 
-// ----------------------------------------------------------------------
-
-static void Help()
-{
-    printf("\nExamples of the Multitarget tracking algorithm\n"
-           "Usage: \n"
-           "          ./MultitargetTracker <path to movie file> [--example]=<number of example 0..7> [--start_frame]=<start a video from this position> [--end_frame]=<play a video to this position> [--end_delay]=<delay in milliseconds after video ending> [--out]=<name of result video file> [--show_logs]=<show logs> [--async]=<async pipeline> [--res]=<csv log file> [--settings]=<ini file> [--batch_size=<number of frames>] \n\n"
-           "Press:\n"
-           "\'m\' key for change mode: play|pause. When video is paused you can press any key for get next frame. \n\n"
-           "Press Esc to exit from video \n\n"
-           );
-}
-
-const char* keys =
-{
-    "{ @1                  |../data/atrium.avi  | movie file | }"
-    "{ e  example          |1                   | number of example 0 - MouseTracking, 1 - MotionDetector, 3 - YOLO TensorRT Detector, 4 - Cars counting | }"
-    "{ sf start_frame      |0                   | Start a video from this position | }"
-    "{ ef end_frame        |0                   | Play a video to this position (if 0 then played to the end of file) | }"
-    "{ ed end_delay        |0                   | Delay in milliseconds after video ending | }"
-    "{ o  out              |                    | Name of result video file | }"
-    "{ show_logs           |info                | Show Trackers logs: trace, debug, info, warning, error, critical, off | }"
-    "{ g gpu               |0                   | Use OpenCL acceleration | }"
-    "{ a async             |1                   | Use 2 theads for processing pipeline | }"
-    "{ r log_res           |                    | Path to the csv file with tracking result | }"
-    "{ cvat_res            |                    | Path to the xml file in cvat format with tracking result | }"
-    "{ s settings          |                    | Path to the ini file with tracking settings | }"
-    "{ bs batch_size       |1                   | Batch size - frames count for processing | }"
-    "{ wf write_n_frame    |1                   | Write logs on each N frame: 1 for writing each frame | }"
-    "{ hm heat_map         |0                   | For CarsCounting: Draw heat map | }"
-    "{ geo_bind            |geo_bind.ini        | For CarsCounting: ini file with geographical binding | }"
-    "{ contrast_adjustment |0                   | Use contrast adjustment for frames before detection | }"
-};
-
-// ----------------------------------------------------------------------
-
+///----------------------------------------------------------------------
 int main(int argc, char** argv)
 {
+    const char* keys =
+    {
+        "{ @1                  |../data/atrium.avi  | movie file | }"
+        "{ e  example          |1                   | number of example 0 - MouseTracking, 1 - MotionDetector, 3 - YOLO TensorRT Detector, 4 - Cars counting | }"
+        "{ sf start_frame      |0                   | Start a video from this position | }"
+        "{ ef end_frame        |0                   | Play a video to this position (if 0 then played to the end of file) | }"
+        "{ ed end_delay        |0                   | Delay in milliseconds after video ending | }"
+        "{ o  out              |                    | Name of result video file | }"
+        "{ show_logs           |info                | Show Trackers logs: trace, debug, info, warning, error, critical, off | }"
+        "{ g gpu               |0                   | Use OpenCL acceleration | }"
+        "{ a async             |1                   | Use 2 theads for processing pipeline | }"
+        "{ r log_res           |                    | Path to the csv file with tracking result | }"
+        "{ cvat_res            |                    | Path to the xml file in cvat format with tracking result | }"
+        "{ s settings          |                    | Path to the ini file with tracking settings | }"
+        "{ bs batch_size       |1                   | Batch size - frames count for processing | }"
+        "{ wf write_n_frame    |1                   | Write logs on each N frame: 1 for writing each frame | }"
+        "{ hm heat_map         |0                   | For CarsCounting: Draw heat map | }"
+        "{ geo_bind            |geo_bind.ini        | For CarsCounting: ini file with geographical binding | }"
+        "{ contrast_adjustment |0                   | Use contrast adjustment for frames before detection | }"
+    };
+
     cv::CommandLineParser parser(argc, argv, keys);
 
-    Help();
+    std::cout << "\nExamples of the Multitarget tracking algorithm\n"
+        "Usage: \n"
+        "          ./MultitargetTracker <path to movie file> [--example]=<number of example 0..7> [--start_frame]=<start a video from this position> [--end_frame]=<play a video to this position> [--end_delay]=<delay in milliseconds after video ending> [--out]=<name of result video file> [--show_logs]=<show logs> [--async]=<async pipeline> [--res]=<csv log file> [--settings]=<ini file> [--batch_size=<number of frames>] \n\n"
+        "Press:\n"
+        "\'m\' key for change mode: play|pause. When video is paused you can press any key for get next frame. \n\n"
+        "Press Esc to exit from video \n" << std::endl;
+
     parser.printMessage();
 
     bool useOCL = parser.get<int>("gpu") != 0;
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 5a017769..5aa83f30 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -23,7 +23,7 @@ else()
     set(LIB_PTHREAD pthread)
 endif()
 
-    include_directories(common)
+    include_directories(mtracking)
 
     pybind11_add_module(pymtracking ${mtracker_python_src} ${mtracker_python_inc})
     target_link_libraries(pymtracking PRIVATE mtracking mdetection ${OpenCV_LIBS} ${PYTHON_LIBRARY} pybind11::module)
diff --git a/src/Detector/BackgroundSubtract.h b/src/Detector/BackgroundSubtract.h
index c815be08..31dfe5d9 100644
--- a/src/Detector/BackgroundSubtract.h
+++ b/src/Detector/BackgroundSubtract.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "defines.h"
+#include "mtracking/defines.h"
 #include "vibe_src/vibe.hpp"
 
 #ifdef USE_OCV_BGFG
diff --git a/src/Detector/BaseDetector.h b/src/Detector/BaseDetector.h
index b3c4c5d3..7a24f336 100644
--- a/src/Detector/BaseDetector.h
+++ b/src/Detector/BaseDetector.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <memory>
-#include "defines.h"
+#include "mtracking/defines.h"
 
 ///
 /// \brief The KeyVal struct
diff --git a/src/Detector/CMakeLists.txt b/src/Detector/CMakeLists.txt
index 8cf3f2b0..ffc36707 100644
--- a/src/Detector/CMakeLists.txt
+++ b/src/Detector/CMakeLists.txt
@@ -50,7 +50,7 @@ endif(USE_OCV_BGFG)
 
 include_directories(${PROJECT_SOURCE_DIR})
 include_directories(${PROJECT_SOURCE_DIR}/../src)
-include_directories(${PROJECT_SOURCE_DIR}/../common)
+include_directories(${PROJECT_SOURCE_DIR}/..)
 
 if (CMAKE_COMPILER_IS_GNUCXX)
     add_library(${PROJECT_NAME} SHARED
@@ -76,8 +76,8 @@ target_link_libraries(${PROJECT_NAME} PRIVATE ${LIBS})
 set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${detector_headers}")
 install(TARGETS ${PROJECT_NAME}
         EXPORT MTTrackingExports
-        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include/${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER "libs")
diff --git a/src/Detector/OCVDNNDetector.cpp b/src/Detector/OCVDNNDetector.cpp
index 4239059c..c6982e5d 100644
--- a/src/Detector/OCVDNNDetector.cpp
+++ b/src/Detector/OCVDNNDetector.cpp
@@ -1,6 +1,6 @@
 #include <fstream>
 #include "OCVDNNDetector.h"
-#include "nms.h"
+#include "mtracking/nms.h"
 
 ///
 /// \brief OCVDNNDetector::OCVDNNDetector
diff --git a/src/Detector/ONNXTensorRTDetector.cpp b/src/Detector/ONNXTensorRTDetector.cpp
index 582a2e7f..d6b7fddd 100644
--- a/src/Detector/ONNXTensorRTDetector.cpp
+++ b/src/Detector/ONNXTensorRTDetector.cpp
@@ -1,6 +1,6 @@
 #include <fstream>
 #include "ONNXTensorRTDetector.h"
-#include "nms.h"
+#include "mtracking/nms.h"
 
 ///
 /// \brief ONNXTensorRTDetector::ONNXTensorRTDetector
diff --git a/src/Detector/tensorrt_onnx/CMakeLists.txt b/src/Detector/tensorrt_onnx/CMakeLists.txt
index 1de484a9..257dd3e2 100644
--- a/src/Detector/tensorrt_onnx/CMakeLists.txt
+++ b/src/Detector/tensorrt_onnx/CMakeLists.txt
@@ -49,7 +49,7 @@ include_directories(${OpenCV_INCLUDE_DIRS})
 include_directories(${CUDA_INCLUDE_DIRS})
 include_directories(${CUDNN_INCLUDE_DIR})
 include_directories(${TensorRT_INCLUDE_DIRS})
-include_directories(${PROJECT_SOURCE_DIR}/../../common)
+include_directories(${PROJECT_SOURCE_DIR}/../../mtracking)
 
 file(GLOB TENSORRT_SOURCE_FILES *.cpp common/*.cpp)
 file(GLOB TENSORRT_HEADER_FILES *.h* common/*.h*)
@@ -91,9 +91,9 @@ target_link_libraries(${libname_rt} ${TENSORRT_LIBS})
 
 install(TARGETS ${libname_rt}
         EXPORT MTTrackingExports
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include/${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER "libs")
diff --git a/src/Detector/tensorrt_onnx/YoloONNX.cpp b/src/Detector/tensorrt_onnx/YoloONNX.cpp
index 4e241d5a..aa4d23a6 100644
--- a/src/Detector/tensorrt_onnx/YoloONNX.cpp
+++ b/src/Detector/tensorrt_onnx/YoloONNX.cpp
@@ -3,7 +3,7 @@
 #define DEFINE_TRT_ENTRYPOINTS 1
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 //!
 //! \brief Creates the network, configures the builder and creates the network engine
diff --git a/src/Detector/tensorrt_onnx/YoloONNXv11_instance.hpp b/src/Detector/tensorrt_onnx/YoloONNXv11_instance.hpp
index b1a0e11c..f65d75b3 100644
--- a/src/Detector/tensorrt_onnx/YoloONNXv11_instance.hpp
+++ b/src/Detector/tensorrt_onnx/YoloONNXv11_instance.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 ///
 /// \brief The YOLOv11_instance_onnx class
diff --git a/src/Detector/tensorrt_onnx/YoloONNXv7_instance.hpp b/src/Detector/tensorrt_onnx/YoloONNXv7_instance.hpp
index 09a38fab..ec73b7d6 100644
--- a/src/Detector/tensorrt_onnx/YoloONNXv7_instance.hpp
+++ b/src/Detector/tensorrt_onnx/YoloONNXv7_instance.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 ///
 /// \brief The YOLOv7_instance_onnx class
diff --git a/src/Detector/tensorrt_onnx/YoloONNXv8_instance.hpp b/src/Detector/tensorrt_onnx/YoloONNXv8_instance.hpp
index 56fe03f1..0bc2e598 100644
--- a/src/Detector/tensorrt_onnx/YoloONNXv8_instance.hpp
+++ b/src/Detector/tensorrt_onnx/YoloONNXv8_instance.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 ///
 /// \brief The YOLOv8_instance_onnx class
diff --git a/src/Tracker/BaseTracker.cpp b/src/Tracker/BaseTracker.cpp
index db6a9573..7fbae980 100644
--- a/src/Tracker/BaseTracker.cpp
+++ b/src/Tracker/BaseTracker.cpp
@@ -149,8 +149,8 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
     std::cout << "CTracker::UpdateTrackingState: m_tracks = " << colsTracks << ", regions = " << rowsRegions << std::endl;
 
     int fontType = cv::FONT_HERSHEY_TRIPLEX;
-    double fontSize = 0.6;
-    cv::Scalar colorRegionEllow(0, 255, 255);
+    double fontSize = (currFrame.cols < 1000) ? 0.4 : 0.6;
+    cv::Scalar colorRegionEllow(100, 100, 100);
     cv::Scalar colorMatchedAboveThreshRed(0, 0, 255);
     cv::Scalar colorMatchedGreen(0, 255, 0);
     cv::Scalar colorMatchedNearMargenta(255, 0, 255);
@@ -217,12 +217,7 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
         CreateDistaceMatrix(regions, regionEmbeddings, costMatrix, maxPossibleCost, maxCost);
 #if DRAW_DBG_ASSIGNMENT
         std::cout << "CTracker::UpdateTrackingState: maxPossibleCost = " << maxPossibleCost << ", maxCost = " << maxCost << std::endl;
-        std::cout << "costMatrix: ";
-        for (auto costv : costMatrix)
-        {
-            std::cout << costv << " ";
-        }
-        std::cout << std::endl;
+        std::cout << "costMatrix: " << cv::Mat_<track_t>(rowsRegions, colsTracks, costMatrix.data()) << std::endl;
 #endif
 
         // Solving assignment problem (shortest paths)
@@ -332,7 +327,9 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
                     m_tracks[i]->IsStaticTimeout(frameTime, m_settings.m_maxStaticTime - m_settings.m_minStaticTime))
             {
                 m_removedObjects.push_back(m_tracks[i]->GetID());
-                //std::cout << "Remove: " << m_tracks[i]->GetID().ID2Str() << ": lost = " << m_tracks[i]->GetLostPeriod(frameTime) << ", maximumAllowedLostTime = " << m_settings.m_maximumAllowedLostTime << ", out of frame " << m_tracks[i]->IsOutOfTheFrame() << std::endl;
+#if DRAW_DBG_ASSIGNMENT
+                std::cout << "Remove: " << m_tracks[i]->GetID().ID2Str() << ": lost = " << m_tracks[i]->GetLostPeriod(frameTime) << ", maximumAllowedLostTime = " << m_settings.m_maximumAllowedLostTime << ", out of frame " << m_tracks[i]->IsOutOfTheFrame() << std::endl;
+#endif
                 m_tracks.erase(m_tracks.begin() + i);
                 assignmentT2R.erase(assignmentT2R.begin() + i);
             }
@@ -349,8 +346,9 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
 #endif
     for (size_t i = 0; i < regions.size(); ++i)
     {
-		//std::cout << "CTracker::update: regions[" << i << "].m_rrect: " << regions[i].m_rrect.center << ", " << regions[i].m_rrect.angle << ", " << regions[i].m_rrect.size << std::endl;
-
+#if DRAW_DBG_ASSIGNMENT
+		std::cout << "CTracker::update: regions[" << i << "].m_rrect: " << regions[i].m_rrect.center << ", " << regions[i].m_rrect.angle << ", " << regions[i].m_rrect.size << std::endl;
+#endif
         if (std::find(assignmentT2R.begin(), assignmentT2R.end(), i) == assignmentT2R.end())
         {
             if (regionEmbeddings.empty())
@@ -391,7 +389,9 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
         if (assignmentT2R[i] != -1) // If we have assigned detect, then update using its coordinates,
         {
             m_tracks[i]->ResetLostTime(frameTime);
-            // std::cout << "Update track " << i << " for " << assignment[i] << " region, regionEmbeddings.size = " << regionEmbeddings.size() << std::endl;
+#if DRAW_DBG_ASSIGNMENT
+            std::cout << "Update track " << i << " for " << assignmentT2R[i] << " region, regionEmbeddings.size = " << regionEmbeddings.size() << std::endl;
+#endif
             if (regionEmbeddings.empty())
                 m_tracks[i]->Update(regions[assignmentT2R[i]],
                         true, m_settings.m_maxTraceLength,
diff --git a/src/Tracker/CMakeLists.txt b/src/Tracker/CMakeLists.txt
index 0141e5e4..fbb355a8 100644
--- a/src/Tracker/CMakeLists.txt
+++ b/src/Tracker/CMakeLists.txt
@@ -3,10 +3,10 @@ cmake_minimum_required(VERSION 3.9)
 project(mtracking)
 
 set(main_sources
-             ../common/nms.h
-             ../common/defines.h
-             ../common/object_types.h
-             ../common/object_types.cpp)
+             ../mtracking/nms.h
+             ../mtracking/defines.h
+             ../mtracking/object_types.h
+             ../mtracking/object_types.cpp)
 
 set(tracker_sources
              BaseTracker.cpp
@@ -76,7 +76,7 @@ endif(USE_OCV_EMBEDDINGS)
 
 include_directories(${PROJECT_SOURCE_DIR})
 include_directories(${PROJECT_SOURCE_DIR}/../src)
-include_directories(${PROJECT_SOURCE_DIR}/../common)
+include_directories(${PROJECT_SOURCE_DIR}/../mtracking)
 include_directories(${PROJECT_SOURCE_DIR}/../../thirdparty)
 
 if (CMAKE_COMPILER_IS_GNUCXX)
@@ -98,11 +98,11 @@ endif()
 
 target_link_libraries(${PROJECT_NAME} PRIVATE ${LIBS})
 
-set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${tracker_headers};../common/defines.h;../common/object_types.h")
+set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${tracker_headers};../mtracking/defines.h;../mtracking/object_types.h")
 install(TARGETS ${PROJECT_NAME}
         EXPORT MTTrackingExports
-        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include/${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER "libs")
diff --git a/src/Tracker/TrackerSettings.h b/src/Tracker/TrackerSettings.h
index ba862f5f..8e68b4bf 100644
--- a/src/Tracker/TrackerSettings.h
+++ b/src/Tracker/TrackerSettings.h
@@ -20,7 +20,7 @@ struct TrackerSettings
     tracking::KalmanType m_kalmanType = tracking::KalmanLinear;
     tracking::FilterGoal m_filterGoal = tracking::FilterCenter;
     tracking::LostTrackType m_lostTrackType = tracking::TrackKCF; // Used if m_filterGoal == tracking::FilterRect
-    tracking::MatchType m_matchType = tracking::MatchHungrian;
+    tracking::MatchType m_matchType = tracking::MatchLAPJV;
 
     std::array<track_t, tracking::DistsCount> m_distType;
 
diff --git a/src/Tracker/byte_track/BYTETracker.cpp b/src/Tracker/byte_track/BYTETracker.cpp
index 57227535..8a63cf56 100644
--- a/src/Tracker/byte_track/BYTETracker.cpp
+++ b/src/Tracker/byte_track/BYTETracker.cpp
@@ -24,18 +24,37 @@ byte_track::BYTETracker::BYTETracker(const int& frame_rate,
 ///
 void byte_track::BYTETracker::GetTracks(std::vector<TrackingObject>& tracks) const
 {
+    tracks.clear();
 
+    if (output_stracks_.size() > tracks.capacity())
+        tracks.reserve(output_stracks_.size());
+    for (const auto& track : output_stracks_)
+    {
+        std::chrono::duration<double> period = m_lastFrameTime - m_lastFrameTime;
+        cv::RotatedRect rr(track->getRect().tl(), cv::Point2f(static_cast<float>(track->getRect().x + track->getRect().width), static_cast<float>(track->getRect().y)), track->getRect().br());
+        TrackingObject to(rr, track->getTrackId(), track->getTrace(), false, cvRound(period.count()), false,
+            track->getType(), track->getScore(), track->getVelocity());
+
+        tracks.emplace_back(to);
+    }
 }
 
 ///
 void byte_track::BYTETracker::GetRemovedTracks(std::vector<track_id_t>& trackIDs) const
 {
-
+    if (removed_stracks_.size() > trackIDs.capacity())
+        trackIDs.reserve(removed_stracks_.size());
+    for (const auto& remTrack : removed_stracks_)
+    {
+        trackIDs.emplace_back(remTrack->getTrackId());
+    }
 }
 
 ///
-void byte_track::BYTETracker::Update(const regions_t& regions, cv::UMat currFrame, time_point_t frameTime)
+void byte_track::BYTETracker::Update(const regions_t& regions, cv::UMat /*currFrame*/, time_point_t frameTime)
 {
+    m_lastFrameTime = frameTime;
+
     ////////////////// Step 1: Get detections //////////////////
     frame_id_++;
 
@@ -45,7 +64,7 @@ void byte_track::BYTETracker::Update(const regions_t& regions, cv::UMat currFram
 
     for (const auto &region : regions)
     {
-        const auto strack = std::make_shared<STrack>(region.m_brect, region.m_confidence, frameTime);
+        const auto strack = std::make_shared<STrack>(region.m_brect, region.m_confidence, region.m_type, frameTime);
         if (region.m_confidence >= track_thresh_)
             det_stracks.push_back(strack);
         else
@@ -81,7 +100,7 @@ void byte_track::BYTETracker::Update(const regions_t& regions, cv::UMat currFram
 
     {
         std::vector<std::vector<int>> matches_idx;
-        std::vector<int> unmatch_detection_idx, unmatch_track_idx;
+        std::vector<size_t> unmatch_detection_idx, unmatch_track_idx;
 
         const auto dists = calcIouDistance(strack_pool, det_stracks);
         linearAssignment(dists, strack_pool.size(), det_stracks.size(), match_thresh_,
@@ -120,7 +139,7 @@ void byte_track::BYTETracker::Update(const regions_t& regions, cv::UMat currFram
 
     {
         std::vector<std::vector<int>> matches_idx;
-        std::vector<int> unmatch_track_idx, unmatch_detection_idx;
+        std::vector<size_t> unmatch_track_idx, unmatch_detection_idx;
 
         const auto dists = calcIouDistance(remain_tracked_stracks, det_low_stracks);
         linearAssignment(dists, remain_tracked_stracks.size(), det_low_stracks.size(), 0.5,
@@ -157,8 +176,8 @@ void byte_track::BYTETracker::Update(const regions_t& regions, cv::UMat currFram
     std::vector<STrackPtr> current_removed_stracks;
 
     {
-        std::vector<int> unmatch_detection_idx;
-        std::vector<int> unmatch_unconfirmed_idx;
+        std::vector<size_t> unmatch_detection_idx;
+        std::vector<size_t> unmatch_unconfirmed_idx;
         std::vector<std::vector<int>> matches_idx;
 
         // Deal with unconfirmed tracks, usually tracks with only one beginning frame
@@ -224,7 +243,7 @@ void byte_track::BYTETracker::Update(const regions_t& regions, cv::UMat currFram
 std::vector<byte_track::BYTETracker::STrackPtr> byte_track::BYTETracker::jointStracks(const std::vector<STrackPtr> &a_tlist,
                                                                                       const std::vector<STrackPtr> &b_tlist) const
 {
-    std::map<int, int> exists;
+    std::map<size_t, size_t> exists;
     std::vector<STrackPtr> res;
     for (size_t i = 0; i < a_tlist.size(); i++)
     {
@@ -233,7 +252,7 @@ std::vector<byte_track::BYTETracker::STrackPtr> byte_track::BYTETracker::jointSt
     }
     for (size_t i = 0; i < b_tlist.size(); i++)
     {
-        const int &tid = b_tlist[i]->getTrackId();
+        const size_t &tid = b_tlist[i]->getTrackId();
         if (!exists[tid] || exists.count(tid) == 0)
         {
             exists[tid] = 1;
@@ -247,7 +266,7 @@ std::vector<byte_track::BYTETracker::STrackPtr> byte_track::BYTETracker::jointSt
 std::vector<byte_track::BYTETracker::STrackPtr> byte_track::BYTETracker::subStracks(const std::vector<STrackPtr> &a_tlist,
                                                                                     const std::vector<STrackPtr> &b_tlist) const
 {
-    std::map<int, STrackPtr> stracks;
+    std::map<size_t, STrackPtr> stracks;
     for (size_t i = 0; i < a_tlist.size(); i++)
     {
         stracks.emplace(a_tlist[i]->getTrackId(), a_tlist[i]);
@@ -255,13 +274,13 @@ std::vector<byte_track::BYTETracker::STrackPtr> byte_track::BYTETracker::subStra
 
     for (size_t i = 0; i < b_tlist.size(); i++)
     {
-        const int &tid = b_tlist[i]->getTrackId();
+        const size_t&tid = b_tlist[i]->getTrackId();
         if (stracks.count(tid) != 0)
             stracks.erase(tid);
     }
 
     std::vector<STrackPtr> res;
-    std::map<int, STrackPtr>::iterator it;
+    std::map<size_t, STrackPtr>::iterator it;
     for (it = stracks.begin(); it != stracks.end(); ++it)
     {
         res.push_back(it->second);
@@ -314,27 +333,28 @@ void byte_track::BYTETracker::removeDuplicateStracks(const std::vector<STrackPtr
 
 ///
 void byte_track::BYTETracker::linearAssignment(const std::vector<std::vector<float>> &cost_matrix,
-                                               const int &cost_matrix_size,
-                                               const int &cost_matrix_size_size,
+                                               const size_t &cost_matrix_size,
+                                               const size_t &cost_matrix_size_size,
                                                const float &thresh,
                                                std::vector<std::vector<int>> &matches,
-                                               std::vector<int> &a_unmatched,
-                                               std::vector<int> &b_unmatched) const
+                                               std::vector<size_t> &a_unmatched,
+                                               std::vector<size_t> &b_unmatched) const
 {
     if (cost_matrix.size() == 0)
     {
-        for (int i = 0; i < cost_matrix_size; i++)
+        for (size_t i = 0; i < cost_matrix_size; i++)
         {
             a_unmatched.push_back(i);
         }
-        for (int i = 0; i < cost_matrix_size_size; i++)
+        for (size_t i = 0; i < cost_matrix_size_size; i++)
         {
             b_unmatched.push_back(i);
         }
         return;
     }
 
-    std::vector<int> rowsol; std::vector<int> colsol;
+    std::vector<int> rowsol;
+    std::vector<int> colsol;
     execLapjv(cost_matrix, rowsol, colsol, true, thresh);
     for (size_t i = 0; i < rowsol.size(); i++)
     {
@@ -443,12 +463,12 @@ double byte_track::BYTETracker::execLapjv(const std::vector<std::vector<float>>
 
     std::vector<std::vector<float> > cost_c_extended;
 
-    int n_rows = cost.size();
-    int n_cols = cost[0].size();
+    size_t n_rows = cost.size();
+    size_t n_cols = cost[0].size();
     rowsol.resize(n_rows);
     colsol.resize(n_cols);
 
-    int n = 0;
+    size_t n = 0;
     if (n_rows == n_cols)
     {
         n = n_rows;
@@ -472,7 +492,7 @@ double byte_track::BYTETracker::execLapjv(const std::vector<std::vector<float>>
             {
                 for (size_t j = 0; j < cost_c_extended[i].size(); j++)
                 {
-                    cost_c_extended[i][j] = cost_limit / 2.0;
+                    cost_c_extended[i][j] = cost_limit / 2.0f;
                 }
             }
         }
@@ -503,9 +523,9 @@ double byte_track::BYTETracker::execLapjv(const std::vector<std::vector<float>>
                 cost_c_extended[i][j] = 0;
             }
         }
-        for (int i = 0; i < n_rows; i++)
+        for (size_t i = 0; i < n_rows; i++)
         {
-            for (int j = 0; j < n_cols; j++)
+            for (size_t j = 0; j < n_cols; j++)
             {
                 cost_c_extended[i][j] = cost_c[i][j];
             }
@@ -526,18 +546,18 @@ double byte_track::BYTETracker::execLapjv(const std::vector<std::vector<float>>
 
     if (n != n_rows)
     {
-        for (int i = 0; i < n; i++)
+        for (size_t i = 0; i < n; i++)
         {
             if (x_c[i] >= n_cols)
                 x_c[i] = -1;
             if (y_c[i] >= n_rows)
                 y_c[i] = -1;
         }
-        for (int i = 0; i < n_rows; i++)
+        for (size_t i = 0; i < n_rows; i++)
         {
             rowsol[i] = x_c[i];
         }
-        for (int i = 0; i < n_cols; i++)
+        for (size_t i = 0; i < n_cols; i++)
         {
             colsol[i] = y_c[i];
         }
diff --git a/src/Tracker/byte_track/BYTETracker.h b/src/Tracker/byte_track/BYTETracker.h
index c2b16b93..95146a7b 100644
--- a/src/Tracker/byte_track/BYTETracker.h
+++ b/src/Tracker/byte_track/BYTETracker.h
@@ -37,12 +37,12 @@ class BYTETracker final : public BaseTracker
                                 std::vector<STrackPtr> &b_res) const;
 
     void linearAssignment(const std::vector<std::vector<float>> &cost_matrix,
-                          const int &cost_matrix_size,
-                          const int &cost_matrix_size_size,
+                          const size_t &cost_matrix_size,
+                          const size_t &cost_matrix_size_size,
                           const float &thresh,
                           std::vector<std::vector<int>> &matches,
-                          std::vector<int> &b_unmatched,
-                          std::vector<int> &a_unmatched) const;
+                          std::vector<size_t> &b_unmatched,
+                          std::vector<size_t> &a_unmatched) const;
 
     std::vector<std::vector<float>> calcIouDistance(const std::vector<STrackPtr> &a_tracks,
                                                     const std::vector<STrackPtr> &b_tracks) const;
@@ -63,6 +63,7 @@ class BYTETracker final : public BaseTracker
     const float match_thresh_ = 0.8f;
     const size_t max_time_lost_ = 30;
 
+    time_point_t m_lastFrameTime;
     size_t frame_id_ = 0;
     size_t track_id_count_ = 0;
 
diff --git a/src/Tracker/byte_track/STrack.cpp b/src/Tracker/byte_track/STrack.cpp
index decaaa25..728b4e6e 100644
--- a/src/Tracker/byte_track/STrack.cpp
+++ b/src/Tracker/byte_track/STrack.cpp
@@ -2,10 +2,11 @@
 
 #include <cstddef>
 
-byte_track::STrack::STrack(const cv::Rect2f& rect, const float& score, time_point_t currTime) :
+byte_track::STrack::STrack(const cv::Rect2f& rect, const float& score, objtype_t type, time_point_t currTime) :
     kalman_filter_(),
     mean_(),
     covariance_(),
+    type_(type),
     rect_(rect),
     state_(STrackState::New),
     is_activated_(false),
@@ -58,6 +59,21 @@ const size_t& byte_track::STrack::getTrackletLength() const
     return tracklet_len_;
 }
 
+objtype_t byte_track::STrack::getType() const
+{
+    return type_;
+}
+
+const Trace& byte_track::STrack::getTrace() const
+{
+    return trace_;
+}
+
+cv::Vec<track_t, 2> byte_track::STrack::getVelocity() const
+{
+	return cv::Vec<track_t, 2>(mean_(4), mean_(5));
+}
+
 byte_track::KalmanFilter::DetectBox GetXyah(const cv::Rect2f& rect)
 {
     return byte_track::KalmanFilter::DetectBox(
diff --git a/src/Tracker/byte_track/STrack.h b/src/Tracker/byte_track/STrack.h
index ae2d6503..65607f78 100644
--- a/src/Tracker/byte_track/STrack.h
+++ b/src/Tracker/byte_track/STrack.h
@@ -18,7 +18,7 @@ enum class STrackState {
 class STrack
 {
 public:
-    STrack(const cv::Rect2f& rect, const float& score, time_point_t currTime);
+    STrack(const cv::Rect2f& rect, const float& score, objtype_t type, time_point_t currTime);
     ~STrack() = default;
 
     const cv::Rect2f& getRect() const;
@@ -30,6 +30,9 @@ class STrack
     const size_t& getFrameId() const;
     const size_t& getStartFrameId() const;
     const size_t& getTrackletLength() const;
+    objtype_t getType() const;
+    const Trace& getTrace() const;
+    cv::Vec<track_t, 2> getVelocity() const;
 
     void activate(const size_t& frame_id, const size_t& track_id, time_point_t currTime);
     void reActivate(const STrack &new_track, const size_t &frame_id, const int &new_track_id, time_point_t currTime); // new_track_id = -1
@@ -45,6 +48,7 @@ class STrack
     KalmanFilter::StateMean mean_;
     KalmanFilter::StateCov covariance_;
 
+    objtype_t type_ = bad_type;
     cv::Rect2f rect_;
     STrackState state_{ STrackState::New };
 
diff --git a/src/common/defines.h b/src/mtracking/defines.h
similarity index 95%
rename from src/common/defines.h
rename to src/mtracking/defines.h
index e67fd142..245fc0a2 100644
--- a/src/common/defines.h
+++ b/src/mtracking/defines.h
@@ -1,461 +1,461 @@
-#pragma once
-
-#include <vector>
-#include <string>
-#include <map>
-
-#ifdef HAVE_FILESYSTEM
-#include <filesystem>
-namespace fs = std::filesystem;
-#else
-#include <experimental/filesystem>
-namespace fs = std::experimental::filesystem;
-#endif
-
-#include <opencv2/opencv.hpp>
-#include "object_types.h"
-
-// ---------------------------------------------------------------------------
-//
-// ---------------------------------------------------------------------------
-typedef float track_t;
-typedef cv::Point_<track_t> Point_t;
-#define El_t CV_32F
-#define Mat_t CV_32FC
-
-typedef std::vector<int> assignments_t;
-typedef std::vector<track_t> distMatrix_t;
-
-typedef std::chrono::time_point<std::chrono::system_clock> time_point_t;
-
-///
-template<typename T>
-class TrackID
-{
-public:
-    typedef T value_type;
-
-	TrackID() = default;
-	TrackID(value_type val)
-		: m_val(val)
-	{
-	}
-
-    bool operator==(const TrackID& id) const
-    {
-        return m_val == id.m_val;
-    }
-
-    std::string ID2Str() const
-    {
-        return std::to_string(m_val);
-    }
-    static TrackID Str2ID(const std::string& id)
-    {
-        return TrackID(std::stoi(id));
-    }
-    TrackID NextID() const
-    {
-        return TrackID(m_val + 1);
-    }
-    size_t ID2Module(size_t module) const
-    {
-        return m_val % module;
-    }
-
-    value_type m_val{ 0 };
-};
-
-typedef TrackID<size_t> track_id_t;
-namespace std
-{
-  template <>
-  struct hash<track_id_t>
-  {
-    std::size_t operator()(const track_id_t& k) const
-    {
-      return std::hash<track_id_t::value_type>()(k.m_val);
-    }
-  };
-
-}
-
-///
-/// \brief config_t
-///
-typedef std::multimap<std::string, std::string> config_t;
-
-///
-/// \brief The CRegion class
-///
-class CRegion
-{
-public:
-    ///
-    CRegion() = default;
-
-    ///
-    CRegion(const cv::Rect& rect) noexcept
-        : m_brect(rect)
-    {
-        B2RRect();
-    }
-
-    ///
-    CRegion(const cv::RotatedRect& rrect) noexcept
-        : m_rrect(rrect)
-    {
-        if (m_rrect.size.width < 1)
-            m_rrect.size.width = 1;
-        if (m_rrect.size.height < 1)
-            m_rrect.size.height = 1;
-        R2BRect();
-    }
-
-    ///
-    CRegion(const cv::RotatedRect& rrect, objtype_t type, float confidence) noexcept
-        : m_type(type), m_rrect(rrect), m_confidence(confidence)
-    {
-        if (m_rrect.size.width < 1)
-            m_rrect.size.width = 1;
-        if (m_rrect.size.height < 1)
-            m_rrect.size.height = 1;
-        R2BRect();
-    }
-
-    ///
-    CRegion(const cv::RotatedRect& rrect, const cv::Rect& brect, objtype_t type, float confidence, const cv::Mat& boxMask) noexcept
-        : m_type(type), m_rrect(rrect), m_brect(brect), m_confidence(confidence)
-    {
-        m_boxMask = boxMask;
-
-        if (m_rrect.size.width < 1)
-            m_rrect.size.width = 1;
-        if (m_rrect.size.height < 1)
-            m_rrect.size.height = 1;
-
-        if (!m_boxMask.empty() && m_boxMask.size() != m_brect.size())
-        {
-            m_brect.width = m_boxMask.cols;
-            m_brect.height = m_boxMask.rows;
-        }
-    }
-
-    ///
-    CRegion(const cv::Rect& brect, objtype_t type, float confidence) noexcept
-        : m_type(type), m_brect(brect), m_confidence(confidence)
-    {
-        B2RRect();
-    }
-
-    objtype_t m_type = bad_type;
-    cv::RotatedRect m_rrect;
-    cv::Rect m_brect;
-    track_t m_confidence = -1;
-    cv::Mat m_boxMask;
-
-private:
-    ///
-    /// \brief R2BRect
-    /// \return
-    ///
-    cv::Rect R2BRect() noexcept
-    {
-        m_brect = m_rrect.boundingRect();
-        return m_brect;
-    }
-    ///
-    /// \brief B2RRect
-    /// \return
-    ///
-    cv::RotatedRect B2RRect() noexcept
-    {
-        m_rrect = cv::RotatedRect(m_brect.tl(), cv::Point2f(static_cast<float>(m_brect.x + m_brect.width), static_cast<float>(m_brect.y)), m_brect.br());
-        if (m_rrect.size.width < 1)
-            m_rrect.size.width = 1;
-        if (m_rrect.size.height < 1)
-            m_rrect.size.height = 1;
-        return m_rrect;
-    }
-};
-
-typedef std::vector<CRegion> regions_t;
-
-///
-/// \brief sqr
-/// \param val
-/// \return
-///
-template<class T> inline
-T sqr(T val)
-{
-    return val * val;
-}
-
-///
-/// \brief get_lin_regress_params
-/// \param in_data
-/// \param start_pos
-/// \param in_data_size
-/// \param kx
-/// \param bx
-/// \param ky
-/// \param by
-///
-template<typename T, typename CONT>
-void get_lin_regress_params(
-    const CONT& in_data,
-    size_t start_pos,
-    size_t in_data_size,
-    T& kx, T& bx, T& ky, T& by)
-{
-    T m1(0.), m2(0.);
-    T m3_x(0.), m4_x(0.);
-    T m3_y(0.), m4_y(0.);
-
-    const T el_count = static_cast<T>(in_data_size - start_pos);
-    for (size_t i = start_pos; i < in_data_size; ++i)
-    {
-        m1 += i;
-        m2 += sqr(i);
-
-        m3_x += in_data[i].x;
-        m4_x += i * in_data[i].x;
-
-        m3_y += in_data[i].y;
-        m4_y += i * in_data[i].y;
-    }
-    T det_1 = 1 / (el_count * m2 - sqr(m1));
-
-    m1 *= -1;
-
-    kx = det_1 * (m1 * m3_x + el_count * m4_x);
-    bx = det_1 * (m2 * m3_x + m1 * m4_x);
-
-    ky = det_1 * (m1 * m3_y + el_count * m4_y);
-    by = det_1 * (m2 * m3_y + m1 * m4_y);
-}
-
-///
-/// \brief sqr: Euclid distance between two points
-/// \param val
-/// \return
-///
-template<class T, class POINT_TYPE> inline
-T distance(const POINT_TYPE& p1, const POINT_TYPE& p2)
-{
-    return sqrt((T)(sqr(p2.x - p1.x) + sqr(p2.y - p1.y)));
-}
-
-///
-/// \brief Clamp: Fit rectangle to frame
-/// \param rect
-/// \param size
-/// \return
-///
-inline cv::Rect Clamp(cv::Rect rect, const cv::Size& size)
-{
-	if (rect.x < 0)
-	{
-		rect.width = std::min(rect.width, size.width - 1);
-		rect.x = 0;
-	}
-	else if (rect.x + rect.width >= size.width)
-	{
-		rect.x = std::max(0, size.width - rect.width - 1);
-		rect.width = std::min(rect.width, size.width - 1);
-	}
-	if (rect.y < 0)
-	{
-		rect.height = std::min(rect.height, size.height - 1);
-		rect.y = 0;
-	}
-	else if (rect.y + rect.height >= size.height)
-	{
-		rect.y = std::max(0, size.height - rect.height - 1);
-		rect.height = std::min(rect.height, size.height - 1);
-	}
-	return rect;
-}
-
-///
-/// \brief SaveMat
-/// \param m
-/// \param name
-/// \param path
-///
-inline bool SaveMat(const cv::Mat& m, std::string prefix, const std::string& ext, const std::string& savePath, bool compressToImage)
-{
-    bool res = true;
-
-    std::map<int, std::string> depthDict;
-    depthDict.emplace(CV_8U, "uint8");
-    depthDict.emplace(CV_8S, "int8");
-    depthDict.emplace(CV_16U, "uint16");
-    depthDict.emplace(CV_16S, "int16");
-    depthDict.emplace(CV_32S, "int32");
-    depthDict.emplace(CV_32F, "float32");
-    depthDict.emplace(CV_64F, "float64");
-    depthDict.emplace(CV_16F, "float16");
-
-    auto depth = depthDict.find(m.depth());
-    if (depth == std::end(depthDict))
-    {
-        std::cout << "File " << prefix << " has a unknown depth: " << m.depth() << std::endl;
-        res = false;
-        return res;
-    }
-    assert(depth != std::end(depthDict));
-
-    fs::path fullPath(savePath);
-    fullPath.append(prefix + "_" + std::to_string(m.cols) + "x" + std::to_string(m.rows) + "_" + depth->second + "_C" + std::to_string(m.channels()) + ext);
-    prefix = fullPath.generic_string();
-
-    if (compressToImage)
-    {
-        res = cv::imwrite(prefix, m);
-    }
-    else
-    {
-        FILE* f = 0;
-#ifdef _WIN32
-        fopen_s(&f, prefix.c_str(), "wb");
-#else
-        f = fopen(prefix.c_str(), "wb");
-#endif // _WIN32
-        res = f != 0;
-        if (res)
-        {
-            for (int y = 0; y < m.rows; ++y)
-            {
-                fwrite(m.ptr(y), 1, m.cols * m.elemSize(), f);
-            }
-            fclose(f);
-            std::cout << "File " << prefix << " was writed" << std::endl;
-        }
-    }
-    if (res)
-        std::cout << "File " << prefix << " was writed" << std::endl;
-    else
-        std::cout << "File " << prefix << " can not be opened!" << std::endl;
-    return res;
-}
-
-///
-/// \brief DrawFilledRect
-///
-inline void DrawFilledRect(cv::Mat& frame, const cv::Rect& rect, cv::Scalar cl, int alpha)
-{
-    if (alpha)
-    {
-        const int alpha_1 = 255 - alpha;
-        const int nchans = frame.channels();
-        int color[3] = { cv::saturate_cast<int>(cl[0]), cv::saturate_cast<int>(cl[1]), cv::saturate_cast<int>(cl[2]) };
-        for (int y = std::max(0, rect.y); y < std::min(rect.y + rect.height, frame.rows - 1); ++y)
-        {
-            uchar* ptr = frame.ptr(y) + nchans * rect.x;
-            for (int x = std::max(0, rect.x); x < std::min(rect.x + rect.width, frame.cols - 1); ++x)
-            {
-                for (int i = 0; i < nchans; ++i)
-                {
-                    ptr[i] = cv::saturate_cast<uchar>((alpha_1 * ptr[i] + alpha * color[i]) / 255);
-                }
-                ptr += nchans;
-            }
-        }
-    }
-    else
-    {
-        cv::rectangle(frame, rect, cl, cv::FILLED);
-    }
-}
-
-///
-///
-///
-namespace tracking
-{
-///
-/// \brief The Detectors enum
-///
-enum Detectors
-{
-    Motion_VIBE = 0,
-    Motion_MOG = 1,
-    Motion_GMG = 2,
-    Motion_CNT = 3,
-    Motion_MOG2 = 4,
-    ONNX_TensorRT = 5,
-    DNN_OCV = 6,
-    DetectorsCount
-};
-
-///
-/// \brief The TrackerTemplate enum
-///
-enum TrackerTemplate
-{
-    UniversalTracker = 0,
-    ByteTrack = 1
-};
-
-///
-/// \brief The DistType enum
-///
-enum DistType
-{
-    DistCenters,     // Euclidean distance between centers, [0, 1]
-    DistRects,       // Euclidean distance between bounding rectangles, [0, 1]
-    DistJaccard,     // Intersection over Union, IoU, [0, 1]
-    DistHist,        // Bhatacharia distance between histograms, [0, 1]
-    DistFeatureCos,  // Cosine distance between embeddings, [0, 1]
-    DistMahalanobis, // Mahalanobis: https://ww2.mathworks.cn/help/vision/ug/motion-based-multiple-object-tracking.html
-    DistsCount
-};
-
-///
-/// \brief The FilterGoal enum
-///
-enum FilterGoal
-{
-    FilterCenter,
-    FilterRect,
-    FilterRRect,
-    FiltersCount
-};
-
-///
-/// \brief The KalmanType enum
-///
-enum KalmanType
-{
-    KalmanLinear,
-    KalmanUnscented,
-    KalmanAugmentedUnscented,
-    KalmanCount
-};
-
-///
-/// \brief The MatchType enum
-///
-enum MatchType
-{
-    MatchHungrian,
-    MatchLAPJV,
-    MatchCount
-};
-
-///
-/// \brief The LostTrackType enum
-///
-enum LostTrackType
-{
-    TrackNone,
-    TrackKCF,
-    TrackCSRT,
-    TrackDaSiamRPN,
-    TrackNano,
-    TrackVit,
-    SingleTracksCount
-};
-}
+#pragma once
+
+#include <vector>
+#include <string>
+#include <map>
+
+#ifdef HAVE_EXPERIMENTAL_FILESYSTEM
+#include <experimental/filesystem>
+namespace fs = std::experimental::filesystem;
+#else
+#include <filesystem>
+namespace fs = std::filesystem;
+#endif
+
+#include <opencv2/opencv.hpp>
+#include "object_types.h"
+
+// ---------------------------------------------------------------------------
+//
+// ---------------------------------------------------------------------------
+typedef float track_t;
+typedef cv::Point_<track_t> Point_t;
+#define El_t CV_32F
+#define Mat_t CV_32FC
+
+typedef std::vector<int> assignments_t;
+typedef std::vector<track_t> distMatrix_t;
+
+typedef std::chrono::time_point<std::chrono::system_clock> time_point_t;
+
+///
+template<typename T>
+class TrackID
+{
+public:
+    typedef T value_type;
+
+	TrackID() = default;
+	TrackID(value_type val)
+		: m_val(val)
+	{
+	}
+
+    bool operator==(const TrackID& id) const
+    {
+        return m_val == id.m_val;
+    }
+
+    std::string ID2Str() const
+    {
+        return std::to_string(m_val);
+    }
+    static TrackID Str2ID(const std::string& id)
+    {
+        return TrackID(std::stoi(id));
+    }
+    TrackID NextID() const
+    {
+        return TrackID(m_val + 1);
+    }
+    size_t ID2Module(size_t module) const
+    {
+        return m_val % module;
+    }
+
+    value_type m_val{ 0 };
+};
+
+typedef TrackID<size_t> track_id_t;
+namespace std
+{
+  template <>
+  struct hash<track_id_t>
+  {
+    std::size_t operator()(const track_id_t& k) const
+    {
+      return std::hash<track_id_t::value_type>()(k.m_val);
+    }
+  };
+
+}
+
+///
+/// \brief config_t
+///
+typedef std::multimap<std::string, std::string> config_t;
+
+///
+/// \brief The CRegion class
+///
+class CRegion
+{
+public:
+    ///
+    CRegion() = default;
+
+    ///
+    CRegion(const cv::Rect& rect) noexcept
+        : m_brect(rect)
+    {
+        B2RRect();
+    }
+
+    ///
+    CRegion(const cv::RotatedRect& rrect) noexcept
+        : m_rrect(rrect)
+    {
+        if (m_rrect.size.width < 1)
+            m_rrect.size.width = 1;
+        if (m_rrect.size.height < 1)
+            m_rrect.size.height = 1;
+        R2BRect();
+    }
+
+    ///
+    CRegion(const cv::RotatedRect& rrect, objtype_t type, float confidence) noexcept
+        : m_type(type), m_rrect(rrect), m_confidence(confidence)
+    {
+        if (m_rrect.size.width < 1)
+            m_rrect.size.width = 1;
+        if (m_rrect.size.height < 1)
+            m_rrect.size.height = 1;
+        R2BRect();
+    }
+
+    ///
+    CRegion(const cv::RotatedRect& rrect, const cv::Rect& brect, objtype_t type, float confidence, const cv::Mat& boxMask) noexcept
+        : m_type(type), m_rrect(rrect), m_brect(brect), m_confidence(confidence)
+    {
+        m_boxMask = boxMask;
+
+        if (m_rrect.size.width < 1)
+            m_rrect.size.width = 1;
+        if (m_rrect.size.height < 1)
+            m_rrect.size.height = 1;
+
+        if (!m_boxMask.empty() && m_boxMask.size() != m_brect.size())
+        {
+            m_brect.width = m_boxMask.cols;
+            m_brect.height = m_boxMask.rows;
+        }
+    }
+
+    ///
+    CRegion(const cv::Rect& brect, objtype_t type, float confidence) noexcept
+        : m_type(type), m_brect(brect), m_confidence(confidence)
+    {
+        B2RRect();
+    }
+
+    objtype_t m_type = bad_type;
+    cv::RotatedRect m_rrect;
+    cv::Rect m_brect;
+    track_t m_confidence = -1;
+    cv::Mat m_boxMask;
+
+private:
+    ///
+    /// \brief R2BRect
+    /// \return
+    ///
+    cv::Rect R2BRect() noexcept
+    {
+        m_brect = m_rrect.boundingRect();
+        return m_brect;
+    }
+    ///
+    /// \brief B2RRect
+    /// \return
+    ///
+    cv::RotatedRect B2RRect() noexcept
+    {
+        m_rrect = cv::RotatedRect(m_brect.tl(), cv::Point2f(static_cast<float>(m_brect.x + m_brect.width), static_cast<float>(m_brect.y)), m_brect.br());
+        if (m_rrect.size.width < 1)
+            m_rrect.size.width = 1;
+        if (m_rrect.size.height < 1)
+            m_rrect.size.height = 1;
+        return m_rrect;
+    }
+};
+
+typedef std::vector<CRegion> regions_t;
+
+///
+/// \brief sqr
+/// \param val
+/// \return
+///
+template<class T> inline
+T sqr(T val)
+{
+    return val * val;
+}
+
+///
+/// \brief get_lin_regress_params
+/// \param in_data
+/// \param start_pos
+/// \param in_data_size
+/// \param kx
+/// \param bx
+/// \param ky
+/// \param by
+///
+template<typename T, typename CONT>
+void get_lin_regress_params(
+    const CONT& in_data,
+    size_t start_pos,
+    size_t in_data_size,
+    T& kx, T& bx, T& ky, T& by)
+{
+    T m1(0.), m2(0.);
+    T m3_x(0.), m4_x(0.);
+    T m3_y(0.), m4_y(0.);
+
+    const T el_count = static_cast<T>(in_data_size - start_pos);
+    for (size_t i = start_pos; i < in_data_size; ++i)
+    {
+        m1 += i;
+        m2 += sqr(i);
+
+        m3_x += in_data[i].x;
+        m4_x += i * in_data[i].x;
+
+        m3_y += in_data[i].y;
+        m4_y += i * in_data[i].y;
+    }
+    T det_1 = 1 / (el_count * m2 - sqr(m1));
+
+    m1 *= -1;
+
+    kx = det_1 * (m1 * m3_x + el_count * m4_x);
+    bx = det_1 * (m2 * m3_x + m1 * m4_x);
+
+    ky = det_1 * (m1 * m3_y + el_count * m4_y);
+    by = det_1 * (m2 * m3_y + m1 * m4_y);
+}
+
+///
+/// \brief sqr: Euclid distance between two points
+/// \param val
+/// \return
+///
+template<class T, class POINT_TYPE> inline
+T distance(const POINT_TYPE& p1, const POINT_TYPE& p2)
+{
+    return sqrt((T)(sqr(p2.x - p1.x) + sqr(p2.y - p1.y)));
+}
+
+///
+/// \brief Clamp: Fit rectangle to frame
+/// \param rect
+/// \param size
+/// \return
+///
+inline cv::Rect Clamp(cv::Rect rect, const cv::Size& size)
+{
+	if (rect.x < 0)
+	{
+		rect.width = std::min(rect.width, size.width - 1);
+		rect.x = 0;
+	}
+	else if (rect.x + rect.width >= size.width)
+	{
+		rect.x = std::max(0, size.width - rect.width - 1);
+		rect.width = std::min(rect.width, size.width - 1);
+	}
+	if (rect.y < 0)
+	{
+		rect.height = std::min(rect.height, size.height - 1);
+		rect.y = 0;
+	}
+	else if (rect.y + rect.height >= size.height)
+	{
+		rect.y = std::max(0, size.height - rect.height - 1);
+		rect.height = std::min(rect.height, size.height - 1);
+	}
+	return rect;
+}
+
+///
+/// \brief SaveMat
+/// \param m
+/// \param name
+/// \param path
+///
+inline bool SaveMat(const cv::Mat& m, std::string prefix, const std::string& ext, const std::string& savePath, bool compressToImage)
+{
+    bool res = true;
+
+    std::map<int, std::string> depthDict;
+    depthDict.emplace(CV_8U, "uint8");
+    depthDict.emplace(CV_8S, "int8");
+    depthDict.emplace(CV_16U, "uint16");
+    depthDict.emplace(CV_16S, "int16");
+    depthDict.emplace(CV_32S, "int32");
+    depthDict.emplace(CV_32F, "float32");
+    depthDict.emplace(CV_64F, "float64");
+    depthDict.emplace(CV_16F, "float16");
+
+    auto depth = depthDict.find(m.depth());
+    if (depth == std::end(depthDict))
+    {
+        std::cout << "File " << prefix << " has a unknown depth: " << m.depth() << std::endl;
+        res = false;
+        return res;
+    }
+    assert(depth != std::end(depthDict));
+
+    fs::path fullPath(savePath);
+    fullPath.append(prefix + "_" + std::to_string(m.cols) + "x" + std::to_string(m.rows) + "_" + depth->second + "_C" + std::to_string(m.channels()) + ext);
+    prefix = fullPath.generic_string();
+
+    if (compressToImage)
+    {
+        res = cv::imwrite(prefix, m);
+    }
+    else
+    {
+        FILE* f = 0;
+#ifdef _WIN32
+        fopen_s(&f, prefix.c_str(), "wb");
+#else
+        f = fopen(prefix.c_str(), "wb");
+#endif // _WIN32
+        res = f != 0;
+        if (res)
+        {
+            for (int y = 0; y < m.rows; ++y)
+            {
+                fwrite(m.ptr(y), 1, m.cols * m.elemSize(), f);
+            }
+            fclose(f);
+            std::cout << "File " << prefix << " was writed" << std::endl;
+        }
+    }
+    if (res)
+        std::cout << "File " << prefix << " was writed" << std::endl;
+    else
+        std::cout << "File " << prefix << " can not be opened!" << std::endl;
+    return res;
+}
+
+///
+/// \brief DrawFilledRect
+///
+inline void DrawFilledRect(cv::Mat& frame, const cv::Rect& rect, cv::Scalar cl, int alpha)
+{
+    if (alpha)
+    {
+        const int alpha_1 = 255 - alpha;
+        const int nchans = frame.channels();
+        int color[3] = { cv::saturate_cast<int>(cl[0]), cv::saturate_cast<int>(cl[1]), cv::saturate_cast<int>(cl[2]) };
+        for (int y = std::max(0, rect.y); y < std::min(rect.y + rect.height, frame.rows - 1); ++y)
+        {
+            uchar* ptr = frame.ptr(y) + nchans * rect.x;
+            for (int x = std::max(0, rect.x); x < std::min(rect.x + rect.width, frame.cols - 1); ++x)
+            {
+                for (int i = 0; i < nchans; ++i)
+                {
+                    ptr[i] = cv::saturate_cast<uchar>((alpha_1 * ptr[i] + alpha * color[i]) / 255);
+                }
+                ptr += nchans;
+            }
+        }
+    }
+    else
+    {
+        cv::rectangle(frame, rect, cl, cv::FILLED);
+    }
+}
+
+///
+///
+///
+namespace tracking
+{
+///
+/// \brief The Detectors enum
+///
+enum Detectors
+{
+    Motion_VIBE = 0,
+    Motion_MOG = 1,
+    Motion_GMG = 2,
+    Motion_CNT = 3,
+    Motion_MOG2 = 4,
+    ONNX_TensorRT = 5,
+    DNN_OCV = 6,
+    DetectorsCount
+};
+
+///
+/// \brief The TrackerTemplate enum
+///
+enum TrackerTemplate
+{
+    UniversalTracker = 0,
+    ByteTrack = 1
+};
+
+///
+/// \brief The DistType enum
+///
+enum DistType
+{
+    DistCenters,     // Euclidean distance between centers, [0, 1]
+    DistRects,       // Euclidean distance between bounding rectangles, [0, 1]
+    DistJaccard,     // Intersection over Union, IoU, [0, 1]
+    DistHist,        // Bhatacharia distance between histograms, [0, 1]
+    DistFeatureCos,  // Cosine distance between embeddings, [0, 1]
+    DistMahalanobis, // Mahalanobis: https://ww2.mathworks.cn/help/vision/ug/motion-based-multiple-object-tracking.html
+    DistsCount
+};
+
+///
+/// \brief The FilterGoal enum
+///
+enum FilterGoal
+{
+    FilterCenter,
+    FilterRect,
+    FilterRRect,
+    FiltersCount
+};
+
+///
+/// \brief The KalmanType enum
+///
+enum KalmanType
+{
+    KalmanLinear,
+    KalmanUnscented,
+    KalmanAugmentedUnscented,
+    KalmanCount
+};
+
+///
+/// \brief The MatchType enum
+///
+enum MatchType
+{
+    MatchHungrian,
+    MatchLAPJV,
+    MatchCount
+};
+
+///
+/// \brief The LostTrackType enum
+///
+enum LostTrackType
+{
+    TrackNone,
+    TrackKCF,
+    TrackCSRT,
+    TrackDaSiamRPN,
+    TrackNano,
+    TrackVit,
+    SingleTracksCount
+};
+}
diff --git a/src/common/nms.h b/src/mtracking/nms.h
similarity index 100%
rename from src/common/nms.h
rename to src/mtracking/nms.h
diff --git a/src/common/object_types.cpp b/src/mtracking/object_types.cpp
similarity index 93%
rename from src/common/object_types.cpp
rename to src/mtracking/object_types.cpp
index 0e2270c0..8484723c 100644
--- a/src/common/object_types.cpp
+++ b/src/mtracking/object_types.cpp
@@ -1,89 +1,89 @@
-#include "object_types.h"
-
-std::vector<std::string> TypeConverter::m_typeNames =
-{
-    "person",
-    "bicycle",
-    "car",
-    "motorbike",
-    "aeroplane",
-    "bus",
-    "train",
-    "truck",
-    "boat",
-    "traffic_light",
-    "fire_hydrant",
-    "stop_sign",
-    "parking_meter",
-    "bench",
-    "bird",
-    "cat",
-    "dog",
-    "horse",
-    "sheep",
-    "cow",
-    "elephant",
-    "bear",
-    "zebra",
-    "giraffe",
-    "backpack",
-    "umbrella",
-    "handbag",
-    "tie",
-    "suitcase",
-    "frisbee",
-    "skis",
-    "snowboard",
-    "sports_ball",
-    "kite",
-    "baseball_bat",
-    "baseball_glove",
-    "skateboard",
-    "surfboard",
-    "tennis_racket",
-    "bottle",
-    "wine_glass",
-    "cup",
-    "fork",
-    "knife",
-    "spoon",
-    "bowl",
-    "banana",
-    "apple",
-    "sandwich",
-    "orange",
-    "broccoli",
-    "carrot",
-    "hot_dog",
-    "pizza",
-    "donut",
-    "cake",
-    "chair",
-    "sofa",
-    "pottedplant",
-    "bed",
-    "diningtable",
-    "toilet",
-    "tvmonitor",
-    "laptop",
-    "mouse",
-    "remote",
-    "keyboard",
-    "cell_phone",
-    "microwave",
-    "oven",
-    "toaster",
-    "sink",
-    "refrigerator",
-    "book",
-    "clock",
-    "vase",
-    "scissors",
-    "teddy_bear",
-    "hair_drier",
-    "toothbrush",
-    "vehicle",
-    "face"
-};
-
-std::string TypeConverter::m_badTypeName = "unknown";
+#include "object_types.h"
+
+std::vector<std::string> TypeConverter::m_typeNames =
+{
+    "person",
+    "bicycle",
+    "car",
+    "motorbike",
+    "aeroplane",
+    "bus",
+    "train",
+    "truck",
+    "boat",
+    "traffic_light",
+    "fire_hydrant",
+    "stop_sign",
+    "parking_meter",
+    "bench",
+    "bird",
+    "cat",
+    "dog",
+    "horse",
+    "sheep",
+    "cow",
+    "elephant",
+    "bear",
+    "zebra",
+    "giraffe",
+    "backpack",
+    "umbrella",
+    "handbag",
+    "tie",
+    "suitcase",
+    "frisbee",
+    "skis",
+    "snowboard",
+    "sports_ball",
+    "kite",
+    "baseball_bat",
+    "baseball_glove",
+    "skateboard",
+    "surfboard",
+    "tennis_racket",
+    "bottle",
+    "wine_glass",
+    "cup",
+    "fork",
+    "knife",
+    "spoon",
+    "bowl",
+    "banana",
+    "apple",
+    "sandwich",
+    "orange",
+    "broccoli",
+    "carrot",
+    "hot_dog",
+    "pizza",
+    "donut",
+    "cake",
+    "chair",
+    "sofa",
+    "pottedplant",
+    "bed",
+    "diningtable",
+    "toilet",
+    "tvmonitor",
+    "laptop",
+    "mouse",
+    "remote",
+    "keyboard",
+    "cell_phone",
+    "microwave",
+    "oven",
+    "toaster",
+    "sink",
+    "refrigerator",
+    "book",
+    "clock",
+    "vase",
+    "scissors",
+    "teddy_bear",
+    "hair_drier",
+    "toothbrush",
+    "vehicle",
+    "face"
+};
+
+std::string TypeConverter::m_badTypeName = "unknown";
diff --git a/src/common/object_types.h b/src/mtracking/object_types.h
similarity index 91%
rename from src/common/object_types.h
rename to src/mtracking/object_types.h
index 1ecf7977..25f78a5e 100644
--- a/src/common/object_types.h
+++ b/src/mtracking/object_types.h
@@ -1,58 +1,58 @@
-#pragma once
-#include <string>
-#include <vector>
-#include <iostream>
-
-typedef int objtype_t;
-constexpr objtype_t bad_type = -1;
-
-///
-class TypeConverter
-{
-public:
-	///
-	static std::string Type2Str(objtype_t type)
-	{
-		return (type == bad_type) ? m_badTypeName : m_typeNames[type];
-	}
-
-	///
-    static objtype_t Str2Type(const std::string& typeName)
-	{
-		for (size_t i = 0; i < m_typeNames.size(); ++i)
-		{
-            if (typeName == m_typeNames[i])
-            {
-                //std::cout << "Str2Type: " << typeName << " exist: " << i << std::endl;
-				return static_cast<objtype_t>(i);
-            }
-		}
-        m_typeNames.emplace_back(typeName);
-        //std::cout << "Str2Type: " << typeName << " new: " << (m_typeNames.size()) - 1 << std::endl;
-		return static_cast<objtype_t>(m_typeNames.size()) - 1;
-	}
-
-    static bool AddNewType(const std::string& typeName)
-    {
-        for (size_t i = 0; i < m_typeNames.size(); ++i)
-        {
-            if (typeName == m_typeNames[i])
-            {
-                //std::cout << "AddNewType: " << typeName << ": false" << std::endl;
-                return false;
-            }
-        }
-        m_typeNames.emplace_back(typeName);
-        //std::cout << "AddNewType: " << typeName << ": " << (m_typeNames.size() - 1) << std::endl;
-        return true;
-    }
-
-	static size_t TypesCount()
-	{
-		return m_typeNames.size();
-	}
-
-private:
-	static std::vector<std::string> m_typeNames;
-	static std::string m_badTypeName;
-};
+#pragma once
+#include <string>
+#include <vector>
+#include <iostream>
+
+typedef int objtype_t;
+constexpr objtype_t bad_type = -1;
+
+///
+class TypeConverter
+{
+public:
+	///
+	static std::string Type2Str(objtype_t type)
+	{
+		return (type == bad_type) ? m_badTypeName : m_typeNames[(size_t)type];
+	}
+
+	///
+    static objtype_t Str2Type(const std::string& typeName)
+	{
+		for (size_t i = 0; i < m_typeNames.size(); ++i)
+		{
+            if (typeName == m_typeNames[i])
+            {
+                //std::cout << "Str2Type: " << typeName << " exist: " << i << std::endl;
+				return static_cast<objtype_t>(i);
+            }
+		}
+        m_typeNames.emplace_back(typeName);
+        //std::cout << "Str2Type: " << typeName << " new: " << (m_typeNames.size()) - 1 << std::endl;
+		return static_cast<objtype_t>(m_typeNames.size()) - 1;
+	}
+
+    static bool AddNewType(const std::string& typeName)
+    {
+        for (size_t i = 0; i < m_typeNames.size(); ++i)
+        {
+            if (typeName == m_typeNames[i])
+            {
+                //std::cout << "AddNewType: " << typeName << ": false" << std::endl;
+                return false;
+            }
+        }
+        m_typeNames.emplace_back(typeName);
+        //std::cout << "AddNewType: " << typeName << ": " << (m_typeNames.size() - 1) << std::endl;
+        return true;
+    }
+
+	static size_t TypesCount()
+	{
+		return m_typeNames.size();
+	}
+
+private:
+	static std::vector<std::string> m_typeNames;
+	static std::string m_badTypeName;
+};
diff --git a/src/python_bind/mtracker.cpp b/src/python_bind/mtracker.cpp
index b95657ca..c9aa731b 100644
--- a/src/python_bind/mtracker.cpp
+++ b/src/python_bind/mtracker.cpp
@@ -7,7 +7,7 @@
 
 #include <algorithm>
 
-#include "../common/defines.h"
+#include "../mtracking/defines.h"
 #include "../Tracker/Ctracker.h"
 #include "../Detector/BaseDetector.h"
 #include "../Detector/MotionDetector.h"
diff --git a/thirdparty/inih/CMakeLists.txt b/thirdparty/inih/CMakeLists.txt
index bdb1a93b..a4b78575 100644
--- a/thirdparty/inih/CMakeLists.txt
+++ b/thirdparty/inih/CMakeLists.txt
@@ -12,9 +12,9 @@ set_target_properties(inih PROPERTIES FOLDER "libs")
 
 install(TARGETS ${PROJECT_NAME}
         EXPORT MTTrackingExports
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include/${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER "libs")
\ No newline at end of file
diff --git a/thirdparty/ruclip/CMakeLists.txt b/thirdparty/ruclip/CMakeLists.txt
index ce2657a3..74f99136 100644
--- a/thirdparty/ruclip/CMakeLists.txt
+++ b/thirdparty/ruclip/CMakeLists.txt
@@ -40,9 +40,9 @@ target_link_libraries(${PROJECT_NAME} ${RUCLIP_LIBS})
 
 install(TARGETS ${PROJECT_NAME}
         EXPORT MTTrackingExports
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include/${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER "libs")