There are a lot of errors in this set of code, as none of the people involved in this project were professionals in this field. I decided to leave it as is for those who eventually find their way here.

All the code has been converted from MATLAB, and plenty of open source implementations are available. If you want the original MATLAB version, just search for Ángel García-Fernández.https://github.com/Agarciafernandez/MTT

RFS is an elegant mathematical framework that incorporates the set cardinality dynamics into the propagation process; that's it.

The PMBM filter is a kitchen-sink approach to things, essentially a Multiple-Hypothesis filter.