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Have a look here: https://github.com/Smorodov/Multitarget-tracker It does everything you want, but might be not so easy to setup and use if you have little experience.

Have a look here: https://github.com/Smorodov/Multitarget-tracker here:

https://github.com/Smorodov/Multitarget-tracker

It does everything you want, but might be not so easy to setup and use if you have little experience.experience. There is even a video with bugs running around :)