Very first runnable BoT-SORT. Implement camera motion compensation wi…

[tstanczyk95]

…th orb.

What does this PR do?

Related Issue(s):

Type of Change

• New feature (non-breaking change that adds functionality)

Testing

• I have tested this change locally
• I have added/updated tests for this change

Test details:
Running the new algorithm (BoT-SORT) implementation on a full test sets of MOT17, SportsMOT and SoccerNet-tracking (no crashing, no errors) and obtaining the performance results from official evaluation server.

Checklist

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code where necessary, particularly in hard-to-understand areas
• My changes generate no new warnings or errors
• I have updated the documentation accordingly (if applicable)

Additional Context

It already performs better than the previously implemented algorithms (e.g. ByteTrack, the baseline). Development is still in progress. Currently two camera motion compensation (CMC) mechanisms are implemented: ORB, SIFT, sparse optical flow.

Initiating it as:
tracker = BoTSORTTracker(enable_cmc=True, cmc_method="sift")

Mind that its update function requires current frame:
dets = tracker.update(dets, frame)

Note: SIFT-bsaed CMC is considerably and noticeably slower than the ORB and sparse optical flow ones.