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There is, but you have to do all of that yourself, unless you're using the multi-tracker.

Really, you should start googling. There are many ways of doing this, but the problem is called "Track Association" If you search for that, you will find many different methods, each with different strengths and weaknesses. Are they fast moving? Slow moving? do they change directions often? How many false alarms, false detections, or missed detections? There's a different algorithm for each.