Hi. You haven't explained the format of the other info:
def update(self,dets_all):
"""
Params:
dets_all: dict
dets - a numpy array of detections in the format [[x,y,z,theta,l,w,h],[x,y,z,theta,l,w,h],...]
info: a array of other info for each det
Requires: this method must be called once for each frame even with empty detections.
Returns the a similar array, where the last column is the object ID.
NOTE: The number of objects returned may differ from the number of detections provided.
It is very difficult to decipher it from your code. Please let me know what information (the proper sequence of data) is to be provided.