--- a/python/moving.py	Sun Dec 07 01:32:36 2014 -0500
+++ b/python/moving.py	Sun Dec 07 22:59:47 2014 -0500
@@ -1315,7 +1315,7 @@
         else:
             return matchingDistance + 1
 
-def computeClearMOT(objects, annotations, matchingDistance, firstInstant, lastInstant, debug = False):
+def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, debug = False):
     '''Computes the CLEAR MOT metrics 
 
     Reference:
@@ -1368,10 +1368,7 @@
         nTOs = len(matchedTOs)+len(unmatchedTOs)
         if len(unmatchedTOs) > 0:
             for a in unmatchedGTs:
-                aCosts = [a.matches(o, t, matchingDistance) for o in unmatchedTOs]
-                if min(aCosts) < matchingDistance:
-                    costs.append(aCosts)
-        # print costs
+                costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs])
         if len(costs) > 0:
             newMatches = munk.compute(costs)
             for k,v in newMatches:
@@ -1408,7 +1405,11 @@
         motp = dist/ct
     else:
         motp = None
-    return motp, 1.-float(mt+fpt+mme)/gt, mt, mme, fpt, gt
+    if gt > 0:
+        mota = 1.-float(mt+fpt+mme)/gt
+    else:
+        mota = None
+    return motp, mota, mt, mme, fpt, gt
 
 
 def plotRoadUsers(objects, colors):

--- a/python/tests/moving.txt	Sun Dec 07 01:32:36 2014 -0500
+++ b/python/tests/moving.txt	Sun Dec 07 22:59:47 2014 -0500
@@ -160,3 +160,36 @@
 >>> o1.classifyUserTypeSpeedMotorized(1.5, np.median)
 >>> userTypeNames[o1.getUserType()]
 'pedestrian'
+
+>>> o1 = MovingObject.generate(Point(0.,0.), Point(1.,0.), TimeInterval(0,10))
+>>> gt1 = BBAnnotation(1, TimeInterval(0,10), MovingObject.generate(Point(0.2,0.6), Point(1.,0.), TimeInterval(0,10)), MovingObject.generate(Point(-0.2,-0.4), Point(1.,0.), TimeInterval(0,10)))
+>>> gt1.computeCentroidTrajectory()
+>>> computeClearMOT([gt1], [], 0.2, 0, 10)
+(None, 0.0, 11, 0, 0, 11)
+>>> computeClearMOT([], [o1], 0.2, 0, 10)
+(None, None, 0, 0, 11, 0)
+>>> computeClearMOT([gt1], [o1], 0.2, 0, 10) # doctest:+ELLIPSIS
+(0.0999..., 1.0, 0, 0, 0, 11)
+>>> computeClearMOT([gt1], [o1], 0.05, 0, 10)
+(None, -1.0, 11, 0, 11, 11)
+
+>>> o1 = MovingObject(1, TimeInterval(0,3), positions = Trajectory([range(4), [0.1, 0.1, 1.1, 1.1]]))
+>>> o2 = MovingObject(2, TimeInterval(0,3), positions = Trajectory([range(4), [0.9, 0.9, -0.1, -0.1]]))
+>>> gt1 = BBAnnotation(1, TimeInterval(0,3), MovingObject(positions = Trajectory([range(4), [0.]*4])), MovingObject(positions = Trajectory([range(4), [0.]*4])))
+>>> gt1.computeCentroidTrajectory()
+>>> gt2 = BBAnnotation(2, TimeInterval(0,3), MovingObject(positions = Trajectory([range(4), [1.]*4])), MovingObject(positions = Trajectory([range(4), [1.]*4])))
+>>> gt2.computeCentroidTrajectory()
+>>> computeClearMOT([gt1, gt2], [o1, o2], 0.2, 0, 3) # doctest:+ELLIPSIS
+(0.1..., 0.75, 0, 2, 0, 8)
+>>> computeClearMOT([gt2, gt1], [o2, o1], 0.2, 0, 3) # doctest:+ELLIPSIS
+(0.1..., 0.75, 0, 2, 0, 8)
+>>> computeClearMOT([gt1], [o1, o2], 0.2, 0, 3)
+(0.1, -0.25, 0, 1, 4, 4)
+>>> computeClearMOT([gt1], [o2, o1], 0.2, 0, 3) # symmetry
+(0.1, -0.25, 0, 1, 4, 4)
+>>> computeClearMOT([gt1, gt2], [o1], 0.2, 0, 3) # doctest:+ELLIPSIS
+(0.100..., 0.375, 4, 1, 0, 8)
+>>> computeClearMOT([gt2, gt1], [o1], 0.2, 0, 3) # doctest:+ELLIPSIS
+(0.100..., 0.375, 4, 1, 0, 8)
+>>> computeClearMOT([gt1, gt2], [o1, o2], 0.08, 0, 3)
+(None, -1.0, 8, 0, 8, 8)

--- a/scripts/compute-clearmot.py	Sun Dec 07 01:32:36 2014 -0500
+++ b/scripts/compute-clearmot.py	Sun Dec 07 22:59:47 2014 -0500
@@ -30,7 +30,7 @@
 for a in annotations:
     a.computeCentroidTrajectory(homography)
 
-motp, mota, mt, mme, fpt, gt = moving.computeClearMOT(objects, annotations, args.matchingDistance, args.firstInstant, args.lastInstant)
+motp, mota, mt, mme, fpt, gt = moving.computeClearMOT(annotations, objects, args.matchingDistance, args.firstInstant, args.lastInstant)
 
 print 'MOTP: {}'.format(motp)
 print 'MOTA: {}'.format(mota)