IWR1642BOOST: Where is the algorithm used by gtrack?

I want to find algorithms about tracking, and I find that there are tracking algorithms in both SDK and toolbox.

Where should I refer to the tracking algorithm?

C:\ti\mmwave_industrial_toolbox_4_1_0\labs\people_counting\16xx_people_counting\pjt\radarDemo\chains\RadarReceiverPeopleCounting\mmw_PCDemo\gtrack

C:\ti\mmwave_sdk_02_00_00_04\packages\ti\alg\gtrack

Thank you