From 2e1c4548daa03aa5149ee1c11e7f39d9c8642885 Mon Sep 17 00:00:00 2001 From: Nicolas Mowen Date: Thu, 1 Feb 2024 05:52:42 -0700 Subject: [PATCH] Add comment --- frigate/track/norfair_tracker.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py index 8c45de71d..54ca32262 100644 --- a/frigate/track/norfair_tracker.py +++ b/frigate/track/norfair_tracker.py @@ -88,6 +88,12 @@ class NorfairTracker(ObjectTracker): distance_threshold=2.5, initialization_delay=self.detect_config.min_initialized, hit_counter_max=self.detect_config.max_disappeared, + # use default filter factory with custom values + # R is the multiplier for the sensor measurement noise matrix, default of 4.0 + # lowering R means that we trust the position of the bounding boxes more + # testing shows that the prediction was being relied on a bit too much + # TODO: could use different kalman filter values along with + # the different tracker per object class filter_factory=OptimizedKalmanFilterFactory(R=3.4), ) if self.ptz_autotracker_enabled.value: