From 4f7d274b688f6f40617bc033b1b731b4275d2e70 Mon Sep 17 00:00:00 2001 From: Nicolas Mowen Date: Wed, 31 Jan 2024 11:34:35 -0700 Subject: [PATCH] Adjust kalman filter --- frigate/track/norfair_tracker.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py index 1b7c63a4f..8c45de71d 100644 --- a/frigate/track/norfair_tracker.py +++ b/frigate/track/norfair_tracker.py @@ -3,7 +3,13 @@ import random import string import numpy as np -from norfair import Detection, Drawable, Tracker, draw_boxes +from norfair import ( + Detection, + Drawable, + OptimizedKalmanFilterFactory, + Tracker, + draw_boxes, +) from norfair.drawing.drawer import Drawer from frigate.config import CameraConfig @@ -82,6 +88,7 @@ class NorfairTracker(ObjectTracker): distance_threshold=2.5, initialization_delay=self.detect_config.min_initialized, hit_counter_max=self.detect_config.max_disappeared, + filter_factory=OptimizedKalmanFilterFactory(R=3.4), ) if self.ptz_autotracker_enabled.value: self.ptz_motion_estimator = PtzMotionEstimator(