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Adjust kalman filter

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This commit is contained in:
Nicolas Mowen 2024-01-31 11:34:35 -07:00
parent af3f6dadcb
commit 4f7d274b68
1 changed files with 8 additions and 1 deletions
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9
frigate/track/norfair_tracker.py
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@ -3,7 +3,13 @@ import random
import string import string
import numpy as np 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 norfair.drawing.drawer import Drawer
from frigate.config import CameraConfig from frigate.config import CameraConfig
@ -82,6 +88,7 @@ class NorfairTracker(ObjectTracker):
distance_threshold=2.5, distance_threshold=2.5,
initialization_delay=self.detect_config.min_initialized, initialization_delay=self.detect_config.min_initialized,
hit_counter_max=self.detect_config.max_disappeared, hit_counter_max=self.detect_config.max_disappeared,
filter_factory=OptimizedKalmanFilterFactory(R=3.4),
) )
if self.ptz_autotracker_enabled.value: if self.ptz_autotracker_enabled.value:
self.ptz_motion_estimator = PtzMotionEstimator( self.ptz_motion_estimator = PtzMotionEstimator(