Adjust kalman filter

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(