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Adjust kalman filter used for norfair tracker (#9538)

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* Adjust kalman filter

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Nicolas Mowen 2024-02-02 05:22:56 -07:00 committed by GitHub
parent c5819478d3
commit 2d0864c723
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1 changed files with 14 additions and 1 deletions
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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 +88,13 @@ 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,
# 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: if self.ptz_autotracker_enabled.value:
self.ptz_motion_estimator = PtzMotionEstimator( self.ptz_motion_estimator = PtzMotionEstimator(