Adjust kalman filter used for norfair tracker (#9538)

* Adjust kalman filter

* Add comment

* Formatting

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 +88,13 @@ 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:
             self.ptz_motion_estimator = PtzMotionEstimator(