Where can change the value related to Kalman filter noise variance?

[YoungjaeDev]

Hello
I'd like to adjust and tune the parameters related to noise variance related to process and measurement, uncertain.
where is it possible?I looked it up, but I don't think it's there. I'm curious

https://github.com/abewley/sort/blob/bce9f0d1fc8fb5f45bf7084130248561a3d42f31/sort.py#L108-L112

Thank you!

[MrGolden1]

Hi
As I mentioned in README, this repo is based on another repo with a little modification. But I guess you mean here:

sort-python/sort/src/track.cpp

Lines 4 to 51 in 7547675

	Track::Track() : kf_(8, 4) {
	/*** Define constant velocity model ***/
	// state - center_x, center_y, width, height, v_cx, v_cy, v_width, v_height
	kf_.F_ <<
	1, 0, 0, 0, 1, 0, 0, 0,
	0, 1, 0, 0, 0, 1, 0, 0,
	0, 0, 1, 0, 0, 0, 1, 0,
	0, 0, 0, 1, 0, 0, 0, 1,
	0, 0, 0, 0, 1, 0, 0, 0,
	0, 0, 0, 0, 0, 1, 0, 0,
	0, 0, 0, 0, 0, 0, 1, 0,
	0, 0, 0, 0, 0, 0, 0, 1;
	// Give high uncertainty to the unobservable initial velocities
	kf_.P_ <<
	10, 0, 0, 0, 0, 0, 0, 0,
	0, 10, 0, 0, 0, 0, 0, 0,
	0, 0, 10, 0, 0, 0, 0, 0,
	0, 0, 0, 10, 0, 0, 0, 0,
	0, 0, 0, 0, 10000, 0, 0, 0,
	0, 0, 0, 0, 0, 10000, 0, 0,
	0, 0, 0, 0, 0, 0, 10000, 0,
	0, 0, 0, 0, 0, 0, 0, 10000;
	kf_.H_ <<
	1, 0, 0, 0, 0, 0, 0, 0,
	0, 1, 0, 0, 0, 0, 0, 0,
	0, 0, 1, 0, 0, 0, 0, 0,
	0, 0, 0, 1, 0, 0, 0, 0;
	kf_.Q_ <<
	1, 0, 0, 0, 0, 0, 0, 0,
	0, 1, 0, 0, 0, 0, 0, 0,
	0, 0, 1, 0, 0, 0, 0, 0,
	0, 0, 0, 1, 0, 0, 0, 0,
	0, 0, 0, 0, 0.01, 0, 0, 0,
	0, 0, 0, 0, 0, 0.01, 0, 0,
	0, 0, 0, 0, 0, 0, 0.0001, 0,
	0, 0, 0, 0, 0, 0, 0, 0.0001;
	kf_.R_ <<
	1, 0, 0, 0,
	0, 1, 0, 0,
	0, 0, 10, 0,
	0, 0, 0, 10;
	}