Process noise in KalmanBoxTracker

[ssandler-cat]

Hi, Have you considered using filterpy.common.Q_discrete_white_noise() to initialize self.kf.Q in KalmanBoxTracker.init()? In my understanding, Q_discrete_white_noise() is designed for kinematic problems, that's the MOT domain, is not it? You will see Q_discrete_white_noise() initializes Q somehow differently, it will be block-diagonal. Regards, Sergey