# How to make body tracking results more stable **URL:** \ **Category:** Software\ **Created:** [August 3, 2022, 7:05am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432 "2022-08-03T07:05:07Z")\ **Posts on this page:** 11\ **Page:** 1
**Author:** ![jiankors](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jiankors/32/1643_2.png) [@jiankors](https://community.stereolabs.com/u/jiankors)\ **Post date:** [August 3, 2022, 7:05am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/1 "2022-08-03T07:05:07Z")
Hello, Recently, we were using the body tracking example, and found that the position and key points results obtained kept shaking, when a person remained static. The camera is fixed somewhere. We would like to know if there is a parameter setting for the zed camera to make the result more stable, or if we want to use Kalman filter to smooth the result, how should it be adapted, can you give us some advice, thank you! ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [August 3, 2022, 8:29am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/2 "2022-08-03T08:29:13Z")
Hi @jiankors what version of the ZED SDK are you using? Please provide more information about your system and the configuration used for the body tracking. ---
**Author:** ![jiankors](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jiankors/32/1643_2.png) [@jiankors](https://community.stereolabs.com/u/jiankors)\ **Post date:** [August 3, 2022, 8:59am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/3 "2022-08-03T08:59:02Z")
Hi, @Myzhar , thanks for your reply, and our system and configuration are discribed as fllow ```auto OS：Win11 GPU: NVIDIA RTX 5000 ``` the camera was fixed, and the `PositionalTrackingParameters.set_as_static` was set to `true`. ```auto init_parameters.camera_resolution = RESOLUTION::HD720; init_parameters.camera_fps = 15; init_parameters.depth_mode = DEPTH_MODE::ULTRA; ObjectDetectionParameters.image_sync = true; ObjectDetectionParameters.body_format = sl::BODY_FORMAT::POSE_18; ObjectDetectionParameters.detection_model = DETECTION_MODEL::HUMAN_BODY_ACCURATE; ``` when we draw the 2d bounding box of the head, the box jitter obviously, just like bounding box detected with Yolo. Shown as [https://www.youtube.com/watch?v=vGiHciI-NC0](https://www.youtube.com/watch?v=vGiHciI-NC0) Thanks ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [August 3, 2022, 11:42am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/4 "2022-08-03T11:42:24Z")
Hi @jiankors thank you for the information, still missing the ZED SDK version. Have you tried to set the depth mode to NEURAL? The RTX 5000 that you are using should have enough power and memory to handle both Object Detection and NEURAL depth simultaneously. Please also be sure that `enable_tracking` is TRUE. ---
**Author:** ![jiankors](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jiankors/32/1643_2.png) [@jiankors](https://community.stereolabs.com/u/jiankors)\ **Post date:** [August 3, 2022, 12:03pm UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/5 "2022-08-03T12:03:25Z")
Hi @Myzhar Sorry about the missing ZED SDK version, we used `3.7.5` at the moment. And when we tried to set the depth mode to `NEURAL`, we got error:-2146697211 twice, then the skeleton in opened `cv::imshow` window is missing, only video image. Thanks. ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [August 3, 2022, 12:04pm UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/6 "2022-08-03T12:04:57Z")
The SDK v3.7.5 has regression issues that we fixed in v3.7.6 released a few days after: > [@ZED SDK v3.7.6 is out!](https://community.stereolabs.com/t/zed-sdk-v3-7-6-is-out/1380): > > The ZED SDK v3.7.5 released on 12th July contained two main regression issues affecting Windows systems and NVIDIA Jetson boards. The team worked hard to fix all the problems and a new [v3.7.6](https://www.stereolabs.com/developers/release/) version has been just released. We sincerely apologize for all the inconvenience caused by the previous release. 3.7.6 Regression fixes Fixed cuDNN packaging for Windows installer Fixed sl::Mat GPU allocation on jetson leading to NO\_GPU\_COMPATIBLE Error ---
**Author:** ![jiankors](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jiankors/32/1643_2.png) [@jiankors](https://community.stereolabs.com/u/jiankors)\ **Post date:** [August 4, 2022, 9:19am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/7 "2022-08-04T09:19:17Z")
Hi @Myzhar We have updated the ZED SDK to the latest `3.7.6`, and the `NEURAL` depth mode can work now. The detected skeletons are stable than before, but still have obvious jitter, and the latency increased a little. The camera FPS is `15`. Can we use filter like kalman ourself to stable the position result? Thanks! ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [August 5, 2022, 7:45am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/8 "2022-08-05T07:45:27Z")
Yes, you can surely add another Kalman filter level to your code to smooth this behavior. ---
**Author:** ![danzeeeman](https://community.stereolabs.com/user_avatar/community.stereolabs.com/danzeeeman/32/670_2.png) [@danzeeeman](https://community.stereolabs.com/u/danzeeeman)\ **Post date:** [August 16, 2022, 3:59pm UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/9 "2022-08-16T15:59:07Z")
> [@jiankors](#): > > NEURAL Use the 1 Euro Filter ---
**Author:** ![jiankors](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jiankors/32/1643_2.png) [@jiankors](https://community.stereolabs.com/u/jiankors)\ **Post date:** [September 7, 2022, 5:29am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/10 "2022-09-07T05:29:35Z")
Thanks, and we will try it ---
**Author:** ![jiankors](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jiankors/32/1643_2.png) [@jiankors](https://community.stereolabs.com/u/jiankors)\ **Post date:** [October 25, 2022, 5:00am UTC](https://community.stereolabs.com/t/how-to-make-body-tracking-results-more-stable/1432/11 "2022-10-25T05:00:24Z")
cannot download [https://download.stereolabs.com/zedsdk/3.8/whl/win/pyzed-3.8-cp310-cp310-win\_amd64.whl](https://download.stereolabs.com/zedsdk/3.8/whl/win/pyzed-3.8-cp310-cp310-win_amd64.whl) file