#include <FunctorKalman.h>
Collaboration diagram for Impala::Core::Array::Trait::FuncKalman:
Public Types | |
| typedef Pattern::TagTransVar | TransVarianceCategory |
| typedef Pattern::TagCallValue | CallCategory |
| typedef Vec3Int32 | DstArithT |
| typedef Vec3Int32 | SrcArithT |
Public Member Functions | |
| FuncKalman (int w, int h) | |
| the constructor needs the width and height of the template to allocate the outlier 'graphic' | |
| void | Reset (int w, int h) |
| this function will make the functor reinitialize it, i.e. | |
| Vec3Real64 | doIt (const Vec3Real64 &p1, const Vec3Real64 &p2, int x, int y) |
| this function blends the old template with a new measurement using eqation 12 from the paper. | |
| void | InitialiseSigma () |
| this function sets sigmas directly after the first time the average residual is computed | |
| void | UpdateKalman () |
| this function does reestimation of the sigmas using the residual | |
| void | ComputeResiduals () |
Public Attributes | |
| double | mSigmaI |
| double | mSigmaW |
| double | mSigmaG |
| double | mAlpha |
| double | mBeta |
| double | mGamma |
| double | mN_omax |
| double | mK |
| double | mPixelCount |
| int | mOutliers |
| double | mResidualThisFrame |
| double | mResidualAvrg |
| bool | mInitialised |
| bool | mOcclusion |
Private Attributes | |
| Array2dScalarUInt8 * | mOutCounter |
| std::deque< double > | mPastResiduals |
| double | mOutlierTreshold |
Handles 'outliers' as described in the paper of Hieu
debug visualisations:
Definition at line 40 of file FunctorKalman.h.
1.5.1