Impala Documentation

void Impala::Core::Array::Trait::FuncKalman::Reset	(	int	w,
		int	h
	)			`[inline]`

this function will make the functor reinitialize it, i.e.

average residual is reset
sigmas are set so that initially only the 'measure' is used
the outlier 'graphic' is reset and resized
the outlier treshold is set to a value that will make no pixel outliers (3*256^2)
mInitialised is set to false so that in the next update:
- the average residual is recomputed
- new sigmas are computed

Definition at line 83 of file FunctorKalman.h.

References Impala::Core::Array::Array2dTem< StorT, elemSize, ArithT >::mData, mInitialised, mOcclusion, mOutCounter, mOutliers, mOutlierTreshold, mPastResiduals, mPixelCount, mResidualThisFrame, mSigmaG, mSigmaI, and mSigmaW.

Referenced by FuncKalman().

00084     {
00085         if(mOutCounter)
00086             delete mOutCounter;
00087         mOutCounter = new Array2dScalarUInt8(w,h,0,0);
00088         int i;
00089         for(i=0 ; i<w*h ; i++)
00090             mOutCounter->mData[i] = 0;
00091 
00092         mOutlierTreshold = 196608;
00093         mSigmaI = mSigmaW = 0;
00094         mSigmaG = 1;
00095         mPastResiduals.clear();
00096         mResidualThisFrame = 0;
00097         mPixelCount = 0;
00098         mOutliers = 0;
00099         mInitialised = false;
00100         mOcclusion = false;
00101     }