Impala Documentation

double Impala::Core::Tracking::KalmanTemplate::Score	(	Array::Array2dVec3Real64 &	image,
		const Position &	pos
	)			`[inline, virtual]`

returns sum of the euclidian distance between pixels

Reimplemented from Impala::Core::Tracking::ObjectRepresentation.

Definition at line 57 of file KalmanTemplate.h.

References Impala::Core::Array::Trait::FuncBpoRobustMahalanobis::mError, mKalman, Impala::Core::Array::Trait::FuncBpoRobustMahalanobis::mSigma, Impala::Core::Array::Trait::FuncKalmanColor::mSigmaG, Impala::Core::Array::Trait::FuncKalmanColor::mSigmaI, mTemplate, mTemplatePrediction, and Impala::Core::Array::Pattern::PatBinaryPixOp().

00058     {
00059         Array::Trait::FuncBpoRobustMahalanobis dif;
00060         for(int i=0 ; i<3 ; i++)
00061             dif.mSigma[i] = mKalman.mSigmaG[i] + mKalman.mSigmaI[i];
00062         Array::Pattern::PatBinaryPixOp(mTemplatePrediction, &image, mTemplate, dif);
00063         return dif.mError;
00064     }

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