#include <FunctorKalman.h>
Collaboration diagram for Impala::Core::Array::Trait::FuncKalmanColor:
Public Types | |
| typedef Pattern::TagTransVar | TransVarianceCategory |
| typedef Pattern::TagCallPointer | CallCategory |
| typedef Vec3Int32 | DstArithT |
| typedef Vec3Int32 | SrcArithT |
Public Member Functions | |
| FuncKalmanColor () | |
| 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. | |
| double | MahalanobisDist (double *p1, double *p2) |
| computes mahalanobis distance with the variance found in the previous frame automatically updates the residuals. | |
| void | DoIt (double *out, double *p1, double *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 [3] |
| double | mSigmaW [3] |
| double | mSigmaG [3] |
| double | mChi2 |
| double | mGamma |
| double | mN_omax |
| double | mK |
| double | mPixelCount |
| int | mOutliers |
| double | mResidualThisFrame [3] |
| double | mResidualAvrg [3] |
| bool | mInitialised |
| bool | mOcclusion |
Private Attributes | |
| Array2dScalarUInt8 * | mOutCounter |
| std::deque< double > | mPastResiduals [3] |
| double | mOutlierTreshold |
Definition at line 220 of file FunctorKalman.h.
1.5.1