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Impala::Core::Array::Trait::FuncKalmanColor

void Impala::Core::Array::Trait::FuncKalmanColor::InitialiseSigma ( ) [inline]

this function sets sigmas directly after the first time the average residual is computed

Definition at line 354 of file FunctorKalman.h.

00355     {
00356         for(int i=0 ; i<3 ; i++)
00357         {
00358             //eq.15
00359             mSigmaW[i] = 0;
00360             mSigmaI[i] = 0.5*mResidualAvrg[i];
00361             mSigmaG[i] = 0.5*mResidualAvrg[i];
00362         }
00363         mInitialised = true;
00364     }

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1.5.1