computes mahalanobis distance with the variance found in the previous frame automatically updates the residuals.
Definition at line 290 of file FunctorKalman.h. 00291 { 00292 double r, err=0; 00293 for(int i=0 ; i<3 ; i++) 00294 { 00295 r = p1[i] - p2[i]; 00296 err += r*r/(mSigmaG[i]+mSigmaI[i]); 00297 mResidualThisFrame[i] += r*r; 00298 } 00299 return err; 00300 }
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