Impala Documentation

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

Definition at line 422 of file FunctorKalman.h.

00423     {
00424         //eq.13
00425         for(int i=0 ; i<3 ; i++)
00426         {
00427             mPastResiduals[i].push_back(mResidualThisFrame[i]);
00428             mResidualThisFrame[i] = 0;
00429             mResidualAvrg[i] = 0;
00430             std::deque<double>::iterator it;
00431             for(it=mPastResiduals[i].begin() ; it!=mPastResiduals[i].end() ; it++)
00432             {
00433                 mResidualAvrg[i] += *it;
00434             }
00435             mResidualAvrg[i] /= mPastResiduals[i].size();
00436             mOutlierTreshold = mResidualAvrg[i];
00437             while(mPastResiduals[i].size() > mK)
00438                 mPastResiduals[i].pop_front();
00439         }
00440     }