Impala Documentation

void Impala::Core::Array::Trait::FuncKalmanColor::Reset	(	int	w,
		int	h
	)			`[inline]`

this function will make the functor reinitialize it, i.e.

average residual is reset
sigmas are set so that initially only the 'measure' is used
the outlier 'graphic' is reset and resized
the outlier treshold is set to a value that will make no pixel outliers (3*256^2)
mInitialised is set to false so that in the next update:
- the average residual is recomputed
- new sigmas are computed

Definition at line 263 of file FunctorKalman.h.

References Impala::Core::Array::Array2dTem< StorT, elemSize, ArithT >::mData, mOutCounter, mOutlierTreshold, mPastResiduals, mResidualThisFrame, mSigmaG, mSigmaI, and mSigmaW.

Referenced by FuncKalmanColor(), and Impala::Core::Tracking::KalmanTemplate::Reset().

00264     {
00265         if(mOutCounter)
00266             delete mOutCounter;
00267         mOutCounter = new Array2dScalarUInt8(w,h,0,0);
00268         int i;
00269         for(i=0 ; i<w*h ; i++)
00270             mOutCounter->mData[i] = 0;
00271 
00272         mOutlierTreshold = 196608; //todo make a paramater out of this!
00273         for(i=0 ; i<3 ; i++)
00274         {
00275             mSigmaI[i] = 0;
00276             mSigmaW[i] = 0;
00277             mSigmaG[i] = 1;
00278             mPastResiduals[i].clear();
00279             mResidualThisFrame[i] = 0;
00280         }
00281         mPixelCount = 0;
00282         mOutliers = 0;
00283         mInitialised = false;
00284         mOcclusion = false;
00285     }