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 281 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().

00282     {
00283         if(mOutCounter)
00284             delete mOutCounter;
00285         mOutCounter = new Array2dScalarUInt8(w,h,0,0);
00286         int i;
00287         for(i=0 ; i<w*h ; i++)
00288             mOutCounter->mData[i] = 0;
00289 
00290         mOutlierTreshold = 196608; //todo make a paramater out of this!
00291         for(i=0 ; i<3 ; i++)
00292         {
00293             mSigmaI[i] = 0;
00294             mSigmaW[i] = 0;
00295             mSigmaG[i] = 1;
00296             mPastResiduals[i].clear();
00297             mResidualThisFrame[i] = 0;
00298         }
00299         mPixelCount = 0;
00300         mOutliers = 0;
00301         mInitialised = false;
00302         mOcclusion = false;
00303     }