Impala Documentation

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

Definition at line 440 of file FunctorKalman.h.

00441     {
00442         //eq.13
00443         for(int i=0 ; i<3 ; i++)
00444         {
00445             mPastResiduals[i].push_back(mResidualThisFrame[i]);
00446             mResidualThisFrame[i] = 0;
00447             mResidualAvrg[i] = 0;
00448             std::deque<double>::iterator it;
00449             for(it=mPastResiduals[i].begin() ; it!=mPastResiduals[i].end() ; it++)
00450             {
00451                 mResidualAvrg[i] += *it;
00452             }
00453             mResidualAvrg[i] /= mPastResiduals[i].size();
00454             mOutlierTreshold = mResidualAvrg[i];
00455             while(mPastResiduals[i].size() > mK)
00456                 mPastResiduals[i].pop_front();
00457         }
00458     }