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Impala::Core::Array::Trait::FuncKalmanColor

double Impala::Core::Array::Trait::FuncKalmanColor::MahalanobisDist	(	double *	p1,
		double *	p2
	)			`[inline]`

computes mahalanobis distance with the variance found in the previous frame automatically updates the residuals.

Definition at line 308 of file FunctorKalman.h.

00309     {
00310         double r, err=0;
00311         for(int i=0 ; i<3 ; i++)
00312         {
00313             r = p1[i] - p2[i];
00314             err += r*r/(mSigmaG[i]+mSigmaI[i]);
00315             mResidualThisFrame[i] += r*r;
00316         }
00317         return err;
00318     }

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