Impala Documentation

void Impala::Core::Tracking::KalmanTemplate::Update	(	Array::Array2dVec3Real64 &	image,
		const Position &	pos
	)			`[inline, virtual]`

copy a piece of the input image and let the kalman filter decide what to do with it

Reimplemented from Impala::Core::Tracking::ObjectRepresentation.

Definition at line 41 of file KalmanTemplate.h.

References Impala::Core::Array::Array2dTem< StorT, elemSize, ArithT >::CH(), Impala::Core::Array::Array2dTem< StorT, elemSize, ArithT >::CW(), mKalman, Impala::Core::Array::Trait::FuncKalmanColor::mOcclusion, mScratch, mTemplate, mTemplatePrediction, Impala::Core::Array::Pattern::PatBinaryPixOp(), Impala::Core::Array::Pattern::PatSet(), Impala::Core::Tracking::Position::size, Impala::Core::Tracking::Position::translation, Impala::Core::Array::Trait::FuncKalmanColor::UpdateKalman(), Impala::Core::Tracking::Point::x, and Impala::Core::Tracking::Point::y.

00042     {
00043         Array::Array2dVec3Real64* temp =
00044             new Array::Array2dVec3Real64(pos.size.x, pos.size.y, 0, 0);
00045         Array::Pattern::PatSet(temp, &image, pos.translation.x, pos.translation.y,
00046                                pos.size.x, pos.size.y, 0, 0);
00047         Array::Pattern::PatBinaryPixOp(mTemplatePrediction, mTemplate,
00048                                        temp, mKalman);
00049         delete temp;
00050         mKalman.UpdateKalman();
00051         if(!mKalman.mOcclusion)
00052         {
00053             Array::Pattern::PatSet(mTemplate, mTemplatePrediction, 0, 0,
00054                                    mTemplate->CW(), mTemplate->CH(), 0, 0);
00055         }
00056 
00057         Array::Pattern::PatSet(mScratch,mTemplate,0,0,pos.size.x, pos.size.y,0,0);
00058     }

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