Impala Documentation

void Impala::Core::Array::Trait::FuncKalman::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 101 of file FunctorKalman.h.

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

Referenced by FuncKalman().

00102     {
00103         if(mOutCounter)
00104             delete mOutCounter;
00105         mOutCounter = new Array2dScalarUInt8(w,h,0,0);
00106         int i;
00107         for(i=0 ; i<w*h ; i++)
00108             mOutCounter->mData[i] = 0;
00109 
00110         mOutlierTreshold = 196608;
00111         mSigmaI = mSigmaW = 0;
00112         mSigmaG = 1;
00113         mPastResiduals.clear();
00114         mResidualThisFrame = 0;
00115         mPixelCount = 0;
00116         mOutliers = 0;
00117         mInitialised = false;
00118         mOcclusion = false;
00119     }