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Copied errorCovPre to errorCovPost. This allows the correct behaviour of the uncertainty to grow when there is missing data for each predict step.

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Nghia Ho 2013-10-20 13:00:11 +11:00
parent d50f0d2ed2
commit 2238e711b5
1 changed files with 1 additions and 0 deletions
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modules/video/src/kalman.cpp
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@ -266,6 +266,7 @@ const Mat& KalmanFilter::predict(const Mat& control)
// handle the case when there will be measurement before the next predict. // handle the case when there will be measurement before the next predict.
statePre.copyTo(statePost); statePre.copyTo(statePost);
errorCovPre.copyTo(errorCovPost);
return statePre; return statePre;
} }