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let Kalman handle the missing measurements (bug #1380)

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Vadim Pisarevsky
2012-10-12 14:01:36 +04:00
parent 2abb67cc92
commit cb58e5a3a4
2 changed files with 8 additions and 1 deletions
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3
samples/cpp/kalman.cpp
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@@ -82,7 +82,8 @@ int main(int, char**)
line( img, statePt, measPt, Scalar(0,0,255), 3, CV_AA, 0 );
line( img, statePt, predictPt, Scalar(0,255,255), 3, CV_AA, 0 );
KF.correct(measurement);
if(theRNG().uniform(0,4) != 0)
KF.correct(measurement);
randn( processNoise, Scalar(0), Scalar::all(sqrt(KF.processNoiseCov.at<float>(0, 0))));
state = KF.transitionMatrix*state + processNoise;