diff options
| author | Donovan Baarda <abo@minkirri.apana.org.au> | 2014-10-15 14:31:19 +1100 |
|---|---|---|
| committer | Donovan Baarda <abo@minkirri.apana.org.au> | 2014-10-15 14:31:19 +1100 |
| commit | b1acc23a61ac802043ba3c0e76c75d09cfb45274 (patch) | |
| tree | fa92e400587e646ddafe1de61b06413fbd055055 | |
| parent | e8a25a6aa7f9d2763b86ce620a48c3d97ce4c339 (diff) | |
Improve some comments slightly.
| -rw-r--r-- | ftnoir_filter_kalman/kalman.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp index 62d5ff98..14b0e8ab 100644 --- a/ftnoir_filter_kalman/kalman.cpp +++ b/ftnoir_filter_kalman/kalman.cpp @@ -16,7 +16,7 @@ FTNoIR_Filter::FTNoIR_Filter() { // the following was written by Donovan Baarda <abo@minkirri.apana.org.au> // https://sourceforge.net/p/facetracknoir/discussion/1150909/thread/418615e1/?limit=25#af75/084b void FTNoIR_Filter::reset() { - // accel_variance is set for moving 0.0->1.0 in dt=0.1. + // Set accel_variance for moving 0.0->1.0 in dt=0.1. accel_variance = 400.0f; // TODO(abo): make noise_variance a UI setting 0.0->1.0. noise_variance = 0.1; @@ -92,9 +92,9 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, kalman.processNoiseCov.at<double>(i,i+6) = b; kalman.processNoiseCov.at<double>(i+6,i) = b; } - // Get an updated predicted position. + // Get the updated predicted position. cv::Mat output = kalman.predict(); - // If we have new tracker input, correct with it. + // If we have new tracker input, get the corrected position. if (new_target) { cv::Mat measurement(6, 1, CV_64F); for (int i = 0; i < 6; i++) { |