(self, pose)
| 288 | self.kf.P[self.kf.dim_z :, self.kf.dim_z :] *= 1000 |
| 289 | |
| 290 | def update(self, pose): |
| 291 | flat = pose.reshape((-1, 1)) |
| 292 | empty = np.isnan(flat).squeeze() |
| 293 | if empty.any(): |
| 294 | H = self.kf.H.copy() |
| 295 | H[empty] = 0 |
| 296 | flat[empty] = 0 |
| 297 | self.kf.update(flat, H=H) |
| 298 | else: |
| 299 | super().update(flat) |
| 300 | |
| 301 | @BaseTracker.state.setter |
| 302 | def state(self, pose): |