Method GetPointPrediction

src/Tracker/Kalman.cpp:655–681

\brief TKalmanFilter::GetPointPrediction \return

/// \return
///
Point_t TKalmanFilter::GetPointPrediction()
{
    if (m_initialized)
    {
        cv::Mat prediction;

        switch (m_type)
        {
        case tracking::KalmanLinear:
            prediction = m_linearKalman.predict();
            break;

        case tracking::KalmanUnscented:
        case tracking::KalmanAugmentedUnscented:
#ifdef USE_OCV_UKF
            prediction = m_uncsentedKalman->predict();
#else
            prediction = m_linearKalman.predict();
            std::cerr << "UnscentedKalmanFilter was disabled in CMAKE! Set KalmanLinear in constructor." << std::endl;
#endif
            break;
        }

        m_lastPointResult = Point_t(prediction.at<track_t>(0), prediction.at<track_t>(1));
    }
    return m_lastPointResult;
}

///
/// \brief TKalmanFilter::Update