Method GetPtStateAndResCov

src/Tracker/Kalman.cpp:1247–1270

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//---------------------------------------------------------------------------
void TKalmanFilter::GetPtStateAndResCov(cv::Mat& covar, cv::Mat& state) const
{
    if (m_initialized)
    {
        switch (m_type)
        {
        case tracking::KalmanLinear:
        {
            state = m_linearKalman.statePost.clone();
            covar = m_linearKalman.processNoiseCov.clone();
            break;
        }

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