/// <summary> /// Adjusts stochastic model state on the basis of the given measurement of the model state /// </summary> /// <remarks>The function stores adjusted state at kalman->state_post and returns it on output</remarks> /// <param name="measurement">The measurement data</param> /// <returns>The corrected state</returns> public Matrix <float> Correct(Matrix <float> measurement) { CvInvoke.cvKalmanCorrect(ref _kalman, measurement.Ptr); return(CorrectedState); }