OpenCV源码分析（三）：KalmanFilter

/*!
 Kalman filter.

 The class implements standard Kalman filter \url{http://en.wikipedia.org/wiki/Kalman_filter}.
 However, you can modify KalmanFilter::transitionMatrix, KalmanFilter::controlMatrix and
 KalmanFilter::measurementMatrix to get the extended Kalman filter functionality.
*/
class CV_EXPORTS_W KalmanFilter
{
public:
    //! the default constructor
    CV_WRAP KalmanFilter();
    //! the full constructor taking the dimensionality of the state, of the measurement and of the control vector
    CV_WRAP KalmanFilter(int dynamParams, int measureParams, int controlParams=0, int type=CV_32F);
    //! re-initializes Kalman filter. The previous content is destroyed.
    void init(int dynamParams, int measureParams, int controlParams=0, int type=CV_32F);

    //! computes predicted state
    CV_WRAP const Mat& predict(con