61     CV_CALL( kalman = (CvKalman *)cvAlloc( sizeof( CvKalman )));  in cvCreateKalman()
68     CV_CALL( kalman->state_pre = cvCreateMat( DP, 1, CV_32FC1 ));  in cvCreateKalman()
71     CV_CALL( kalman->state_post = cvCreateMat( DP, 1, CV_32FC1 ));  in cvCreateKalman()
74     CV_CALL( kalman->transition_matrix = cvCreateMat( DP, DP, CV_32FC1 ));  in cvCreateKalman()
77     CV_CALL( kalman->process_noise_cov = cvCreateMat( DP, DP, CV_32FC1 ));  in cvCreateKalman()
80     CV_CALL( kalman->measurement_matrix = cvCreateMat( MP, DP, CV_32FC1 ));  in cvCreateKalman()
83     CV_CALL( kalman->measurement_noise_cov = cvCreateMat( MP, MP, CV_32FC1 ));  in cvCreateKalman()
86     CV_CALL( kalman->error_cov_pre = cvCreateMat( DP, DP, CV_32FC1 ));  in cvCreateKalman()
88     CV_CALL( kalman->error_cov_post = cvCreateMat( DP, DP, CV_32FC1 ));  in cvCreateKalman()
91     CV_CALL( kalman->gain = cvCreateMat( DP, MP, CV_32FC1 ));  in cvCreateKalman()
95         CV_CALL( kalman->control_matrix = cvCreateMat( DP, CP, CV_32FC1 ));  in cvCreateKalman()
99     CV_CALL( kalman->temp1 = cvCreateMat( DP, DP, CV_32FC1 ));  in cvCreateKalman()
100     CV_CALL( kalman->temp2 = cvCreateMat( MP, DP, CV_32FC1 ));  in cvCreateKalman()
101     CV_CALL( kalman->temp3 = cvCreateMat( MP, MP, CV_32FC1 ));  in cvCreateKalman()
102     CV_CALL( kalman->temp4 = cvCreateMat( MP, DP, CV_32FC1 ));  in cvCreateKalman()
103     CV_CALL( kalman->temp5 = cvCreateMat( MP, 1, CV_32FC1 ));  in cvCreateKalman()
179     CV_CALL( cvMatMulAdd( kalman->transition_matrix, kalman->state_post, 0, kalman->state_pre ));  in cvKalmanPredict()
183 …    CV_CALL( cvMatMulAdd( kalman->control_matrix, control, kalman->state_pre, kalman->state_pre ));  in cvKalmanPredict()
187     CV_CALL( cvMatMulAdd( kalman->transition_matrix, kalman->error_cov_post, 0, kalman->temp1 ));  in cvKalmanPredict()
190     CV_CALL( cvGEMM( kalman->temp1, kalman->transition_matrix, 1, kalman->process_noise_cov, 1,  in cvKalmanPredict()
214     CV_CALL( cvMatMulAdd( kalman->measurement_matrix,  in cvKalmanCorrect()
217     CV_CALL( cvGEMM( kalman->temp2, kalman->measurement_matrix, 1,  in cvKalmanCorrect()
221     CV_CALL( cvSolve( kalman->temp3, kalman->temp2, kalman->temp4, CV_SVD ));  in cvKalmanCorrect()
224     CV_CALL( cvTranspose( kalman->temp4, kalman->gain ));  in cvKalmanCorrect()
227 …CV_CALL( cvGEMM( kalman->measurement_matrix, kalman->state_pre, -1, measurement, 1, kalman->temp5 …  in cvKalmanCorrect()
230     CV_CALL( cvMatMulAdd( kalman->gain, kalman->temp5, kalman->state_pre, kalman->state_post ));  in cvKalmanCorrect()
233     CV_CALL( cvGEMM( kalman->gain, kalman->temp2, -1, kalman->error_cov_pre, 1,  in cvKalmanCorrect()