Initialisation of the Kalman Filter

[Olly]

When using the Kalman Filter, the initial values seem to be set to the upper left corner of the image. It requires a few frames for the pose estimation to move away from the upper corner and converge to realistic estimates. Is there any way to fix this issue? It appears that in the initial frames, all joints are assumed to be at (0,0). I am using the demo_cpm_body file.

Thanks so much for releasing this, I have found it very useful.