Maybe something wrong in KalmanFilter::gating_distance

[lazylazypig]

hi; in KalmanFilter.cpp, about line 120:

    if (only_position)
    {
        projected_mean.tail<4>().setZero();
        projected_covariance.bottomRightCorner<2, 2>().setZero();
    }

projected_mean is a 4-dims vector of type KFMeasSpaceVec , so projected_mean.tail<4>().setZero() will make projected_mean a zero vector; i think it's not right, and maybe the right implementation is:

    if (only_position)
    {
        projected_mean.tail<2>().setZero();
        projected_covariance.bottomRightCorner<2, 2>().setZero();
    }

[viplix3]

Hi @lazylazypig, I will look into it this weekend!

[viplix3]

@lazylazypig you are right, I will update the code today