yaw filter's self.JH

[skmadan]

This is indeed supposed to be np.matrix([[1.0, 0.0], [1.0, 0.0]]) and not np.matrix([[1.0, 0.0], [0.0, 1.0]])?

[coderookieqi]

Thanks for pointing it out, we've made corrections

[skmadan]

Maybe it was correct before? If so, sorry for the confusion.

State:
[angle, angle_velocity] based on this line:
https://github.com/megvii-research/MCTrack/blob/main/kalmanfilter/extend_kalman.py#L31

Measurement:
[angle from detection, angle from velocity] based on the paper.

If so, then H = [[1, 0], [1, 0]] makes sense, i.e., both detection and velocity measurement yaws == state yaw.