Fix scale estimation calculation #62
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It incorrectly used the kalman filter to retrieve the previous visual field position. This set up a circular dependency between the scale parameter and the filter. The fix is to use the previous visual field position as specified in the associated papers.
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It incorrectly used the kalman filter to retrieve the previous
visual field position. This set up a circular dependency between
the scale parameter and the filter.
The fix is to use the previous visual field position as specified
in the associated papers.