fix: Write the track covariance in ProtoTracksToTracks unconditionally - #5846
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A track is created with an uninitialized covariance, so skipping the assignment when the input parameters carry none leaves indeterminate values on the output track. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01FxPc2jP43AQuQKz8c4qsaC
This was referenced Aug 7, 2026
andiwand
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August 7, 2026 12:11
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AJPfleger
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Aug 7, 2026
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Public API surface diffNo change to the public API surface. ✅ |
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A track is created with an uninitialized covariance:
VectorTrackContainer::addTrack_implgrowsm_covwithemplace_back(), andits element type is a fixed-size Eigen matrix, whose default constructor leaves
the coefficients untouched. Skipping the assignment when the input parameters
carry no covariance therefore leaves indeterminate values on the output track,
rather than the zeros the shape of the code suggests.
--- END COMMIT MESSAGE ---
Found while writing #5845, which started from a copy of this code.
No behaviour change for the callers in the repository:
addSeedingfeedsparameters from
TrackParamsEstimationAlgorithm, which always sets acovariance, so the branch never fired there.
Independent of the rest of that stack, see #5845 for the review order.