[fix] rm UKF,add cv::KalmanFilter, rm ang from KF
[fix] rm retarded logic
[fix] cleanup and debug log improvement
[fix] tweaking kalman parameters
[fix] avoid inc KF error if none ocurred
Merge branch 'no-ukf' of https://github.com/jlfranco/gts into no-ukf

Conflicts:
	app/src/tracking/Kalman.cpp
	app/src/tracking/KltTracker.cpp