Wrong data association used about bayestracking HOT 3 OPEN

if (alg == NN) {  /// NN data association
        amat.computeNN(CORRELATION_LOG);
        // record unmatched observations for possible candidates creation
        m_unmatched = amat.URow;
        // data assignment
        for (size_t n = 0; n < amat.NN.size(); n++) {
            m_assignments.insert(std::make_pair(amat.NN[n].row, amat.NN[n].col));
        }
      }
      else if (alg == NNJPDA) { /// NNJPDA data association (one sensor)
        // compute associations
        jpda->getAssociations();
        jpda->getProbabilities();
        vector< jpda::Association > association(znum.size());
        jpda->getMultiNNJPDA(association);
//         jpda->getMonoNNJPDA(association);
        // data assignment
        jpda::Association::iterator ai, aiEnd = association[0].end();
        for (ai = association[0].begin(); ai != aiEnd; ai++) {
          if (ai->t) {   // not a clutter
            m_assignments.insert(std::make_pair(ai->z, ai->t - 1));
          }
          else {   // add clutter to unmatched list
            m_unmatched.push_back(ai->z);
          }
        }
                                                                  delete jpda;
      }
      else {
        cerr << "###### Unknown association algorithm: " << alg << " #####\n";
        return false;
      }