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added new tex comments/details

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worked on evaluation
stair sanitizing
added stair-plotting (for debug)
This commit is contained in:
FrankE
2016-02-06 15:06:47 +01:00
parent 716b004f3c
commit 004d1f48fd
11 changed files with 452 additions and 107 deletions
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5
code/eval/EvalBase.h
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@@ -59,6 +59,7 @@ protected:
std::vector<int> path2 = {19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
std::vector<int> path3 = {5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
std::vector<int> path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};
std::vector<int> path4dbl = {29, 29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44}; // duplicate 1st waypoint!
public:
@@ -252,8 +253,8 @@ public:
const Point3 curGT = gtw.getPosAtTime(se.ts - offset);
const Point3 diff = curEst - curGT;
// skip the first 8 scans due to uniform distribution start
if (++cnt > 8) {
// skip the first 10 scans due to uniform distribution start
if (++cnt > 10) {
pathEst.push_back(curEst);
const float err = diff.length();
stats.add(err);