added activty plotting

added particle logging
added gfx to tex

code/eval/FixedLagEvalBase.h

@@ -101,6 +101,8 @@ public:
 		return GridPoint(p.x, p.y, p.z);
 	}
 
+
+
 	GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) {
 
 		// construct the ground-truth-path by using all contained waypoint ids
@@ -206,6 +208,9 @@ public:
 		std::vector<float> errorsDistNorm;
 		std::vector<float> errorsDistSmooth;
 
+		// acticity output
+		std::vector<int> activity;
+
 		// number of updates to skip before starting the smoothing process
 		const int skip = 35;
 
@@ -321,6 +326,7 @@ public:
 				const float errDist = gtw.getMinDist(curEst);	// minimum distance between estimation and ground-truth
 
 
+				activity.push_back((int)actDet.getCurrentActivity());
 
 				// count number of transitions
 				++cnt;
@@ -355,6 +361,9 @@ public:
 
                     }
 
+
+
+
                     //use and visualize the smoothed particle set
                     const Point3 curSmoothedEst = estBF.pCur;
 
@@ -377,6 +386,7 @@ public:
 					errorsSmooth.push_back(errSmoothed);
 					errorsDistSmooth.push_back(errDistSmoothed);
 
+
                     //std::cout << "SmoothingTime: " << tsHistory[(tsHistory.size() - 1) - MiscSettings::lag] << " " << statsSmoothing.asString() << std::endl;
                     //std::cout << "SmoothingDist: " << tsHistory[(tsHistory.size() - 1) - MiscSettings::lag] << " " << statsDistSmoothing.asString() << std::endl;
 
@@ -455,6 +465,12 @@ public:
 			oError.close();
 		}
 
+		{	// detailled activity over time
+			std::ofstream oAct("/tmp/act_" + runName + ".dat");
+			for (int i : activity) {oAct << i << "\n";}
+			oAct.close();
+		}
+
         // plot
         //vis.clearStates();
         vis.gp.setTerminal("png", K::GnuplotSize(2560 * 2.54, 1440 * 2.54) );