To be reverted - hack to overwrite the landmark observation distance …

…from dataset
guilhermelawless · Jan 20, 2017 · 740c99a · 740c99a
1 parent 751f239
commit 740c99a
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/src/pfuclt_omni_dataset.cpp b/src/pfuclt_omni_dataset.cpp
@@ -342,6 +342,14 @@ void Robot::landmarkDataCallback(
       obs.x = landmarkData->x[i];
       obs.y = landmarkData->y[i];
       obs.d = sqrt(obs.x * obs.x + obs.y * obs.y);
+
+      //TODO remove this "hack" that goes over the dataset threshold distance
+      if(obs.d > 2.0)
+      {
+        pf_->saveLandmarkObservation(robotNumber_, i, false);
+        continue;
+      }
+
       obs.phi = atan2(obs.y, obs.x);
       obs.covDD =
           (K1 * fabs(1.0 - (landmarkData->AreaLandMarkActualinPixels[i] /