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# -----------
# User Instructions
#
# Familiarize yourself with the code below. Most of it
# reproduces results that you have obtained at some
# point in this class. Once you understand the code,
# write a function, cte, in the run class that
# computes the crosstrack
# error for the case of a segmented path. You will
# need to include the equations shown in the video.

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import random
import copy

import numpy as np

class City():
    def __init__(self, x, y):
        self.x_ = x
        self.y_ = y

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import numpy as np

from sklearn.tree import DecisionTreeRegressor
from sklearn.ensemble import ExtraTreesRegressor
from sklearn import datasets
from sklearn.externals import joblib
from sklearn.externals.joblib import Parallel, delayed, cpu_count

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import numpy as np
from scipy import linalg

def RawDepthToMeters(depthValue):
    """
    Convert a kinect depth value to meters
    """

    if (depthValue < 2047):
        return float(1.0 / (float(depthValue) * -0.0030711016 + 3.3309495161))