if true
	[Y,I] = sort(debug_true_angle, 'ascend');

	debug_true_angle = debug_true_angle(I);
	debug_est_angle = debug_est_angle(I);
	error_translation = error_translation(I);
	error_angle = error_angle(I);
end

figure ; 
subplot(3,1,1); 
plot(error_translation,'.')
%xlabel('experiment number');
set(gca,'xtick',[])
grid on
title(sprintf('%s - Error in translation estimate (m)',name))

subplot(3,1,2); 
plot(error_angle,'.')
%xlabel('experiment number');
grid on
set(gca,'xtick',[])
title(sprintf('%s - Error in rotation estimate (degrees)', name))


subplot(3,1,3); hold on; 
set(gca,'YGrid','on');
xlabel('experiment number');
plot(debug_true_angle, 'k.');
plot(debug_est_angle, 'r+');

set(gca,'ytick',0:30:180)

legend('true','estimated','Location','NorthWest');
title(sprintf('%s - Ground truth versus estimated rotation', name))

print('-depsc',sprintf('exp_%s_plots.eps', prefix));


good_angles_find = find(error_angle < 5);
good_angles = error_angle(good_angles_find);
figure; hist(good_angles, 100)
fprintf('Average good angle error: %f\n', mean(good_angles));


figure

cdfplot(good_angles)
title('cdf of good angles')