eval parts written and refactored
completely changed the eval gfx
This commit is contained in:
@@ -50,12 +50,14 @@
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Just adding importance-factors described in \ref{sec:wallAvoidance} and \ref{sec:doorDetection}
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to the simple transition \refeq{eq:transSimple} addresses only minor local errors
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% like not sticking too close to walls. In most cases this lead only to slight improvements
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and is therefore not further evaluated.
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and is therefore not further evaluated.
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To examine the contribution our approach is able to provided, we will have a closer look
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at a long walk with many stairs, intentionally leaving the shortest path several times,
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named path 4 (see \ref{fig:paths}).
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%
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\commentByFrank{bergwerk\_path3\_galaxy}
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% all paths we evaluated
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\begin{figure}
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\input{gfx/eval/paths}
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\caption{The four paths that were part of the evaluation.
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@@ -68,16 +70,65 @@
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\commentByFrank{in den ersten paar sec ist die pfad-info teils hinderlich, da die genaue position noch sehr unklar ist und sich erst einstellen muss.
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deshalb geht der fehler hier oft leicht hoch}
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\newcommand{\refSeg}[1]{$(#1)$}
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Fig. \ref{errorTimedNexus} shows the error for the individual segments of path 1 and path 4 recorded with the Google Nexus 6.
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Remember that we start with a uniform distribution instead of a well known pedestrian location. Therefor the first few estimations
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reside somewhere near the center of the building and result in a very high error contribution
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(see fig. \ref{nexusPathDetails} \refSeg{1}).
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%
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Even when removing those initial estimations from the error calculation, the next few seconds are still erroneous
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due to (intentionally) bad system parameters (see \ref{sec:sensors}). Furthermore, as the pedestrian is not yet walking,
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our proposed method is not yet able to addres those error. This can be seen in both
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fig. \ref{fig:nexusPathDetails} \refSeg{1} (the red are in the upper left)
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and fig \ref{fig:errorTimedNexus} \refSeg{1}.
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%
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However, as soon as the pedestrian starts moving down the hallway \refSeg{2} the error is reduced dramatically.
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Adding prior knowledge centers the density in the middle of the floor, ensures the heading is directed towards
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the shortest path and thus produces even better localisation results.
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%
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Directly hereafter, we ignore the shortest path \refSeg{3'} determined by the system and walk along \refSeg{3}
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instead. Of course, this leads to a temporally increasing error, as the system needs to detect this path change
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and takes some time to recover (see \ref{fig:errorDistNexus} \refSeg{3}). The new path to the desired destination
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is \refSeg{3''} which is also ignored. Instead, we took a much longer route down the stairwell \refSeg{4}.
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After this change is detected by the system, prior knowledge is able to reduce the error for segment \refSeg{5}.
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%
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Immediately hereafter follows a long, straight walk down the hallway. While the \docWIFI{} component pulls
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the pedestrian into the rooms on the right side, the actual walking route was located on the left side
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of the wall (see ground truth in fig. \ref{fig:nexusPathDetails} \refSeg{6}). While prior knowledge prevents
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the density being draged into the office-rooms, the estimated path is still located on the wrong side
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of the hallway. As both sides of the floor result in a route with almost the same length,
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just knowing the pedestrian's destination is not able to provide further improvments.
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Thus, a constant error of approximately the floor's width remains (see \ref{fig:nexusPathDetails} \refSeg{6}).
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%
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Due to the excellent barometer installed within the Nexus 6, the stair provides were small estimation
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errors \refSeg{7}. Hereafter follows a critical area with high errors and multimodalities. Due to an
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inhouse exhibition during the time of recording, we had to leave the ground truth by a few meters.
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Furthermore, the overcrowded areas lead to attenuated \docWIFI{} signals. Both reasons lead to the
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density being dragged into another stairwell (see \ref{fig:nexusPathDetails}, red lines in the lower right).
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The resulting multimodality (two staircases possible at the same time) leads to a rising error
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\refSeg{8}, \refSeg{9}. At the end of the walk \refSeg{10} the system is able to recover, again.
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% error development over time while walking along a path
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\begin{figure}
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\input{gfx/eval/error_timed_nexus}
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\caption{Development of the error while walking along path 1 (upper) and path 4 (lower) using the Google Nexus 6.
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\caption{Development of the error while walking along
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%path 1 (upper) and
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path 4 (lower) using the Google Nexus 6.
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Path 4 shows increasing errors for our methods when leaving the shortest path (3) and when facing multimodalities between two
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staircases just before the destination (9).}
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\label{fig:errorTimedNexus}
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\end{figure}
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\begin{figure}
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\input{gfx/eval/path_nexus_detail}
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\caption{Detailed path analysis depicting the individual segments of path 4. Their corresponding error contribution can
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be seen in fig. \ref{fig:errorTimedNexus}. Even though the shortest path suggested by the system is ignored multiple
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times ($3'$ and $3''$) our approach is still able to improve the overall localisation error.}
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\label{fig:nexusPathDetails}
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\end{figure}
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% overall error-distribution for nexus and galaxy
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\begin{figure}
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\input{gfx/eval/error_dist_nexus}
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@@ -85,11 +136,17 @@
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clearly provide an enhancement for the overall localization process.}
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\label{fig:errorDistNexus}
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\end{figure}
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\begin{figure}
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\input{gfx/eval/error_dist_galaxy}
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\caption{Nicht so markant beim galaxy, denke aber der platz reicht eh nicht, also einfach kurz erwaehnen}
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\end{figure}
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%\begin{figure}
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% \input{gfx/eval/error_dist_galaxy}
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% \caption{Nicht so markant beim galaxy, denke aber der platz reicht eh nicht, also einfach kurz erwaehnen}
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%\end{figure}
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The error values for all other paths and the other smartphone are listed in table
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\ref{tbl:errGalaxy} and \ref{tbl:errNexus}. As can be seen, adding prior knowledge
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is able to improve the localisation for all examined situations, even when
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leaving the suggested path or when facing bad/slow sensor readings.
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% error values
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\begin{table}
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\centering
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\begin{tabular}{|l|c|c|c|c|}
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@@ -99,6 +156,7 @@
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Shortest (\refeq{eq:transShortestPath}) & \SI{2.72}{\meter} & \SI{2.98}{\meter} & \SI{2.48}{\meter} & \SI{3.06}{\meter} \\\hline
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Multipath (\refeq{eq:transMultiPath}) & \SI{2.62}{\meter} & \SI{2.14}{\meter} & \SI{2.46}{\meter} & \SI{2.75}{\meter} \\\hline
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\end{tabular}
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\label{tbl:errNexus}
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\caption{Median error for walks conducted with the Nexus 6.}
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\end{table}
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@@ -111,6 +169,7 @@
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Shortest (\refeq{eq:transShortestPath}) & \SI{ 5.86}{\meter} & \SI{4.14}{\meter} & \SI{5.14}{\meter} & \SI{5.20}{\meter} \\\hline
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Multipath (\refeq{eq:transMultiPath}) & \SI{ 6.35}{\meter} & \SI{4.21}{\meter} & \SI{5.03}{\meter} & \SI{6.79}{\meter} \\\hline
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\end{tabular}
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\label{tbl:errGalaxy}
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\caption{Median error for walks conducted with the Galaxy S5.}
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\end{table}
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@@ -128,6 +187,8 @@
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\label{fig:bergwerkPath3Galaxy}
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\end{figure}
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\begin{itemize}
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\item Nochmal kurz auf die Probleme des letzten Systems eingehen (schon teil der introduction)
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\item Da letztes mal nur 1 Pfad, machen wir dieses mal mehrere!
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@@ -136,27 +197,6 @@
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\item Analysiere Probleme ggf. mit schönen Grafiken.
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\item Vergleich zum Schluss das neue System mit dem Alten um eine schöne Conclusion der Verbesserungen einzuleiten.
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\end{itemize}
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\commentByFrank{we start with a uniform distribution $\mStateVec_0$}
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\commentByFrank{hinweis auf die verschiedenen geraete (smartphones) und unterschiede, wlan/baro}
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\commentByFrank{
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PATH4 HAELT SICH NICHT AN DEN SHORTEST PATH.
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GUTES BEISPIEL.
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der pfad wechselt sogar 2x! (3. stock)
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der shortest wird am ende etwas ungenau bei der treppe
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}
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\commentByFrank{sensorausfall simulieren, z.b. in der mitte, oder auf einer treppe}
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\commentByFrank{zwischendrin mal stehenbleiben und schauen ob auch das klappt}
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\commentByFrank{pfad verlassen und ganz wo anders hingehen}
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\commentByFrank{die reine importance selbst auf dem graphen hilft, aber nur minimal weiter}
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\commentByFrank{pfad4 nexus. pfadlos laeuft mit ach und krach richtig (treppenhaus, wlan schlecht)
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mit pfad laeuft es falsch, weil die andere treppe kuerzer zum ziel ist und das wlan dort besser passt}
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\commentByFrank{zu grosser einfluss vom pfad ist also kein allheilmittel.. kann, wie beim treppenhaus, auch nach hinten los gehen}
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\commentByFrank{path1: bad start due to nearby AP and bad parameters (path-loss too high): high starting errors: median better}
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@@ -1,4 +1,5 @@
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\section{Sensors}
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\label{sec:sensors}
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\subsection{Barometer}
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\label{sec:sensBaro}
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File diff suppressed because it is too large
Load Diff
@@ -1,7 +1,8 @@
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set terminal epslatex size 3.4,2.8
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#set terminal epslatex size 3.4,2.8
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set terminal epslatex size 3.4,1.4
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set output "error_timed_nexus.tex"
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set multiplot layout 2,1
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#set multiplot layout 2,1
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set format y "\\footnotesize{%.1f m}"
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set format x "\\footnotesize{%.0f s}"
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set key horizontal
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@@ -16,28 +17,28 @@ set tmargin 0.3
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set rmargin 0.4
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set bmargin 1.2
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set object 1 rectangle from 0,0 to 13,17 fs solid noborder fc rgb "#eeeeee" behind # standing
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set label 1 "\\footnotesize{1}" at 6.5,2 center rotate by 0 front
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#set object 1 rectangle from 0,0 to 13,17 fs solid noborder fc rgb "#eeeeee" behind # standing
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#set label 1 "\\footnotesize{1}" at 6.5,2 center rotate by 0 front
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set object 2 rectangle from 13,0 to 34,17 fs solid noborder fc rgb "#dddddd" behind # walk towards stair
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set label 2 "\\footnotesize{2}" at 23.5,13 center rotate by 0 front
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#set object 2 rectangle from 13,0 to 34,17 fs solid noborder fc rgb "#dddddd" behind # walk towards stair
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#set label 2 "\\footnotesize{2}" at 23.5,13 center rotate by 0 front
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set object 3 rectangle from 34,0 to 45,17 fs solid noborder fc rgb "#eeeeee" behind # walk down the stair
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set label 3 "\\footnotesize{3}" at 39.5,13 center rotate by 0 front
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#set object 3 rectangle from 34,0 to 45,17 fs solid noborder fc rgb "#eeeeee" behind # walk down the stair
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#set label 3 "\\footnotesize{3}" at 39.5,13 center rotate by 0 front
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set object 4 rectangle from 45,0 to 62,17 fs solid noborder fc rgb "#dddddd" behind # walk straight
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set label 4 "\\footnotesize{4}" at 53.5,13 center rotate by 0 front
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#set object 4 rectangle from 45,0 to 62,17 fs solid noborder fc rgb "#dddddd" behind # walk straight
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#set label 4 "\\footnotesize{4}" at 53.5,13 center rotate by 0 front
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set object 5 rectangle from 62,0 to 78,17 fs solid noborder fc rgb "#eeeeee" behind # change side of floor
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set label 5 "\\footnotesize{5}" at 70,13 center rotate by 0 front
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#set object 5 rectangle from 62,0 to 78,17 fs solid noborder fc rgb "#eeeeee" behind # change side of floor
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#set label 5 "\\footnotesize{5}" at 70,13 center rotate by 0 front
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set object 6 rectangle from 78,0 to 90,17 fs solid noborder fc rgb "#dddddd" behind # walk straight
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set label 6 "\\footnotesize{6}" at 84.5,8 center rotate by 0 front
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#set object 6 rectangle from 78,0 to 90,17 fs solid noborder fc rgb "#dddddd" behind # walk straight
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#set label 6 "\\footnotesize{6}" at 84.5,8 center rotate by 0 front
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plot \
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"data/err_bergwerk_path1_nexus_simple.dat" using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
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"data/err_bergwerk_path1_nexus_multi.dat" using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
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"data/err_bergwerk_path1_nexus_shortest.dat" using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lc rgb "#cc0000", \
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#plot \
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# "data/err_bergwerk_path1_nexus_simple.dat" using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
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# "data/err_bergwerk_path1_nexus_multi.dat" using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
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# "data/err_bergwerk_path1_nexus_shortest.dat" using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lc rgb "#cc0000", \
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#plot \
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# "data/err_bergwerk_path2_nexus_simple.dat" using ($1/100) with lines title "raw" lc rgb "#000000", \
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@@ -49,13 +50,7 @@ plot \
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# "data/err_bergwerk_path3_nexus_multi.dat" using ($1/100) with lines title "multi-path", \
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# "data/err_bergwerk_path3_nexus_shortest.dat" using ($1/100) with lines title "shortest-path", \
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#set object 1 rectangle from 0,0 to 20,15 fs solid noborder fc rgb "#eeeeee" behind
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#set label 1 "\\footnotesize{setup-phase}" at 9,1 rotate by 90 front
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#set object 2 rectangle from 40,0 to 60,15 fs solid noborder fc rgb "#eeeeee" behind
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#set label 2 "\\footnotesize{ignoring}" at 46,7.4 rotate by 90 front
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#set label 3 "\\footnotesize{path}" at 52,7.4 rotate by 90 front
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#set object 4 rectangle from 128,0 to 138,15 fs solid noborder fc rgb "#eeeeee" behind
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#set label 4 "\\footnotesize{multimodality}" at 142,4.4 rotate by 90 front
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set object 1 rectangle from 0,0 to 14,15 fs solid noborder fc rgb "#eeeeee" behind # standing
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set label 1 "\\footnotesize{1}" at 7,2 center rotate by 0 front
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@@ -79,53 +79,16 @@
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\fi%
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\setlength{\fboxrule}{0.5pt}%
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\setlength{\fboxsep}{1pt}%
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\begin{picture}(4896.00,4030.00)%
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\gplgaddtomacro\gplbacktext{%
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\csname LTb\endcsname%
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\put(475,2279){\makebox(0,0)[r]{\strut{}\footnotesize{0.0 m}}}%
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\put(475,2675){\makebox(0,0)[r]{\strut{}\footnotesize{4.0 m}}}%
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\put(475,2873){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
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\put(475,3071){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
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\put(475,3270){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
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\put(475,3468){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
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\put(475,3666){\makebox(0,0)[r]{\strut{}\footnotesize{14.0 m}}}%
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\put(475,3864){\makebox(0,0)[r]{\strut{}\footnotesize{16.0 m}}}%
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\put(607,2059){\makebox(0,0){\strut{}\footnotesize{0 s}}}%
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\put(1072,2059){\makebox(0,0){\strut{}\footnotesize{10 s}}}%
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\put(1538,2059){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
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\put(2003,2059){\makebox(0,0){\strut{}\footnotesize{30 s}}}%
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\put(2469,2059){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
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\put(2934,2059){\makebox(0,0){\strut{}\footnotesize{50 s}}}%
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\put(3399,2059){\makebox(0,0){\strut{}\footnotesize{60 s}}}%
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\put(3865,2059){\makebox(0,0){\strut{}\footnotesize{70 s}}}%
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\put(4330,2059){\makebox(0,0){\strut{}\footnotesize{80 s}}}%
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\put(4795,2059){\makebox(0,0){\strut{}\footnotesize{90 s}}}%
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}%
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\gplgaddtomacro\gplfronttext{%
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\csname LTb\endcsname%
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\put(2541,3812){\makebox(0,0)[r]{\strut{}\footnotesize{simple}\hspace{-1.5mm}}}%
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\csname LTb\endcsname%
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\put(3396,3812){\makebox(0,0)[r]{\strut{}\footnotesize{multi}\hspace{-1.5mm}}}%
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\csname LTb\endcsname%
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\put(4251,3812){\makebox(0,0)[r]{\strut{}\footnotesize{shortest}\hspace{-1.5mm}}}%
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\csname LTb\endcsname%
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\put(910,2477){\makebox(0,0){\strut{}\footnotesize{1}}}%
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\put(3865,3567){\makebox(0,0){\strut{}\footnotesize{5}}}%
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\put(4540,3071){\makebox(0,0){\strut{}\footnotesize{6}}}%
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}%
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\begin{picture}(4896.00,2014.00)%
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\gplgaddtomacro\gplbacktext{%
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\csname LTb\endcsname%
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\put(475,264){\makebox(0,0)[r]{\strut{}\footnotesize{0.0 m}}}%
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\put(475,523){\makebox(0,0)[r]{\strut{}\footnotesize{2.0 m}}}%
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\put(475,782){\makebox(0,0)[r]{\strut{}\footnotesize{4.0 m}}}%
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\put(475,1042){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
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\put(475,1301){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
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\put(475,1560){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
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\put(475,1819){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
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\put(475,1041){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
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\put(475,1300){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
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\put(475,1559){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
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\put(475,1818){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
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\put(607,44){\makebox(0,0){\strut{}\footnotesize{0 s}}}%
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\put(1168,44){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
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\put(1729,44){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
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@@ -138,15 +101,15 @@
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\gplgaddtomacro\gplfronttext{%
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\put(4057,1690){\makebox(0,0){\strut{}\footnotesize{8}}}%
|
||||
\put(4421,1690){\makebox(0,0){\strut{}\footnotesize{9}}}%
|
||||
\put(4702,1690){\makebox(0,0){\strut{}\footnotesize{10}}}%
|
||||
\put(1364,1688){\makebox(0,0){\strut{}\footnotesize{2}}}%
|
||||
\put(1883,1688){\makebox(0,0){\strut{}\footnotesize{3}}}%
|
||||
\put(2234,1688){\makebox(0,0){\strut{}\footnotesize{4}}}%
|
||||
\put(2556,1688){\makebox(0,0){\strut{}\footnotesize{5}}}%
|
||||
\put(3117,1688){\makebox(0,0){\strut{}\footnotesize{6}}}%
|
||||
\put(3706,1688){\makebox(0,0){\strut{}\footnotesize{7}}}%
|
||||
\put(4057,1688){\makebox(0,0){\strut{}\footnotesize{8}}}%
|
||||
\put(4421,1688){\makebox(0,0){\strut{}\footnotesize{9}}}%
|
||||
\put(4702,1688){\makebox(0,0){\strut{}\footnotesize{10}}}%
|
||||
}%
|
||||
\gplbacktext
|
||||
\put(0,0){\includegraphics{error_timed_nexus}}%
|
||||
|
||||
@@ -1,12 +1,76 @@
|
||||
set terminal epslatex rounded size 3.5,2.45
|
||||
set output "path_nexus_detail.tex"
|
||||
|
||||
unset xtics
|
||||
unset ytics
|
||||
unset ztics
|
||||
unset border
|
||||
unset colorbox
|
||||
set ticslevel 0
|
||||
|
||||
set object 1 polygon from 1000,4200,1060 to 1000,5200,1060 to 1700,5200,1060 to 1700,4200,1060 fs solid noborder fc rgb "#cccccc" behind
|
||||
set view equal xy
|
||||
set zrange [-200:2000]
|
||||
|
||||
set key at screen 0.30,0.15 samplen 1.2 box opaque width -7
|
||||
|
||||
set view 70,50
|
||||
#set object 1 polygon from 1000,4200,1060 to 1000,5200,1060 to 1700,5200,1060 to 1700,4200,1060 fs solid noborder fc rgb "#cccccc" behind
|
||||
|
||||
set cbrange[0:1]
|
||||
set palette gray
|
||||
|
||||
ca = 0.8
|
||||
cb = 0.4
|
||||
|
||||
# coloring for path4
|
||||
f4(c) = c/2<14 ? ca\
|
||||
:c/2<36 ? cb\
|
||||
:c/2<54 ? ca\
|
||||
:c/2<65 ? cb\
|
||||
:c/2<74 ? ca\
|
||||
:c/2<105 ? cb\
|
||||
:c/2<116 ? ca\
|
||||
:c/2<130 ? cb\
|
||||
:c/2<142 ? ca\
|
||||
:cb
|
||||
|
||||
# init error 1
|
||||
set object 1 polygon from 1000,400,1060 to 1000,1500,1060 to 1300,1500,1060 to 1300,400,1060 fs solid noborder fc rgb "#ff8888" behind
|
||||
|
||||
# shorter 1
|
||||
set arrow 1 from 1340, 3180, 1060 to 1340, 4050, 720 nohead lw 2 lc rgb "#00aa00" front
|
||||
set arrow 2 from 1340, 4050, 720 to 1740, 4090, 720 nohead lw 2 lc rgb "#00aa00" front
|
||||
|
||||
# shorter 2
|
||||
set arrow 3 from 1140, 4442, 1060 to 4180, 4300, 1060 nohead lw 2 lc rgb "#00aa00" front
|
||||
set arrow 4 from 4180, 4300, 1060 to 5000, 4300, 720 nohead lw 2 lc rgb "#00aa00" front
|
||||
|
||||
# multimod
|
||||
set arrow 5 from 6290, 4778, 190 to 6290, 5098, 190 nohead lw 2 lc rgb "#aa0000" back
|
||||
set arrow 6 from 6758,4790+160,380 to 6290, 5098, 190 nohead lw 2 lc rgb "#aa0000" back
|
||||
set arrow 7 from 6290, 4778, 190 to 6758,4790+000, 0 nohead lw 2 lc rgb "#aa0000" back
|
||||
|
||||
# numbering
|
||||
set label 1 "\\footnotesize{1}" at 1692.27, 2721.79, 932.453-70 center front
|
||||
set label 2 "\\footnotesize{2}" at 1086.04, 2622.65, 1058.51+60 center front
|
||||
set label 3 "\\footnotesize{3}" at 1125.9, 3958.11, 1059.91+60 center front
|
||||
set label 98 "\\footnotesize{3'}" at 1340+250, 3580+50, 1060-130 center front
|
||||
set label 99 "\\footnotesize{3''}" at 4180, 4300, 1060+50 center front
|
||||
set label 4 "\\footnotesize{4}" at 1843.27, 5037.33, 880.035 center front
|
||||
set label 5 "\\footnotesize{5}" at 1174.22-400, 4646.68+200, 719.775 center front
|
||||
set label 6 "\\footnotesize{6}" at 3347.93, 4112.19, 720-70 center front
|
||||
set label 7 "\\footnotesize{7}" at 5724.6+250, 4159.7+150, 604.967 center front
|
||||
set label 8 "\\footnotesize{8}" at 6964.14-180, 4132.79-180, 373.646-50 center front
|
||||
set label 9 "\\footnotesize{9}" at 7077.86-150, 4235.71-150, 114.833 center front
|
||||
set label 10 "\\footnotesize{10}" at 7168.42-600, 3853.84, 0 center front
|
||||
|
||||
set multiplot layout 1,1 scale 2.4,2.4 offset 0,0.1
|
||||
|
||||
|
||||
splot \
|
||||
"data/floors.dat" with lines lc rgb "#aaaaaa" notitle,\
|
||||
"data/est_bergwerk_path1_nexus_multi.dat" skip 10 with lines lw 2 lc rgb "#000000" notitle,\
|
||||
"data/est_bergwerk_path4_nexus_multi.dat" skip 10 with lines lw 2 lc rgb "#009900" notitle,\
|
||||
"data/floors.dat" with lines lc rgb "#cccccc" notitle,\
|
||||
"data/est_bergwerk_path4_nexus_multi.dat" using 1:2:3:(f4(column(0))) with lines lw 8 palette notitle,\
|
||||
"data/est_bergwerk_path4_nexus_multi.dat" with lines lw 2 lc rgb "#000099" title "\\footnotesize{multi}",\
|
||||
"data/path4.dat" with lines title "\\footnotesize{ground truth}" dashtype 3 lw 2 lc rgb "#000000"
|
||||
|
||||
unset multiplot
|
||||
|
||||
7025
tex/gfx/eval/path_nexus_detail.eps
Normal file
7025
tex/gfx/eval/path_nexus_detail.eps
Normal file
File diff suppressed because it is too large
Load Diff
112
tex/gfx/eval/path_nexus_detail.tex
Normal file
112
tex/gfx/eval/path_nexus_detail.tex
Normal file
@@ -0,0 +1,112 @@
|
||||
% GNUPLOT: LaTeX picture with Postscript
|
||||
\begingroup
|
||||
\makeatletter
|
||||
\providecommand\color[2][]{%
|
||||
\GenericError{(gnuplot) \space\space\space\@spaces}{%
|
||||
Package color not loaded in conjunction with
|
||||
terminal option `colourtext'%
|
||||
}{See the gnuplot documentation for explanation.%
|
||||
}{Either use 'blacktext' in gnuplot or load the package
|
||||
color.sty in LaTeX.}%
|
||||
\renewcommand\color[2][]{}%
|
||||
}%
|
||||
\providecommand\includegraphics[2][]{%
|
||||
\GenericError{(gnuplot) \space\space\space\@spaces}{%
|
||||
Package graphicx or graphics not loaded%
|
||||
}{See the gnuplot documentation for explanation.%
|
||||
}{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}%
|
||||
\renewcommand\includegraphics[2][]{}%
|
||||
}%
|
||||
\providecommand\rotatebox[2]{#2}%
|
||||
\@ifundefined{ifGPcolor}{%
|
||||
\newif\ifGPcolor
|
||||
\GPcolorfalse
|
||||
}{}%
|
||||
\@ifundefined{ifGPblacktext}{%
|
||||
\newif\ifGPblacktext
|
||||
\GPblacktexttrue
|
||||
}{}%
|
||||
% define a \g@addto@macro without @ in the name:
|
||||
\let\gplgaddtomacro\g@addto@macro
|
||||
% define empty templates for all commands taking text:
|
||||
\gdef\gplbacktext{}%
|
||||
\gdef\gplfronttext{}%
|
||||
\makeatother
|
||||
\ifGPblacktext
|
||||
% no textcolor at all
|
||||
\def\colorrgb#1{}%
|
||||
\def\colorgray#1{}%
|
||||
\else
|
||||
% gray or color?
|
||||
\ifGPcolor
|
||||
\def\colorrgb#1{\color[rgb]{#1}}%
|
||||
\def\colorgray#1{\color[gray]{#1}}%
|
||||
\expandafter\def\csname LTw\endcsname{\color{white}}%
|
||||
\expandafter\def\csname LTb\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LTa\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}%
|
||||
\expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}%
|
||||
\expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}%
|
||||
\expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}%
|
||||
\expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}%
|
||||
\expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}%
|
||||
\expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}%
|
||||
\expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}%
|
||||
\expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}%
|
||||
\else
|
||||
% gray
|
||||
\def\colorrgb#1{\color{black}}%
|
||||
\def\colorgray#1{\color[gray]{#1}}%
|
||||
\expandafter\def\csname LTw\endcsname{\color{white}}%
|
||||
\expandafter\def\csname LTb\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LTa\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT0\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT1\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT2\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT3\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT4\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT5\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT6\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT7\endcsname{\color{black}}%
|
||||
\expandafter\def\csname LT8\endcsname{\color{black}}%
|
||||
\fi
|
||||
\fi
|
||||
\setlength{\unitlength}{0.0500bp}%
|
||||
\ifx\gptboxheight\undefined%
|
||||
\newlength{\gptboxheight}%
|
||||
\newlength{\gptboxwidth}%
|
||||
\newsavebox{\gptboxtext}%
|
||||
\fi%
|
||||
\setlength{\fboxrule}{0.5pt}%
|
||||
\setlength{\fboxsep}{1pt}%
|
||||
\begin{picture}(5040.00,3528.00)%
|
||||
\gplgaddtomacro\gplbacktext{%
|
||||
}%
|
||||
\gplgaddtomacro\gplfronttext{%
|
||||
\csname LTb\endcsname%
|
||||
\put(1027,419){\makebox(0,0)[r]{\strut{}\footnotesize{multi}}}%
|
||||
\csname LTb\endcsname%
|
||||
\put(1027,199){\makebox(0,0)[r]{\strut{}\footnotesize{ground truth}}}%
|
||||
\csname LTb\endcsname%
|
||||
\put(1027,419){\makebox(0,0)[r]{\strut{}\footnotesize{multi}}}%
|
||||
\csname LTb\endcsname%
|
||||
\put(1027,199){\makebox(0,0)[r]{\strut{}\footnotesize{ground truth}}}%
|
||||
\csname LTb\endcsname%
|
||||
\put(1747,2502){\makebox(0,0){\strut{}\footnotesize{1}}}%
|
||||
\put(1490,3052){\makebox(0,0){\strut{}\footnotesize{2}}}%
|
||||
\put(2068,3211){\makebox(0,0){\strut{}\footnotesize{3}}}%
|
||||
\put(2779,2794){\makebox(0,0){\strut{}\footnotesize{4}}}%
|
||||
\put(2319,2629){\makebox(0,0){\strut{}\footnotesize{5}}}%
|
||||
\put(2921,2040){\makebox(0,0){\strut{}\footnotesize{6}}}%
|
||||
\put(3937,1600){\makebox(0,0){\strut{}\footnotesize{7}}}%
|
||||
\put(4073,919){\makebox(0,0){\strut{}\footnotesize{8}}}%
|
||||
\put(4180,528){\makebox(0,0){\strut{}\footnotesize{9}}}%
|
||||
\put(3955,339){\makebox(0,0){\strut{}\footnotesize{10}}}%
|
||||
\put(2094,2752){\makebox(0,0){\strut{}\footnotesize{3'}}}%
|
||||
\put(3296,2792){\makebox(0,0){\strut{}\footnotesize{3''}}}%
|
||||
}%
|
||||
\gplbacktext
|
||||
\put(0,0){\includegraphics{path_nexus_detail}}%
|
||||
\gplfronttext
|
||||
\end{picture}%
|
||||
\endgroup
|
||||
Reference in New Issue
Block a user