fixed baraomter issue (skip first few readings due to sensor errors)

added new eval using shortest-path + plotting
removed compiler warnings for clean-code
fixed some minor issues
added new TeX code and new graphics

code/CMakeLists.txt

@@ -64,7 +64,7 @@ ADD_DEFINITIONS(
 	-fstack-protector-all
 
 	-g
-	-O2
+	-O0
 	-DWITH_TESTS
 	-DWITH_ASSERTIONS
 

code/eval/DebugShortestPath.h

@@ -0,0 +1,62 @@
+#ifndef DEBUGSHORTESTPATH_H
+#define DEBUGSHORTESTPATH_H
+
+#include <Indoor/grid/walk/GridWalkShortestPathControl.h>
+
+#include <KLib/misc/gnuplot/Gnuplot.h>
+#include <KLib/misc/gnuplot/GnuplotSplot.h>
+#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
+#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
+
+#include "../Helper.h"
+#include "../Vis.h"
+
+template <typename T> class DebugShortestPath : public GridWalkShortestPathControl<T> {
+
+private:
+
+	Vis vis;
+
+
+public:
+
+	/** ctor */
+	template <typename Access> DebugShortestPath(Grid<T>& grid, const Access& acc, const T& target, Helper::FHWSFloors& floors) : GridWalkShortestPathControl<T>(grid, acc, target) {
+
+		vis.particles.setColorHex("#0000ff");
+		vis.particles.setPointSize(1.5);
+
+		vis.addFloor(floors.f0, floors.h0);
+		vis.addFloor(floors.f1, floors.h1);
+		vis.addFloor(floors.f2, floors.h2);
+		vis.addFloor(floors.f3, floors.h3);
+
+	}
+
+	GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad) {
+
+		GridWalkState<T> s = GridWalkShortestPathControl<T>::getDestination(grid, start, distance_m, headChange_rad);
+
+		if (this->recalc == 0){
+			vis.estPath.clear();
+			vis.particles.clear();
+			vis.particles.add(K::GnuplotPoint3(this->centerOfMass.x, this->centerOfMass.y, this->centerOfMass.z));
+			for (int i = 0; i < (int)this->path->size()-1; ++i) {
+				const DijkstraNode<T>& dn1 = (*this->path)[i+0];
+				const DijkstraNode<T>& dn2 = (*this->path)[i+1];
+				K::GnuplotPoint3 p1 (dn1.element->x_cm, dn1.element->y_cm, dn1.element->z_cm);
+				K::GnuplotPoint3 p2 (dn2.element->x_cm, dn2.element->y_cm, dn2.element->z_cm);
+				vis.estPath.addSegment(p1, p2);
+			}
+			vis.show();
+
+		}
+
+
+		return s;
+
+	}
+
+};
+
+#endif // DEBUGSHORTESTPATH_H

code/eval/Eval1.h

@@ -10,6 +10,8 @@
 
 #include <Indoor/grid/walk/GridWalkSimpleControl.h>
 #include <Indoor/grid/walk/GridWalkPathControl.h>
+#include <Indoor/grid/walk/GridWalkShortestPathControl.h>
+#include "DebugShortestPath.h"
 
 #include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
 #include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
@@ -106,6 +108,7 @@ public:
 		// forward
 		runName = "path2_forward_simple";
 
+		BarometerEvaluation::barometerSigma = 0.16;
 		sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
 		srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
 		srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
@@ -121,6 +124,7 @@ public:
 		// forward
 		runName = "path2_forward_path";
 
+		BarometerEvaluation::barometerSigma = 0.16;
 		sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
 		srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
 		srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
@@ -142,6 +146,7 @@ public:
 		// forward
 		runName = "path3_forward_simple";
 
+		BarometerEvaluation::barometerSigma = 0.16;
 		sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
 		srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
 		srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
@@ -161,6 +166,7 @@ public:
 		// forward
 		runName = "path3_forward_path";
 
+		BarometerEvaluation::barometerSigma = 0.16;
 		sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
 		srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
 		srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
@@ -176,6 +182,7 @@ public:
 
 		runName = "path4_nexus_simple";
 
+		BarometerEvaluation::barometerSigma = 0.16;
 		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
 		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
 		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
@@ -193,6 +200,7 @@ public:
 
 		runName = "path4_nexus_importance";
 
+		BarometerEvaluation::barometerSigma = 0.05;
 		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
 		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
 		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
@@ -207,6 +215,7 @@ public:
 
 		runName = "path4_nexus_path";
 
+		BarometerEvaluation::barometerSigma = 0.05;
 		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
 		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
 		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
@@ -218,32 +227,37 @@ public:
 
 	}
 
+	void path4_nexus_path_b() {
 
-	//wifi also uniform dist 0/1 fuer bereiche die OK sind?
+		runName = "path4_nexus_path";
-	//steps hochzaehlen weil mehr als einer in einer transition??
-	//increase regional average region
 
-//	void setEval1() {
+		BarometerEvaluation::barometerSigma = 0.05;
+		sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
+		srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
+		srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
+		gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
 
+		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
+		DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
+		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
 
+	}
 
+	void bergwerk_path1_nexus_simple() {
 
-//		// the particle filter's evaluation method
+		runName = "bergwerk_path1_nexus_simple";
-//		std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
-//		eval.get()->setUsage(true, true, true, true, true);		// TODO: STEP TURN
-//		pf->setEvaluation( std::move(eval) );
 
-//		// resampling step?
+		BarometerEvaluation::barometerSigma = 0.10;
-//		pf->setNEffThreshold(1.0);
+		sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
-//		pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
+		srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
-//		//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
+		srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
+		gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
 
-//		// state estimation step
+		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
-//		pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
+		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
-//		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
+
-//		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
+	}
 
-//	}
 
 };
 

code/eval/EvalBase.h

@@ -56,8 +56,11 @@ protected:
 
 	// NEW
 	std::vector<int> path1 = {29, 28,27,26,255,25,24,23,22,21,20};
+	std::vector<int> path1dbl = {29, 29, 28,27,26,255,25,24,23,22,21,20};
 	std::vector<int> path2 = {19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
+	std::vector<int> path2dbl = {19, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
 	std::vector<int> path3 = {5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
+	std::vector<int> path3dbl = {5, 5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
 	std::vector<int> path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};
 	std::vector<int> path4dbl = {29, 29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};	// duplicate 1st waypoint!
 
@@ -120,7 +123,7 @@ public:
 
 			// sensor numbers
 			const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5; const int s_orientation = 6;
-			const int s_linearAcceleration = 2;
+			//const int s_linearAcceleration = 2;
 
 			std::list<TurnObservation> turn_observations;
 			std::list<StepObservation> step_observations;
@@ -206,10 +209,10 @@ public:
 						break;
 					}
 
-					case s_linearAcceleration:{
+//					case s_linearAcceleration:{
-						baroSensorReader.readVerticalAcceleration(se);
+//						baroSensorReader.readVerticalAcceleration(se);
-						break;
+//						break;
-					}
+//					}
 
 					case s_orientation: {
 						obs.orientation = OrientationSensorReader::read(se);
@@ -287,7 +290,7 @@ public:
 					vis.show();
 
 					// prevent gnuplot errors
-					usleep(1000*33);
+					usleep(1000*333);
 
 				}
 

code/eval/PaperVisImportance.h

@@ -38,13 +38,13 @@ public:
 	// use node-importance as grid-color
 	struct ColorizerImp {
 		float get(const MyGridNode& n) const {return n.imp;}
-		bool skip(const MyGridNode& n) const {return false;}
+		bool skip(const MyGridNode& n) const {(void) n; return false;}
 	};
 
 	// use node-distance as grid-color
 	struct ColorizerDist {
 		float get(const MyGridNode& n) const {return n.distToTarget;}
-		bool skip(const MyGridNode& n) const {return false;}
+		bool skip(const MyGridNode& n) const {(void) n; return false;}
 	};
 
 	// use num-visited as grid-color
@@ -166,7 +166,7 @@ public:
 			if (i % 250 == 0) {std::cout << i << std::endl;}
 			const MyGridNode& nStart = gnEnd;
 			GridWalkState<MyGridNode> sStart(&nStart, Heading::rnd());
-			GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
+			//GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
 
 		}
 

code/frank/Settings.h

@@ -22,7 +22,7 @@ public:
 
 		const double pl = 2.7;		// 2.7
 		const double tx = -46;
-		const float ibPLE = 1.9;
+		const float ibPLE = 1.5;
 
 		addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300,  Helper::getHeight(3), tx, pl);
 		addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930,  Helper::getHeight(3), tx, pl);

code/lukas/StepEvaluation.h

@@ -19,6 +19,9 @@ public:
 
     double getProbability(const MyState& state, const StepObservation* obs) const {
 
+		(void) state;
+		(void) obs;
+
 		return 1;
 
 		// see: particle-filter-control-data

code/lukas/TurnEvaluation.h

@@ -17,6 +17,10 @@ public:
 
     double getProbability(const MyState& state, const TurnObservation* obs, bool simple = false) const {
 
+		(void) state;
+		(void) obs;
+		(void) simple;
+
 		return 1;
 
 		// see: particle-filter-control-data

code/main.cpp

@@ -18,6 +18,9 @@
 #include "eval/PaperVisDijkstra.h"
 #include "eval/PaperVisGrid.h"
 
+
+float BarometerEvaluation::barometerSigma = NAN;
+
 Settings settings;
 
 void testModelWalk() {
@@ -28,7 +31,7 @@ void testModelWalk() {
 	Helper::buildTheGrid(grid, floors);
 
 	MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
-	MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
+	//MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
 
 	Vis vis;
 	vis.addFloor(floors.f0, floors.h0);
@@ -89,9 +92,14 @@ int main(void) {
 	//eval.path2_forward_path();
 	//eval.path3_forward_simple();
 	//eval.path3_forward_path();
+
 	//eval.path4_nexus_simple();
-	eval.path4_nexus_imp();
+	//eval.path4_nexus_imp();
 	//eval.path4_nexus_path();
+	//eval.path4_nexus_path_b();
+
+	eval.bergwerk_path1_nexus_simple();
+
 	eval.run();
 
 //	PaperVisGrid::showStairs();

code/particles/MyInitializer.h

@@ -9,12 +9,16 @@
 class MyInitializer : public K::ParticleFilterInitializer<MyState> {
 
 private:
+
+	Grid<MyGridNode>& grid;
+
 	int x_cm;
 	int y_cm;
 	int z_cm;
+
 	int heading;
 
-	Grid<MyGridNode>& grid;
+
 
 public:
 

code/particles/MyTransition.h

@@ -104,7 +104,7 @@ public:
 
 			// randomly move the particle within its target grid (box)
 			// (z remains unchanged!)
-			const int grid_size_cm = grid.getGridSize_cm();
+			//const int grid_size_cm = grid.getGridSize_cm();
 
 			// new position (x,y) is randomly distributed within the target node
 			Point3 noise = Point3(0,0,0);		// TODO

code/reader/SensorReaderStep.h

@@ -34,12 +34,10 @@ public:
     /** read the next sensor entry */
     SensorEntryStep getNext() {
 
-        char delim;
         SensorEntryStep entry;
 
         fp >> entry.ts;
 
-        int i = 0;
         return entry;
 
 

code/toni/BarometerEvaluation.h

@@ -9,13 +9,17 @@ static constexpr double g_BarometerObservation = 0.0;
 
 class BarometerEvaluation {
 
+public:
+
+	static float barometerSigma;//= 0.12+0.04;
+
 public:
 
 	double getProbability(const MyState& state, const BarometerObservation* obs) const {
 
 
 //        //rho_z
-		double barometerSigma = 0.06;//0.12+0.04;//0.09;
+		//double barometerSigma = 0.06;//0.12+0.04;//0.09;
 
 //        //The height of the single floor levels.
 //        const static double floor_height[3] = {4.1, 3.4, 3.4};

code/toni/BarometerSensorReader.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "circular.h"
+//#include "circular.h"
 #include "BarometerObservation.h"
 #include "../reader/SensorReader.h"
 #include <sstream>
@@ -23,6 +23,9 @@ private:
 	static constexpr int avgSize = 10;
 	static constexpr int startAvgSize = 10;
 
+	// skip the first 1-2 seconds and let the sensor settle itself
+	uint64_t skipTS = 0;
+
 public:
 
 	BarometerSensorReader(): avg(avgSize), avgStart(startAvgSize) {
@@ -30,16 +33,21 @@ public:
     }
 
     BarometerObservation* readBarometer(const SensorEntry& se) {
+
+		// skip the first few 1.5 seconds
+		if (skipTS == 0) {skipTS = se.ts;}
+		if (se.ts - skipTS < 3000) {return nullptr;}
 		
 		std::string tmp = se.data;
 		BarometerObservation* obs = new BarometerObservation();
+		const float cur = std::stof(tmp);
 
 		// get the next hPa reading and average it
-		avg.add(std::stof(tmp));
+		avg.add(cur);
 
 		// average the first few readings as reference
 		if (avgStart.getNumUsed() < startAvgSize) {
-			avgStart.add(std::stof(tmp));
+			avgStart.add(cur);
 		}
 
 		// current average relative to the start-average
@@ -50,13 +58,13 @@ public:
 
     }
 
-    //TODO
+//    //TODO
-    void readVerticalAcceleration(const SensorEntry& se){
+//    void readVerticalAcceleration(const SensorEntry& se){
 
-        //Problem: Koordinatensystem LinearAcceleraton ist relativ zum Telefon und nicht zum
+//        //Problem: Koordinatensystem LinearAcceleraton ist relativ zum Telefon und nicht zum
-        //Weltkoordinatensystem. Brauchen die Beschleunigung nach Oben in Weltkoordinaten.
+//        //Weltkoordinatensystem. Brauchen die Beschleunigung nach Oben in Weltkoordinaten.
 
-    }
+//    }
 
 
 };

code/toni/barometric.h

@@ -1,3 +1,5 @@
+#define BAROMETRIC
+
 #ifndef BAROMETRIC
 #define BAROMETRIC
 

tex/chapters/experiments.tex

@@ -21,3 +21,6 @@
 mit pfad laeuft es falsch, weil die andere treppe kuerzer zum ziel ist und das wlan dort besser passt}
 
 \commentByFrank{zu grosser einfluss vom pfad ist also kein allheilmittel.. kann, wie beim treppenhaus, auch nach hinten los gehen}
+
+
+\commentByFrank{path1: bad start due to nearby AP and bad parameters (path-loss too high)}

tex/chapters/grid.tex

@@ -12,3 +12,9 @@
 \subsection{Weighting}
 
 \subsection{Pathfinding}
+
+	\commentByFrank{describe the multi-path version}
+	
+	\commentByFrank{describe the single-path version}
+	\commentByFrank{exp-dist for distance to the path. more distance = less-likely}
+	\commentByFrank{lambda-factor controls the allowed deviation from the shortest-path}

tex/chapters/sensors.tex

@@ -6,26 +6,41 @@
 		preferred over absolute ones. However, due to noisy sensors \todo{cite oder grafik? je nach platz}, one
 		single reading is not enough as a relative base. Harnessing the usual setup time of a navigation-system (
 		route calculation, user checking the route) we use the average of all barometer readings during this
-		timeframe as realtive base $\overline{\mPressure}$.
+		timeframe as realtive base $\overline{\mObsPressure}$. However, it is often necessary to omit the first few
+		sensors readings, as the sensor needs some time to settle and the estimated base would otherwise be far off
+		the real values (see fig. \ref{fig:baroSetupError}). Besides, we use the system's setup time to estimate the
+		sensors uncertainty $\sigma_\text{baro}$ for later use within the evaluation.
 		
-		During each transition from $\mStateVec_{t-1}$ to $\mStateVec_t$, the predicted pressure $\mStatePressure$ is
+		\begin{figure}
-		adjusted according to the resulting $z$-change, if any:
+			\include{gfx/baro/baro_setup_issue}
+			\caption{Sometimes the barometer provides erroneous \SI{}{\hpa} readings during the first seconds. Those
+			need to be omitted before $\sigma_\text{baro}$ and $\overline{\mObsPressure}$ are estimated.}
+			\label{fig:baroSetupError}
+		\end{figure}
+		
+		During each transition from $\mStateVec_{t-1}$ to $\mStateVec_t$, we need a corresponding, relative pressure
+		prediction $\mStatePressure$ which is adjusted according to the resulting $z$-change, if any:
 		
 		\begin{equation}
 			\mState_{t}^{\mStatePressure} = \mState_{t-1}^{\mStatePressure} + \Delta z \cdot \SI{0.105}{\hpa}
 			,\enskip
 			\Delta z = \mState_{t-1}^{z} - \mState_{t}^z
 			.
+			\label{eq:baroTransition}
 		\end{equation}
 		
-		Within the evaluation bla bla
+		The evaluation following the transition then compares the predicted relative pressure with the observed one
+		using a normal distribution with the previously estimated $\sigma_\text{baro}$:
 		
 		\begin{equation}
-			xx
+			p(\mObsVec_t \mid \mStateVec_t)_\text{baro} = \mathcal{N}(\mObs_t^{\mObsPressure} \mid \mState_t^{\mStatePressure}, \sigma_\text{baro}).
+			\label{eq:baroEval}
 		\end{equation}
 		
-		we use the system's setup time to not only determine the relative base but also for estimating the barometers
+		
-		uncertainty \sigma_\text{baro} used within the evaluation.
+		
+		
+		
 		
 	\subsection{Wi-Fi \& iBeacons}
 		For additional absolute location hints, we use the Smartphones Wi-Fi and iBeacon sensor to measure the signal-strengths
@@ -40,7 +55,7 @@
 		and calculate the resulting probability as described in \cite{ipin2015}:
 		
 		\begin{equation}
-			\mProb(\mObsVec \mid \mStateVec)_\text{wifi} =
+			\mProb(\mObsVec_t \mid \mStateVec_t)_\text{wifi} =
 			\prod\limits_{i=1}^{n} \mathcal{N}(\mRssi_\text{wifi}^{i} \mid P_{r}(\mMdlDist_{i}, \Delta{f_{i}}), \sigma_{\text{wifi}}^2).
 			\label{eq:wifiTotal}
 		\end{equation}
@@ -56,6 +71,9 @@
 		Again, $\mPLE$ is determined emprically. \todo{faellt hier meist kleiner aus, weil ja kuerzere reichweite etc}
 	
 	
+	
+	
+	
 	\subsection{Step- \& Turn-Detection}
 		
 		To prevent degradation within the particle-filter \cite{??} due to downvoting of particles with increased

tex/gfx/baro/baro_setup_issue.aux

@@ -0,0 +1,24 @@
+\relax 
+\@setckpt{gfx/baro/baro_setup_issue}{
+\setcounter{page}{3}
+\setcounter{equation}{3}
+\setcounter{enumi}{0}
+\setcounter{enumii}{0}
+\setcounter{enumiii}{0}
+\setcounter{enumiv}{0}
+\setcounter{footnote}{0}
+\setcounter{mpfootnote}{0}
+\setcounter{section}{4}
+\setcounter{subsection}{1}
+\setcounter{subsubsection}{0}
+\setcounter{paragraph}{0}
+\setcounter{IEEEsubequation}{0}
+\setcounter{figure}{0}
+\setcounter{table}{0}
+\setcounter{IEEEbiography}{0}
+\setcounter{parentequation}{0}
+\setcounter{ALC@unique}{0}
+\setcounter{ALC@line}{0}
+\setcounter{ALC@rem}{0}
+\setcounter{ALC@depth}{0}
+}

tex/gfx/baro/baro_setup_issue.gp

@@ -0,0 +1,23 @@
+set terminal epslatex size 3.5,1.4
+set output "baro_setup_issue.eps"
+
+unset arrow
+
+set yrange[980.5:981.5]
+set xrange[0:50]
+set ytics 980.5, 0.2, 981.5
+
+set lmargin 5.0
+set rmargin 1.4
+set tmargin 0.5
+
+set object 1 rectangle from      0,980.5 to  4.000,981.3 fs solid fc rgb "#EEEEEE" behind
+set object 2 rectangle from  4.000,980.5 to 10.000,981.1 fs solid fc rgb "#DDDDDD" behind
+set object 3 rectangle from 10.000,980.5 to 36.000,980.9 fs solid fc rgb "#EEEEEE" behind
+set object 4 rectangle from 36.000,980.5 to 48.000,981.2 fs solid fc rgb "#DDDDDD" behind
+
+set label 1 "error"			at 0.500,981.38
+set label 2 "estimation"	at 4.500, 981.18
+set label 3 "walk"			at 10.500, 980.98
+set label 4 "stair"			at 36.500, 981.28
+plot "baro_setup_issue.csv" using ($2/1000):4 with lines notitle  lc rgb "black"

tex/gfx/baro/baro_setup_issue.tex

@@ -0,0 +1,108 @@
+% 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}(5040.00,2014.00)%
+    \gplgaddtomacro\gplbacktext{%
+      \csname LTb\endcsname%
+      \put(528,440){\makebox(0,0)[r]{\strut{}$980.5$}}%
+      \put(528,733){\makebox(0,0)[r]{\strut{}$980.7$}}%
+      \put(528,1025){\makebox(0,0)[r]{\strut{}$980.9$}}%
+      \put(528,1318){\makebox(0,0)[r]{\strut{}$981.1$}}%
+      \put(528,1610){\makebox(0,0)[r]{\strut{}$981.3$}}%
+      \put(528,1903){\makebox(0,0)[r]{\strut{}$981.5$}}%
+      \put(660,220){\makebox(0,0){\strut{}$0$}}%
+      \put(1499,220){\makebox(0,0){\strut{}$10$}}%
+      \put(2338,220){\makebox(0,0){\strut{}$20$}}%
+      \put(3176,220){\makebox(0,0){\strut{}$30$}}%
+      \put(4015,220){\makebox(0,0){\strut{}$40$}}%
+      \put(4854,220){\makebox(0,0){\strut{}$50$}}%
+      \put(702,1727){\makebox(0,0)[l]{\strut{}error}}%
+      \put(1037,1435){\makebox(0,0)[l]{\strut{}estimation}}%
+      \put(1541,1142){\makebox(0,0)[l]{\strut{}walk}}%
+      \put(3722,1581){\makebox(0,0)[l]{\strut{}stair}}%
+    }%
+    \gplgaddtomacro\gplfronttext{%
+    }%
+    \gplbacktext
+    \put(0,0){\includegraphics{baro_setup_issue}}%
+    \gplfronttext
+  \end{picture}%
+\endgroup