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added presentation, related code, and forgotten tex changes

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This commit is contained in:
FrankE
2016-07-01 10:22:29 +02:00
parent 1d64cedd29
commit f63ae7fe85
47 changed files with 4941 additions and 8 deletions
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2
code/eval/DebugShortestPath.h
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@@ -31,6 +31,8 @@ public:
vis.addFloor(floors.f2, floors.h2); vis.addFloor(floors.f2, floors.h2);
vis.addFloor(floors.f3, floors.h3); vis.addFloor(floors.f3, floors.h3);
} }
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad) { GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad) {

3
code/eval/EvalBase.h
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@@ -38,6 +38,7 @@ protected:
Grid<MyGridNode> grid; Grid<MyGridNode> grid;
Helper::FHWSFloors floors; Helper::FHWSFloors floors;
Vis vis; Vis vis;
K::ParticleFilter<MyState, MyControl, MyObservation>* pf; K::ParticleFilter<MyState, MyControl, MyObservation>* pf;
@@ -94,7 +95,7 @@ public:
return GridPoint(p.x, p.y, p.z); return GridPoint(p.x, p.y, p.z);
} }
GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) { static GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) {
// construct the ground-truth-path by using all contained waypoint ids // construct the ground-truth-path by using all contained waypoint ids
std::vector<Point3> path; std::vector<Point3> path;

12
code/main.cpp
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@@ -18,6 +18,7 @@
#include "eval/PaperVisDijkstra.h" #include "eval/PaperVisDijkstra.h"
#include "eval/PaperVisGrid.h" #include "eval/PaperVisGrid.h"
#include "presentation/presentation.h"
float BarometerEvaluation::barometerSigma = NAN; float BarometerEvaluation::barometerSigma = NAN;
@@ -85,9 +86,12 @@ void testModelWalk() {
int main(void) { int main(void) {
Presentation p;
p.xxx();
// testModelWalk(); // testModelWalk();
Eval1 eval; //Eval1 eval;
// //eval.path2_forward_simple(); // //eval.path2_forward_simple();
// //eval.path2_forward_path(); // //eval.path2_forward_path();
// //eval.path3_forward_simple(); // //eval.path3_forward_simple();
@@ -113,10 +117,10 @@ int main(void) {
// {Eval1 eval; eval.bergwerk_path3_nexus_multi(); eval.run();} // {Eval1 eval; eval.bergwerk_path3_nexus_multi(); eval.run();}
// {Eval1 eval; eval.bergwerk_path3_nexus_shortest(); eval.run();} // {Eval1 eval; eval.bergwerk_path3_nexus_shortest(); eval.run();}
{Eval1 eval; eval.bergwerk_path4_nexus_simple(); eval.run();} //{Eval1 eval; eval.bergwerk_path4_nexus_simple(); eval.run();}
//{Eval1 eval; eval.bergwerk_path4_nexus_imp(); eval.run();} //{Eval1 eval; eval.bergwerk_path4_nexus_imp(); eval.run();}
{Eval1 eval; eval.bergwerk_path4_nexus_multi(); eval.run();} //{Eval1 eval; eval.bergwerk_path4_nexus_multi(); eval.run();}
{Eval1 eval; eval.bergwerk_path4_nexus_shortest(); eval.run();} //{Eval1 eval; eval.bergwerk_path4_nexus_shortest(); eval.run();}

488
code/presentation/presentation.h Normal file
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@@ -0,0 +1,488 @@
#ifndef PRESENTATION_H
#define PRESENTATION_H
#include "../eval/EvalBase.h"
#include "../DijkstraMapper.h"
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
#include <Indoor/grid/walk/GridWalkPushForward.h>
#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
#include <Indoor/grid/walk/GridWalkSimpleControl.h>
#include <Indoor/grid/walk/GridWalkPathControl.h>
#include <Indoor/grid/walk/GridWalkShortestPathControl.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotMultiplot.h>
#include <KLib/misc/gnuplot/GnuplotPlot.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
class Presentation {
struct PlotErr {
K::GnuplotPlot plot;
K::GnuplotPlotElementLines lErr1;
K::GnuplotPlotElementLines lErr2;
PlotErr() {
plot.add(&lErr1);
plot.add(&lErr2);
lErr1.setLineWidth(2); lErr1.setColorHex("#000000");
lErr2.setLineWidth(2); lErr2.setColorHex("#666666");
plot.addCustom("set xrange[0:160]");
plot.addCustom("set yrange[0:12]");
}
void add(float ts, float err1, float err2) {
ts /= 1000;
lErr1.add(K::GnuplotPoint2(ts, err1));
lErr2.add(K::GnuplotPoint2(ts, err2));
}
};
struct PlotEST {
K::Gnuplot gp;
K::GnuplotSplot plot;
K::GnuplotSplotElementLines walls;
K::GnuplotSplotElementLines path1;
K::GnuplotSplotElementLines path2;
K::GnuplotSplotElementLines groundtruth;
K::GnuplotSplotElementPoints particles;
std::stringstream misc;
PlotEST(Helper::FHWSFloors& floors, GroundTruthWay& gtw) {
plot.addCustom("unset border");
plot.addCustom("unset tics");
plot.addCustom("unset cbrange");
plot.add(&walls);
plot.add(&particles);
plot.add(&groundtruth);
plot.add(&path1);
plot.add(&path2);
walls.setColorHex("#666666");
//groundtruth.setCustomAttr("dashtype 3");
groundtruth.setLineWidth(2);
groundtruth.setColorHex("#009900");
particles.setPointType(7);
particles.setPointSize(0.25f);
particles.setColorHex("#3333ff");
path1.setLineWidth(3); path1.setColorHex("#000000");
path2.setLineWidth(3); path2.setColorHex("#666666");
addFloor(floors.f0, floors.h0.cm());
addFloor(floors.f1, floors.h1.cm());
addFloor(floors.f2, floors.h2.cm());
addFloor(floors.f3, floors.h3.cm());
addGT(gtw);
}
void addFloor(const Floor& f, const float height) {
for (const Line2& l : f.getObstacles()) {
const K::GnuplotPoint3 p1(l.p1.x, l.p1.y, height);
const K::GnuplotPoint3 p2(l.p2.x, l.p2.y, height);
walls.addSegment(p1, p2);
}
}
void addEst1(const std::vector<Point3>& way) {
path1.clear();
for (Point3 p : way) {
K::GnuplotPoint3 gp(p.x, p.y, p.z);
path1.add(gp);
}
}
void addEst2(const std::vector<Point3>& way) {
path2.clear();
for (Point3 p : way) {
K::GnuplotPoint3 gp(p.x, p.y, p.z);
path2.add(gp);
}
}
void addGT(GroundTruthWay& gtw) {
for (auto it : gtw.getWay()) {
K::GnuplotPoint3 gp(it.value.x, it.value.y, it.value.z);
groundtruth.add(gp);
}
}
void setCur(Point3 est, Point3 gt) {
misc.str("");
misc << "set arrow 1 from " << est.x << "," << est.y << "," << est.z+150 << " to " << est.x << "," << est.y << "," << est.z << " lw 3\n";
misc << "set arrow 2 from " << gt.x << "," << gt.y << "," << gt.z+150 << " to " << gt.x << "," << gt.y << "," << gt.z << "\n";
}
template <typename T> void addParticles(const T& lst) {
particles.clear();
for (int i = 0; i < (int) lst.size(); i+=15) {
const K::Particle<MyState>& p = lst[i];
const K::GnuplotPoint3 pp(p.state.pCur.x, p.state.pCur.y, p.state.pCur.z);
particles.add(pp);
}
}
};
template <typename T> struct LeShortestPath {
Grid<T>& grid;
DijkstraMapper acc;
Dijkstra<T> dijkstra;
Point3 dst;
LeShortestPath(Grid<T>& grid, Point3 dst) : grid(grid), acc(grid), dst(dst) {
const T& nEnd = grid.getNearestNode( GridPoint(dst.x, dst.y, dst.z) );
dijkstra.build(&nEnd, acc);
}
void addShortestPath(Point3 start, PlotEST& plot) {
const T& nStart = grid.getNearestNode( GridPoint(start.x, start.y, start.z) );
const T& nEnd = grid.getNearestNode( GridPoint(dst.x, dst.y, dst.z) );
DijkstraNode<T>* dnStart = dijkstra.getNode(nStart);
DijkstraNode<T>* dnEnd = dijkstra.getNode(nEnd);
plot.path1.setColorHex("#0000ee");
plot.path1.clear();
DijkstraPath<T> dp(dnStart, dnEnd);
for (DijkstraNode<T>* dn : dp) {
K::GnuplotPoint3 gp(dn->element->x_cm, dn->element->y_cm, dn->element->z_cm);
plot.path1.add(gp);
}
}
};
public:
void xxx() {
float stepSize = 0.71;
K::ParticleFilter<MyState, MyControl, MyObservation>* pf1;
K::ParticleFilter<MyState, MyControl, MyObservation>* pf2;
Grid<MyGridNode> grid(20);
Helper::FHWSFloors floors = Helper::getFloors(grid);
Helper::buildTheGrid(grid, floors);
pf1 = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
pf2 = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
std::unique_ptr<MyEvaluation> eval1 = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
eval1.get()->setUsage(true, true, true, true, true);
pf1->setEvaluation( std::move(eval1) );
pf1->setNEffThreshold(1.0);
pf1->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
pf1->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
std::unique_ptr<MyEvaluation> eval2 = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
eval2.get()->setUsage(true, true, true, true, true);
pf2->setEvaluation( std::move(eval2) );
pf2->setNEffThreshold(1.0);
pf2->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
pf2->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
//runName = "bergwerk_path4_nexus_shortest";
GroundTruthWay gtw;
SensorReader* sr;
SensorReaderTurn* srt;
SensorReaderStep* srs;
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!
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path4/nexus/vor/1454776525797.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path4/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path4/nexus/vor/Steps2.txt");
gtw = EvalBase::getGroundTruthWay(*sr, floors.gtwp, path4dbl);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( EvalBase::conv(floors.gtwp[path4dbl.back()]) );
{
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
//DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf1->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
{
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf2->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
PlotEST pEst(floors, gtw);
PlotEST pShortest(floors, gtw);
PlotErr pErr;
LeShortestPath<MyGridNode> pShortestFac(grid, gtw.back().value);
K::Gnuplot gp;
K::GnuplotMultiplot multiplot(2,1);
multiplot.add(&pErr.plot);
multiplot.add(&pEst.plot);
//multiplot.add(&pShortest.plot);
// sensor numberspShortest
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;
std::list<TurnObservation> turn_observations;
std::list<StepObservation> step_observations;
//Create an BarometerSensorReader
BarometerSensorReader baroSensorReader;
//Read all turn Observations
while(srt->hasNext()) {
SensorEntryTurn set = srt->getNext();
TurnObservation to;
to.ts = set.ts;
to.delta_heading = set.delta_heading;
to.delta_motion = set.delta_motion;
turn_observations.push_back(to);
}
//Step Observations
while(srs->hasNext()) {
SensorEntryStep ses = srs->getNext();
StepObservation so;
so.ts = ses.ts;
step_observations.push_back(so);
}
// the to-be-evaluated observation
MyObservation obs;
obs.step = new StepObservation(); obs.step->steps = 0;
obs.turn = new TurnObservation(); obs.turn->delta_heading = 0; obs.turn->delta_motion = 0;
// control data
MyControl ctrl;
std::vector<Point3> pathEst1;
std::vector<Point3> pathEst2;
uint64_t lastTransitionTS = 0;
int64_t start_time = -1;
//K::Statistics<float> statsTime;
//K::Statistics<double> stats;
//int cnt = 0;
//std::vector<float> errors;
// process each single sensor reading
while(sr->hasNext()) {
// get the next sensor reading from the CSV
const SensorEntry se = sr->getNext();
//start_time needed for time calculation of steps and turns
obs.latestSensorDataTS = se.ts;
if (start_time == -1) {start_time = se.ts;}
int64_t current_time = se.ts - start_time;
switch(se.idx) {
case s_wifi: {
obs.wifi = WiFiSensorReader::readWifi(se);
break;
}
case s_beacons: {
BeaconObservationEntry boe = BeaconSensorReader::getBeacon(se);
if (!boe.mac.empty()) {
obs.beacons.entries.push_back(boe);
} // add the observed beacon
obs.beacons.removeOld(obs.latestSensorDataTS);
break;
}
case s_barometer: {
obs.barometer = baroSensorReader.readBarometer(se);
break;
}
case s_orientation: {
obs.orientation = OrientationSensorReader::read(se);
break;
}
}
// process all occurred turns
while (!step_observations.empty() && current_time > step_observations.front().ts) {
const StepObservation _so = step_observations.front(); step_observations.pop_front(); (void) _so;
obs.step->steps++;
ctrl.walked_m = obs.step->steps * stepSize;
}
// process all occurred steps
while (!turn_observations.empty() && current_time > turn_observations.front().ts) {
const TurnObservation _to = turn_observations.front(); turn_observations.pop_front();
obs.turn->delta_heading += _to.delta_heading;
obs.turn->delta_motion += _to.delta_motion;
ctrl.headingChange_rad = Angle::degToRad(obs.turn->delta_heading);
}
// time for a transition?
if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
//auto tick1 = Time::tick();
lastTransitionTS = se.ts;
// timed updates
((MyTransition*)pf1->getTransition())->setCurrentTime(lastTransitionTS);
((MyTransition*)pf2->getTransition())->setCurrentTime(lastTransitionTS);
// update the particle filter (transition + eval), estimate a new current position and add it to the estimated path
const MyState est1 = pf1->update(&ctrl, obs);
const MyState est2 = pf2->update(&ctrl, obs);
const Point3 curEst1 = est1.pCur;
const Point3 curEst2 = est2.pCur;
// error calculation. compare ground-truth to estimation
const int offset = 0;
const Point3 curGT = gtw.getPosAtTime(se.ts - offset);
const Point3 diff1 = curEst1 - curGT;
const Point3 diff2 = curEst2 - curGT;
const float err1 = diff1.length();
const float err2 = diff2.length();
//auto tick2 = Time::tick();
//float diffTime = Time::diffMS(tick1, tick2) * 1.25f;
//statsTime.add(diffTime);
//std::cout << "#" << statsTime.getAvg() << "\t" << diffTime << std::endl;
// skip the first 10 scans due to uniform distribution start
pathEst1.push_back(curEst1);
pathEst2.push_back(curEst2);
//const float err = diff.length();
//errors.push_back(err);
// plot
pEst.setCur(curEst1, curGT);
pEst.addParticles(pf1->getParticles());
pEst.addEst1(pathEst1);
pEst.addEst2(pathEst2);
pShortestFac.addShortestPath(curEst1, pShortest);
pErr.add(se.ts-start_time, err1/100, err2/100);
static int pi = 0;
static int dspCnt = 0;
if (++dspCnt > 0) {
//pEst.gp.draw(pEst.plot);
//pEst.gp.flush();
//pShortest.gp.draw(pShortest.plot);
//pShortest.gp.flush();
float s = 0.75;
gp.setTerminal("pngcairo", K::GnuplotSize(50*s,29*s));
gp.setOutput("/tmp/1/" + std::to_string(pi++) + ".png");
gp << "set multiplot\n";
gp << "set border\n";
gp << "set tics\n";
gp << "set size 1.0, 0.25 \n";
gp << "set origin 0.0, 0.0 \n";
gp << "unset xtics\n";
gp.draw(pErr.plot);
gp << "unset xrange; unset yrange; unset zrange;\n";
gp << "set size 0.68, 1.04 \n";
gp << "set origin -0.08, 0.04 \n";
gp << pEst.misc.str();
gp.draw(pEst.plot);
gp << "unset arrow\n";
gp << "set origin 0.405, 0.04 \n";
gp << pShortest.misc.str();
gp.draw(pShortest.plot);
gp << "unset arrow\n";
gp << "unset multiplot\n";
gp.flush();
usleep(1000*33); // prevent gnuplot errors
dspCnt = 0;
std::cout << pi << std::endl;
/** GIF */
/*
#!/bin/sh
palette="/tmp/palette.png"
filters=""
ffmpeg -i %d.png -vf "$filters,palettegen" -y $palette
ffmpeg -i %d.png -i $palette -lavfi "setpts=3.0*PTS,paletteuse" yy.gif
OR
ffmpeg -f image2 -i %d.png -vf "setpts=3.0*PTS" nyan.flv
*/
}
}
}
}
};
#endif // PRESENTATION_H

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presentation/beamercolorthememetropolis.sty Executable file
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@@ -0,0 +1,129 @@
%%
%% This is file `beamercolorthememetropolis.sty',
%% generated with the docstrip utility.
%%
%% The original source files were:
%%
%% beamercolorthememetropolis.dtx (with options: `package')
%% ---------------------------------------------------------------------------
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
%% contributors can be found at
%%
%% https://github.com/matze/mtheme/graphs/contributors
%%
%% and the original template was based on the HSRM theme by Benjamin Weiss.
%%
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
%% ---------------------------------------------------------------------------
\NeedsTeXFormat{LaTeX2e}
\ProvidesPackage{beamercolorthememetropolis}
[2015/06/12 A Modern Beamer Color Theme]
\RequirePackage{pgfopts}
\pgfkeys{
/metropolis/color/block/.cd,
.is choice,
transparent/.code=\@metropolis@block@transparent,
fill/.code=\@metropolis@block@fill,
}
\pgfkeys{
/metropolis/color/background/.cd,
.is choice,
dark/.code=\@metropolis@colors@dark,
light/.code=\@metropolis@colors@light,
}
\newcommand{\@metropolis@color@setdefaults}{
\pgfkeys{/metropolis/color/.cd,
background=light,
block=transparent,
}
}
\definecolor{mDarkBrown}{HTML}{604c38}
\definecolor{mDarkTeal}{HTML}{23373b}
\definecolor{mLightBrown}{HTML}{EB811B}
\definecolor{mLightGreen}{HTML}{14B03D}
\newcommand{\@metropolis@colors@dark}{
\setbeamercolor{normal text}{%
fg=black!2,
bg=mDarkTeal
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}
\newcommand{\@metropolis@colors@light}{
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fg=mDarkTeal,
bg=black!2
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}
\setbeamercolor{alerted text}{%
fg=mLightBrown
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\setbeamercolor{example text}{%
fg=mLightGreen
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use=normal text,
parent=normal text
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use=normal text,
fg=normal text.bg,
bg=normal text.fg
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use=palette primary,
parent=palette primary
}
\setbeamercolor{progress bar}{%
use=alerted text,
fg=alerted text.fg,
bg=normal text.bg!50!normal text.fg
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\setbeamercolor{title separator}{
use=progress bar,
parent=progress bar
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\setbeamercolor{progress bar in head/foot}{%
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\setbeamercolor{progress bar in section page}{
use=progress bar,
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\newcommand{\@metropolis@block@transparent}{
\setbeamercolor{block title}{use=normal text, parent=normal text}
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\newcommand{\@metropolis@block@fill}{
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use=normal text,
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\setbeamercolor{block body}{
use={block title, normal text},
bg=block title.bg!50!normal text.bg
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\setbeamercolor{footnote}{fg=normal text.fg!90}
\setbeamercolor{footnote mark}{fg=.}
\@metropolis@color@setdefaults
\ProcessPgfPackageOptions{/metropolis/color}
\mode<all>
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%%
%% End of file `beamercolorthememetropolis.sty'.

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presentation/beamerfontthememetropolis.sty Executable file
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%%
%% This is file `beamerfontthememetropolis.sty',
%% generated with the docstrip utility.
%%
%% The original source files were:
%%
%% beamerfontthememetropolis.dtx (with options: `package')
%% ---------------------------------------------------------------------------
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
%% contributors can be found at
%%
%% https://github.com/matze/mtheme/graphs/contributors
%%
%% and the original template was based on the HSRM theme by Benjamin Weiss.
%%
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
%% ---------------------------------------------------------------------------
\NeedsTeXFormat{LaTeX2e}
\ProvidesPackage{beamerfontthememetropolis}
[2015/06/12 A Modern Beamer Font Theme]
\RequirePackage[no-math]{fontspec}
\defaultfontfeatures{Mapping=tex-text}
\setsansfont[BoldItalicFont={Fira Sans Italic},%
ItalicFont={Fira Sans Light Italic},%
BoldFont={Fira Sans}]{Fira Sans Light}
\setmonofont{Fira Mono}
\newfontfamily\ExtraLight{Fira Sans ExtraLight}
\newfontfamily\Light{Fira Sans Light}
\newfontfamily\Book{Fira Sans}
\newfontfamily\Medium{Fira Sans Medium}
\AtBeginEnvironment{tabular}{%
\setsansfont[BoldFont={Fira Sans},%
Numbers={Monospaced}]{Fira Sans Light}%
}
\setbeamerfont{title}{family=\Book, size=\Large, shape=\scshape}
\setbeamerfont{author}{family=\ExtraLight, size=\small}
\setbeamerfont{date}{family=\ExtraLight, size=\small}
\setbeamerfont{section title}{family=\Book, size=\Large, shape=\scshape}
\setbeamerfont{block title}{family=\Book, size=\normalsize}
\setbeamerfont{block title alerted}{family=\Book,size=\normalsize}
\setbeamerfont{subtitle}{family=\Light, size=\fontsize{12}{14}}
\setbeamerfont{frametitle}{family=\Book, size=\large, shape=\scshape}
\setbeamerfont{caption}{size=\small}
\setbeamerfont{caption name}{family=\Book}
\setbeamerfont{description item}{family=\Book}
\setbeamerfont{page number in head/foot}{size=\scriptsize}
\setbeamerfont{bibliography entry author}{family=\Light, size=\normalsize}
\setbeamerfont{bibliography entry title}{family=\Book, size=\normalsize}
\setbeamerfont{bibliography entry location}{family=\Light, size=\normalsize}
\setbeamerfont{bibliography entry note}{family=\Light, size=\small}
\linespread{1.15}
\endinput
%%
%% End of file `beamerfontthememetropolis.sty'.

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%%
%% This is file `beamerinnerthememetropolis.sty',
%% generated with the docstrip utility.
%%
%% The original source files were:
%%
%% beamerinnerthememetropolis.dtx (with options: `package')
%% ---------------------------------------------------------------------------
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
%% contributors can be found at
%%
%% https://github.com/matze/mtheme/graphs/contributors
%%
%% and the original template was based on the HSRM theme by Benjamin Weiss.
%%
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
%% ---------------------------------------------------------------------------
\NeedsTeXFormat{LaTeX2e}
\ProvidesPackage{beamerinnerthememetropolis}
[2015/06/12 A Modern Beamer Theme]
\RequirePackage{etoolbox}
\RequirePackage{calc}
\RequirePackage{pgfopts}
\RequirePackage{tikz}
\pgfkeys{
/metropolis/inner/block/.cd,
.is choice,
transparent/.code=\setlength{\@metropolis@blockskip}{0ex},
fill/.code=\setlength{\@metropolis@blockskip}{1ex},
}
\pgfkeys{
/metropolis/inner/titleformat/.cd,
.is choice,
regular/.code=\renewcommand{\@metropolis@titleformat}{},
lowercase/.code={%
\renewcommand{\@metropolis@titleformat}{\MakeLowercase}
},
uppercase/.code={%
\renewcommand{\@metropolis@titleformat}{\MakeUppercase}
},
}
\pgfkeys{
/metropolis/inner/sectiontitleformat/.cd,
.is choice,
regular/.code=\renewcommand{\@metropolis@sectiontitleformat}{},
lowercase/.code={%
\renewcommand{\@metropolis@sectiontitleformat}{\MakeLowercase}
},
uppercase/.code={%
\renewcommand{\@metropolis@sectiontitleformat}{\MakeUppercase}
},
}
\pgfkeys{
/metropolis/inner/sectionpage/.cd,
.is choice,
none/.code=\@metropolis@sectionpage@none,
progressbar/.code=\@metropolis@sectionpage@progressbar,
}
\newcommand{\@metropolis@inner@setdefaults}{
\pgfkeys{/metropolis/inner/.cd,
sectionpage=progressbar,
block=transparent,
titleformat=lowercase,
sectiontitleformat=lowercase,
}
}
\def\@metropolis@titleformat#1{#1}
\def\@metropolis@sectiontitleformat#1{#1}
\patchcmd{\sectionentry}
{\def\insertsectionhead{#2}}
{\def\insertsectionhead{\@metropolis@sectiontitleformat{#2}}}
{}
{\PackageError{beamerinnerthememetropolis}{Patching section title failed.}}
\patchcmd{\beamer@section}
{\def\insertsectionhead{\hyperlink{Navigation\the\c@page}{#1}}}
{\def\insertsectionhead{\hyperlink{Navigation\the\c@page}{\@metropolis@sectiontitleformat{#1}}}}
{}
{\PackageError{beamerinnerthememetropolis}{Patching section title failed.}}
\setbeamertemplate{title page}{
\begin{minipage}[b][\paperheight]{\textwidth}
\ifx\inserttitlegraphic\@empty\else{%
\vbox to 0pt {
\vspace*{2em}
\usebeamercolor[fg]{titlegraphic}%
\inserttitlegraphic%
}%
\nointerlineskip%
}
\fi
\vfill%
\ifx\inserttitle\@empty\else{{%
\raggedright%
\linespread{1.0}%
\usebeamerfont{title}%
\usebeamercolor[fg]{title}%
\@metropolis@titleformat{\inserttitle}%
\par%
\vspace*{0.5em}
}}
\fi
\ifx\insertsubtitle\@empty\else{{%
\usebeamerfont{subtitle}%
\usebeamercolor[fg]{subtitle}%
\insertsubtitle%
\par%
\vspace*{0.5em}
}}
\fi
\begin{tikzpicture}
\usebeamercolor{title separator}
\draw[fg] (0, 0) -- (\textwidth, 0);
\end{tikzpicture}%
\par%
\vspace*{1em}%
\ifx\beamer@shortauthor\@empty\else{{%
\usebeamerfont{author}%
\usebeamercolor[fg]{author}%
\insertauthor%
\par%
\vspace*{0.25em}
}}
\fi
\ifx\insertdate\@empty\else{{%
\usebeamerfont{date}%
\usebeamercolor[fg]{date}%
\insertdate%
\par%
}}
\fi
\ifx\insertinstitute\@empty\else{{%
\vspace*{3mm}
\usebeamerfont{institute}%
\usebeamercolor[fg]{institute}%
\insertinstitute%
\par%
}}
\fi
\vfill
\vspace*{1mm}
\end{minipage}
}
\def\maketitle{%
\ifbeamer@inframe
\titlepage
\else
\frame[plain]{\titlepage}
\fi
}
\def\titlepage{%
\usebeamertemplate{title page}
}
\newcommand{\@metropolis@sectionpage@none}{
\AtBeginSection{
% intenionally empty
}
}
\defbeamertemplate{section page}{progressbar}{
\centering
\begin{minipage}{22em}
\usebeamercolor[fg]{section title}
\usebeamerfont{section title}
\insertsectionhead\\[-1ex]
\usebeamertemplate*{progress bar in section page}
\end{minipage}
\par
}
\newcommand{\@metropolis@sectionpage@progressbar}{
\setbeamertemplate{section page}[progressbar]
\AtBeginSection{
\ifbeamer@inframe
\sectionpage
\else
\frame[plain,c]{\sectionpage}
\fi
}
}
\newlength{\metropolis@progressonsectionpage}
\setbeamertemplate{progress bar in section page}{
\setlength{\metropolis@progressonsectionpage}{%
\textwidth * \ratio{\insertframenumber pt}{\inserttotalframenumber pt}%
}%
\begin{tikzpicture}
\draw[bg, fill=bg] (0,0) rectangle (\textwidth, 0.4pt);
\draw[fg, fill=fg] (0,0) rectangle (\metropolis@progressonsectionpage, 0.4pt);
\end{tikzpicture}%
}
\def\inserttotalframenumber{100}
\newlength{\@metropolis@blockskip}
\setbeamertemplate{block begin}{%
\vspace*{1ex}
\begin{beamercolorbox}[%
ht=2.4ex,
dp=1ex,
leftskip=\@metropolis@blockskip,
rightskip=\@metropolis@blockskip]{block title}
\usebeamerfont*{block title}\insertblocktitle%
\end{beamercolorbox}%
\vspace*{-1pt}
\usebeamerfont{block body}%
\begin{beamercolorbox}[%
dp=1ex,
leftskip=\@metropolis@blockskip,
rightskip=\@metropolis@blockskip,
vmode]{block body}%
}
\setbeamertemplate{block end}{%
\end{beamercolorbox}
\vspace*{0.2ex}
}
\setbeamertemplate{block alerted begin}{%
\vspace*{1ex}
\begin{beamercolorbox}[%
ht=2.4ex,
dp=1ex,
leftskip=\@metropolis@blockskip,
rightskip=\@metropolis@blockskip]{block title alerted}
\usebeamerfont*{block title alerted}\insertblocktitle%
\end{beamercolorbox}%
\vspace*{-1pt}
\usebeamerfont{block body alerted}%
\begin{beamercolorbox}[%
dp=1ex,
leftskip=\@metropolis@blockskip,
rightskip=\@metropolis@blockskip,
vmode]{block body}%
}
\setbeamertemplate{block alerted end}{%
\end{beamercolorbox}
\vspace*{0.2ex}
}
\setbeamertemplate{block example begin}{%
\vspace*{1ex}
\begin{beamercolorbox}[%
ht=2.4ex,
dp=1ex,
leftskip=\@metropolis@blockskip,
rightskip=\@metropolis@blockskip]{block title example}
\usebeamerfont*{block title example}\insertblocktitle%
\end{beamercolorbox}%
\vspace*{-1pt}
\usebeamerfont{block body example}%
\begin{beamercolorbox}[%
dp=1ex,
leftskip=\@metropolis@blockskip,
rightskip=\@metropolis@blockskip,
vmode]{block body}%
}
\setbeamertemplate{block example end}{%
\end{beamercolorbox}
\vspace*{0.2ex}
}
\setbeamertemplate{itemize items}{\textbullet}
\setbeamertemplate{caption label separator}{: }
\setbeamertemplate{caption}[numbered]
\setbeamertemplate{footnote}{%
\parindent 0em\noindent%
\raggedright
\usebeamercolor{footnote}\hbox to 0.8em{\hfil\insertfootnotemark}\insertfootnotetext\par%
}
\setlength{\parskip}{0.5em}
\linespread{1.15}
\define@key{beamerframe}{c}[true]{% centered
\beamer@frametopskip=0pt plus 1fill\relax%
\beamer@framebottomskip=0pt plus 1fill\relax%
\beamer@frametopskipautobreak=0pt plus .4\paperheight\relax%
\beamer@framebottomskipautobreak=0pt plus .6\paperheight\relax%
\def\beamer@initfirstlineunskip{}%
}
\@metropolis@inner@setdefaults
\ProcessPgfPackageOptions{/metropolis/inner}
\endinput
%%
%% End of file `beamerinnerthememetropolis.sty'.

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%%
%% This is file `beamerouterthememetropolis.sty',
%% generated with the docstrip utility.
%%
%% The original source files were:
%%
%% beamerouterthememetropolis.dtx (with options: `package')
%% ---------------------------------------------------------------------------
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
%% contributors can be found at
%%
%% https://github.com/matze/mtheme/graphs/contributors
%%
%% and the original template was based on the HSRM theme by Benjamin Weiss.
%%
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
%% ---------------------------------------------------------------------------
\NeedsTeXFormat{LaTeX2e}
\ProvidesPackage{beamerouterthememetropolis}
[2015/06/12 A Modern Beamer Theme]
\RequirePackage{etoolbox}
\RequirePackage{calc}
\RequirePackage{pgfopts}
\pgfkeys{
/metropolis/outer/numbering/.cd,
.is choice,
none/.code=\setbeamertemplate{frame numbering}[none],
counter/.code=\setbeamertemplate{frame numbering}[counter],
fraction/.code=\setbeamertemplate{frame numbering}[fraction],
}
\pgfkeys{
/metropolis/outer/progressbar/.cd,
.is choice,
none/.code={%
\setbeamertemplate{headline}[plain]
\setbeamertemplate{frametitle}[plain]
\setbeamertemplate{footline}[plain]
},
head/.code={\pgfkeys{/metropolis/outer/progressbar=none}
\addtobeamertemplate{headline}{}{\usebeamertemplate*{progress bar in head/foot}}
},
frametitle/.code={\pgfkeys{/metropolis/outer/progressbar=none}
\addtobeamertemplate{frametitle}{}{\usebeamertemplate*{progress bar in head/foot}}
},
foot/.code={\pgfkeys{/metropolis/outer/progressbar=none}
\addtobeamertemplate{footline}{}{\usebeamertemplate*{progress bar in head/foot}}
},
}
\pgfkeys{
/metropolis/outer/frametitleformat/.cd,
.is choice,
regular/.code={%
\renewcommand{\@metropolis@frametitleformat}{}%
\renewcommand{\@metropolis@frametitlestrut}{%
\rule{0pt}{\heightof{ABCDEFGHIJKLMNOPQRSTUVWXYZ}}
}
},
lowercase/.code={%
\renewcommand{\@metropolis@frametitleformat}{\MakeLowercase}%
\renewcommand{\@metropolis@frametitlestrut}{%
\rule{0pt}{\heightof{abcdefghijklmnopqrstuvwxyz}}
}
},
uppercase/.code={%
\renewcommand{\@metropolis@frametitleformat}{\MakeUppercase}%
\renewcommand{\@metropolis@frametitlestrut}{%
\rule{0pt}{\heightof{ABCDEFGHIJKLMNOPQRSTUVWXYZ}}
}
},
}
\newcommand{\@metropolis@outer@setdefaults}{
\pgfkeys{/metropolis/outer/.cd,
numbering=counter,
progressbar=none,
frametitleformat=lowercase,
}
}
\setbeamertemplate{navigation symbols}{}
\defbeamertemplate{frame numbering}{none}{}
\defbeamertemplate{frame numbering}{counter}{\insertframenumber}
\defbeamertemplate{frame numbering}{fraction}{
\insertframenumber/\inserttotalframenumber
}
\defbeamertemplate{headline}{plain}{}
\defbeamertemplate{footline}{plain}{%
\begin{beamercolorbox}[wd=\textwidth, sep=3ex]{footline}%
\hfill%
\usebeamerfont{page number in head/foot}%
\usebeamertemplate*{frame numbering}
\end{beamercolorbox}%
}
\def\@metropolis@frametitleformat#1{#1}
\patchcmd{\beamer@@frametitle}
{\beamer@ifempty{#2}{}{%
\gdef\insertframetitle{{#2\ifnum\beamer@autobreakcount>0\relax{}\space\usebeamertemplate*{frametitle continuation}\fi}}%
\gdef\beamer@frametitle{#2}%
\gdef\beamer@shortframetitle{#1}%
}}
{\beamer@ifempty{#2}{}{%
\gdef\insertframetitle{{\@metropolis@frametitleformat{#2}\ifnum\beamer@autobreakcount>0\relax{}\space\usebeamertemplate*{frametitle continuation}\fi}}%
\gdef\beamer@frametitle{#2}%
\gdef\beamer@shortframetitle{#1}%
}}
{}
{\PackageError{beamerouterthememetropolis}{Patching frame title failed.}}
\newlength{\@metropolis@frametitlestrut}
\defbeamertemplate{frametitle}{plain}{%
\nointerlineskip%
\begin{beamercolorbox}[%
wd=\paperwidth,%
sep=1.5ex,%
]{frametitle}%
\@metropolis@frametitlestrut\insertframetitle\@metropolis@frametitlestrut%
\end{beamercolorbox}%
}
\newlength{\metropolis@progressinheadfoot}
\setbeamertemplate{progress bar in head/foot}{
\nointerlineskip
\setlength{\metropolis@progressinheadfoot}{%
\paperwidth * \ratio{\insertframenumber pt}{\inserttotalframenumber pt}%
}%
\begin{beamercolorbox}[wd=\paperwidth]{progress bar in head/foot}
\begin{tikzpicture}
\draw[bg, fill=bg] (0,0) rectangle (\paperwidth, 0.4pt);
\draw[fg, fill=fg] (0,0) rectangle (\metropolis@progressinheadfoot, 0.4pt);
\end{tikzpicture}%
\end{beamercolorbox}
}
\@metropolis@outer@setdefaults
\ProcessPgfPackageOptions{/metropolis/outer}
\endinput
%%
%% End of file `beamerouterthememetropolis.sty'.

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%%
%% This is file `beamerthemem.sty',
%% generated with the docstrip utility.
%%
%% The original source files were:
%%
%% beamerthemem.dtx (with options: `package')
%% ---------------------------------------------------------------------------
%% Copyright 2015 Matthias Vogelgesang and the LaTeX community. A full list of
%% contributors can be found at
%%
%% https://github.com/matze/mtheme/graphs/contributors
%%
%% and the original template was based on the HSRM theme by Benjamin Weiss.
%%
%% This work is licensed under a Creative Commons Attribution-ShareAlike 4.0
%% International License (https://creativecommons.org/licenses/by-sa/4.0/).
%% ---------------------------------------------------------------------------
\NeedsTeXFormat{LaTeX2e}
\ProvidesPackage{beamerthemem}
[2015/06/12 A Modern Beamer Theme]
\RequirePackage{etoolbox}
\RequirePackage{pgfopts}
\RequirePackage{ifxetex}
\RequirePackage{ifluatex}
\newcommand{\metroset}[1]{\pgfkeys{/metropolis/.cd,#1}}
\pgfkeys{/metropolis/.cd,
.search also={
/metropolis/inner,
/metropolis/outer,
/metropolis/color,
},
block/.code=\pgfkeysalso{
inner/block=#1,
color/block=#1,
},
}
\pgfkeys{
/metropolis/plaintitleformat/.cd,
.is choice,
regular/.code=\renewcommand{\@metropolis@plaintitleformat}{#1},
lowercase/.code={%
\renewcommand{\@metropolis@plaintitleformat}{\MakeLowercase{#1}}
},
uppercase/.code={%
\renewcommand{\@metropolis@plaintitleformat}{\MakeUppercase{#1}}
},
}
\pgfkeys{
/metropolis/everytitleformat/.code=\pgfkeysalso{
inner/titleformat=#1,
inner/sectiontitleformat=#1,
outer/frametitleformat=#1,
plaintitleformat=#1,
}
}
\pgfkeys{/metropolis/.cd,
usetitleprogressbar/.code=\pgfkeysalso{outer/progressbar=frametitle},
noslidenumbers/.code=\pgfkeysalso{outer/numbering=none},
usetotalslideindicator/.code=\pgfkeysalso{outer/numbering=fraction},
nosectionslide/.code=\pgfkeysalso{inner/sectionpage=none},
darkcolors/.code=\pgfkeysalso{color/background=dark},
blockbg/.code=\pgfkeysalso{color/block=fill, inner/block=fill},
}
\newcommand{\@metropolis@setdefaults}{
\pgfkeys{/metropolis/.cd,
plaintitleformat=lowercase,
}
}
\useinnertheme{metropolis}
\useoutertheme{metropolis}
\usecolortheme{metropolis}
\ifboolexpr{bool {xetex} or bool {luatex}}{
\usefonttheme{metropolis}
}{
\PackageWarning{beamerthemem}{%
You need to compile with XeLaTeX or LuaLaTeX to use the Fira fonts.
}
}
\AtEndPreamble{%
\@ifpackageloaded{pgfplots}{%
\RequirePackage{pgfplotsthemetol}
}{}
}
\def\@metropolis@plaintitleformat#1{#1}
\newcommand{\plain}[2][]{%
\begingroup
\setbeamercolor{background canvas}{
use=palette primary,
parent=palette primary
}
\begin{frame}[c]{#1}
\begin{center}
\usebeamercolor[fg]{palette primary}
\usebeamerfont{section title}
\@metropolis@plaintitleformat{#2}
\end{center}
\end{frame}
\endgroup
}
\newcommand{\mreducelistspacing}{\vspace{-\topsep}}
\@metropolis@setdefaults
\ProcessPgfOptions{/metropolis}
\endinput
%%
%% End of file `beamerthemem.sty'.

540
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@@ -0,0 +1,540 @@
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108.492 c 176.855 107.172 178.504 106.633 181.309 106.633 c 184.027 106.633
185.512 107.172 187.16 108.82 c 187.16 106.883 l h
187.16 114.055 m 187.16 112.367 186.832 111.211 186.129 110.551 c 184.852
109.316 183.328 109.191 181.598 109.191 c 178.383 109.191 176.938 110.305
176.938 112.652 c 176.938 115 178.422 116.238 181.473 116.238 c 187.16
116.238 l h
213.293 106.883 m 213.293 119.867 l 213.293 122.215 212.633 124.113 211.191
125.512 c 209.953 126.75 208.18 127.41 205.996 127.41 c 203.73 127.41 201.75
126.586 200.309 124.938 c 200.309 127.164 l 197.34 127.164 l 197.34 106.883
l 200.309 106.883 l 200.309 119.371 l 200.309 122.918 202.289 124.773 205.336
124.773 c 208.387 124.773 210.324 122.957 210.324 119.371 c 210.324 106.883
l h
235.469 106.262 m 235.469 127.164 l 232.539 127.164 l 232.539 124.773 l
230.891 126.914 229.078 127.41 226.852 127.41 c 224.793 127.41 222.977
126.707 221.906 125.637 c 219.887 123.617 219.434 120.484 219.434 117.188
c 219.434 113.891 219.887 110.758 221.906 108.738 c 222.977 107.668 224.75
106.922 226.812 106.922 c 228.996 106.922 230.852 107.461 232.5 109.562
c 232.5 106.387 l 232.5 102.926 230.852 100.164 226.934 100.164 c 224.586
100.164 223.555 100.867 222.07 102.184 c 220.133 100.289 l 222.277 98.352
223.969 97.57 227.016 97.57 c 232.336 97.57 235.469 101.238 235.469 106.262
c 232.5 117.188 m 232.5 113.395 231.883 109.602 227.473 109.602 c 223.059
109.602 222.402 113.395 222.402 117.188 c 222.402 120.98 223.059 124.773
227.473 124.773 c 231.883 124.773 232.5 120.98 232.5 117.188 c 258.426
116.238 m 258.426 117.598 l 258.426 123.617 255.332 127.41 250.098 127.41
c 244.945 127.41 241.773 123.578 241.773 117.023 c 241.773 109.852 245.277
106.633 250.637 106.633 c 254.098 106.633 255.992 107.707 258.055 109.77
c 256.035 111.539 l 254.426 109.934 253.066 109.234 250.719 109.234 c 246.844
109.234 244.742 111.789 244.742 116.238 c h
255.457 118.465 m 244.742 118.465 l 244.824 120.113 244.906 120.734 245.359
121.844 c 246.141 123.699 247.957 124.895 250.098 124.895 c 252.242 124.895
254.055 123.699 254.84 121.844 c 255.293 120.734 255.375 120.113 255.457
118.465 c 290.207 127.164 m 286.992 127.164 l 282.379 110.879 l 277.02
127.164 l 274.465 127.164 l 269.145 110.879 l 264.488 127.164 l 261.273
127.164 l 267.703 106.883 l 270.465 106.883 l 275.742 122.629 l 281.059
106.883 l 283.82 106.883 l h
308.84 106.883 m 308.84 120.648 l 308.84 125.059 306.16 127.41 300.719
127.41 c 297.422 127.41 295.359 126.75 293.547 124.402 c 295.566 122.543
l 296.762 124.234 298.082 124.852 300.676 124.852 c 304.387 124.852 305.871
123.371 305.871 120.402 c 305.871 118.465 l 299.77 118.465 l 295.238 118.465
292.766 116.156 292.766 112.613 c 292.766 111.004 293.301 109.48 294.289
108.492 c 295.566 107.172 297.215 106.633 300.02 106.633 c 302.738 106.633
304.223 107.172 305.871 108.82 c 305.871 106.883 l h
305.871 114.055 m 305.871 112.367 305.543 111.211 304.84 110.551 c 303.562
109.316 302.039 109.191 300.305 109.191 c 297.09 109.191 295.648 110.305
295.648 112.652 c 295.648 115 297.133 116.238 300.184 116.238 c 305.871
116.238 l h
332.004 106.883 m 332.004 119.867 l 332.004 122.215 331.344 124.113 329.898
125.512 c 328.664 126.75 326.891 127.41 324.707 127.41 c 322.438 127.41
320.461 126.586 319.02 124.938 c 319.02 127.164 l 316.051 127.164 l 316.051
106.883 l 319.02 106.883 l 319.02 119.371 l 319.02 122.918 320.996 124.773
324.047 124.773 c 327.098 124.773 329.035 122.957 329.035 119.371 c 329.035
106.883 l h
354.258 106.883 m 354.258 136.23 l 351.293 136.23 l 351.293 124.812 l 349.645
126.914 347.789 127.41 345.562 127.41 c 343.5 127.41 341.688 126.707 340.617
125.637 c 338.555 123.578 338.145 120.195 338.145 117.023 c 338.145 113.848
338.555 110.469 340.617 108.41 c 341.688 107.336 343.5 106.633 345.562
106.633 c 347.789 106.633 349.684 107.172 351.332 109.316 c 351.332 106.883
l h
351.293 117.023 m 351.293 113.066 350.633 109.273 346.223 109.273 c 341.812
109.273 341.109 113.066 341.109 117.023 c 341.109 120.98 341.812 124.773
346.223 124.773 c 350.633 124.773 351.293 120.98 351.293 117.023 c 369.469
106.883 m 369.469 109.438 l 367.902 109.438 l 366.008 109.438 365.141 110.551
365.141 112.406 c 365.141 124.773 l 369.469 124.773 l 369.469 127.039 l
365.141 127.039 l 365.141 133.383 l 362.172 133.383 l 362.172 127.039 l
359.617 127.039 l 359.617 124.773 l 362.172 124.773 l 362.172 112.324 l
362.172 109.316 363.902 106.883 367.367 106.883 c h
390.57 116.238 m 390.57 117.598 l 390.57 123.617 387.477 127.41 382.242
127.41 c 377.09 127.41 373.918 123.578 373.918 117.023 c 373.918 109.852
377.422 106.633 382.777 106.633 c 386.242 106.633 388.137 107.707 390.199
109.77 c 388.18 111.539 l 386.57 109.934 385.211 109.234 382.859 109.234
c 378.988 109.234 376.883 111.789 376.883 116.238 c h
387.602 118.465 m 376.883 118.465 l 376.969 120.113 377.051 120.734 377.504
121.844 c 378.285 123.699 380.098 124.895 382.242 124.895 c 384.387 124.895
386.199 123.699 386.984 121.844 c 387.438 120.734 387.52 120.113 387.602
118.465 c 437.969 136.23 m 434.629 136.23 l 428.898 112.57 l 422.43 136.23
l 419.629 136.23 l 413.156 112.57 l 407.426 136.23 l 404.09 136.23 l 411.59
106.883 l 414.516 106.883 l 421.027 130.375 l 427.539 106.883 l 430.469
106.883 l h
445.305 127.164 m 442.336 127.164 l 442.336 106.883 l 445.305 106.883 l
h
445.512 136.273 m 442.172 136.273 l 442.172 132.934 l 445.512 132.934 l
h
467.398 112.82 m 467.398 116.609 464.965 117.969 461.422 118.301 c 458.164
118.586 l 455.609 118.793 454.621 119.824 454.621 121.555 c 454.621 123.617
456.188 124.895 459.152 124.895 c 461.254 124.895 463.109 124.402 464.555
123.289 c 466.488 125.223 l 464.676 126.707 462.082 127.41 459.195 127.41
c 454.867 127.41 451.734 125.184 451.734 121.473 c 451.734 118.133 453.836
116.363 457.793 116.035 c 461.133 115.746 l 463.48 115.539 464.512 114.547
464.512 112.777 c 464.512 110.387 462.449 109.191 459.113 109.191 c 456.598
109.191 454.414 109.852 452.805 111.539 c 450.828 109.562 l 453.055 107.418
455.73 106.633 459.152 106.633 c 464.059 106.633 467.398 108.902 467.398
112.82 c 487.176 112.82 m 487.176 116.609 484.746 117.969 481.199 118.301
c 477.941 118.586 l 475.387 118.793 474.398 119.824 474.398 121.555 c 474.398
123.617 475.965 124.895 478.934 124.895 c 481.035 124.895 482.891 124.402
484.332 123.289 c 486.27 125.223 l 484.457 126.707 481.859 127.41 478.973
127.41 c 474.645 127.41 471.512 125.184 471.512 121.473 c 471.512 118.133
473.613 116.363 477.57 116.035 c 480.91 115.746 l 483.262 115.539 484.293
114.547 484.293 112.777 c 484.293 110.387 482.23 109.191 478.891 109.191
c 476.379 109.191 474.191 109.852 472.586 111.539 c 470.605 109.562 l 472.832
107.418 475.512 106.633 478.934 106.633 c 483.836 106.633 487.176 108.902
487.176 112.82 c 508.527 116.238 m 508.527 117.598 l 508.527 123.617 505.434
127.41 500.199 127.41 c 495.047 127.41 491.875 123.578 491.875 117.023
c 491.875 109.852 495.379 106.633 500.734 106.633 c 504.199 106.633 506.094
107.707 508.156 109.77 c 506.137 111.539 l 504.527 109.934 503.168 109.234
500.816 109.234 c 496.945 109.234 494.844 111.789 494.844 116.238 c h
505.559 118.465 m 494.844 118.465 l 494.926 120.113 495.008 120.734 495.461
121.844 c 496.242 123.699 498.059 124.895 500.199 124.895 c 502.344 124.895
504.156 123.699 504.941 121.844 c 505.395 120.734 505.477 120.113 505.559
118.465 c 530.781 106.883 m 530.781 119.867 l 530.781 122.215 530.125 124.113
528.68 125.512 c 527.445 126.75 525.672 127.41 523.488 127.41 c 521.223
127.41 519.242 126.586 517.801 124.938 c 517.801 127.164 l 514.832 127.164
l 514.832 106.883 l 517.801 106.883 l 517.801 119.371 l 517.801 122.918
519.777 124.773 522.828 124.773 c 525.879 124.773 527.816 122.957 527.816
119.371 c 527.816 106.883 l h
552.629 112.82 m 552.629 116.609 550.195 117.969 546.652 118.301 c 543.395
118.586 l 540.84 118.793 539.852 119.824 539.852 121.555 c 539.852 123.617
541.418 124.895 544.387 124.895 c 546.488 124.895 548.344 124.402 549.785
123.289 c 551.723 125.223 l 549.906 126.707 547.312 127.41 544.426 127.41
c 540.098 127.41 536.965 125.184 536.965 121.473 c 536.965 118.133 539.066
116.363 543.023 116.035 c 546.363 115.746 l 548.715 115.539 549.742 114.547
549.742 112.777 c 549.742 110.387 547.684 109.191 544.344 109.191 c 541.828
109.191 539.645 109.852 538.039 111.539 c 536.059 109.562 l 538.285 107.418
540.965 106.633 544.387 106.633 c 549.289 106.633 552.629 108.902 552.629
112.82 c 572.988 109.645 m 570.969 111.582 l 569.445 109.891 568.25 109.273
566.312 109.273 c 564.332 109.273 562.688 110.055 561.613 111.582 c 560.664
112.902 560.293 114.465 560.293 117.023 c 560.293 119.578 560.664 121.145
561.613 122.461 c 562.688 123.988 564.332 124.773 566.312 124.773 c 568.25
124.773 569.445 124.195 570.969 122.504 c 572.988 124.402 l 570.887 126.668
569.113 127.41 566.312 127.41 c 561.199 127.41 557.324 123.949 557.324
117.023 c 557.324 110.098 561.199 106.633 566.312 106.633 c 569.113 106.633
570.887 107.375 572.988 109.645 c 594.586 106.883 m 594.586 119.906 l 594.586
124.484 591.867 127.41 587.293 127.41 c 585.023 127.41 583.086 126.625
581.602 124.938 c 581.602 136.23 l 578.637 136.23 l 578.637 106.883 l 581.602
106.883 l 581.602 119.414 l 581.602 122.918 583.625 124.773 586.672 124.773
c 589.723 124.773 591.621 122.957 591.621 119.414 c 591.621 106.883 l h
616.27 106.883 m 616.27 120.648 l 616.27 125.059 613.59 127.41 608.148
127.41 c 604.852 127.41 602.789 126.75 600.977 124.402 c 602.996 122.543
l 604.191 124.234 605.508 124.852 608.105 124.852 c 611.816 124.852 613.301
123.371 613.301 120.402 c 613.301 118.465 l 607.199 118.465 l 602.664 118.465
600.191 116.156 600.191 112.613 c 600.191 111.004 600.727 109.48 601.719
108.492 c 602.996 107.172 604.645 106.633 607.445 106.633 c 610.168 106.633
611.648 107.172 613.301 108.82 c 613.301 106.883 l h
613.301 114.055 m 613.301 112.367 612.969 111.211 612.27 110.551 c 610.992
109.316 609.465 109.191 607.734 109.191 c 604.52 109.191 603.078 110.305
603.078 112.652 c 603.078 115 604.562 116.238 607.609 116.238 c 613.301
116.238 l h
631.434 124.773 m 631.434 127.039 l 627.105 127.039 l 627.105 130.789 l
627.105 132.645 627.93 133.754 629.828 133.754 c 631.434 133.754 l 631.434
136.312 l 629.293 136.312 l 625.828 136.312 624.141 133.879 624.141 130.871
c 624.141 127.039 l 621.543 127.039 l 621.543 124.773 l 624.141 124.773
l 624.141 106.883 l 627.105 106.883 l 627.105 124.773 l h
644.211 106.883 m 644.211 109.438 l 642.645 109.438 l 640.75 109.438 639.883
110.551 639.883 112.406 c 639.883 124.773 l 644.211 124.773 l 644.211 127.039
l 639.883 127.039 l 639.883 133.383 l 636.918 133.383 l 636.918 127.039
l 634.359 127.039 l 634.359 124.773 l 636.918 124.773 l 636.918 112.324
l 636.918 109.316 638.648 106.883 642.109 106.883 c h
665.312 116.238 m 665.312 117.598 l 665.312 123.617 662.219 127.41 656.984
127.41 c 651.836 127.41 648.66 123.578 648.66 117.023 c 648.66 109.852
652.164 106.633 657.523 106.633 c 660.984 106.633 662.879 107.707 664.941
109.77 c 662.922 111.539 l 661.312 109.934 659.953 109.234 657.605 109.234
c 653.73 109.234 651.629 111.789 651.629 116.238 c h
662.344 118.465 m 651.629 118.465 l 651.711 120.113 651.793 120.734 652.246
121.844 c 653.027 123.699 654.844 124.895 656.984 124.895 c 659.129 124.895
660.941 123.699 661.727 121.844 c 662.18 120.734 662.262 120.113 662.344
118.465 c 687.57 106.883 m 687.57 119.867 l 687.57 122.215 686.91 124.113
685.469 125.512 c 684.23 126.75 682.457 127.41 680.273 127.41 c 678.008
127.41 676.027 126.586 674.586 124.938 c 674.586 127.164 l 671.617 127.164
l 671.617 106.883 l 674.586 106.883 l 674.586 119.371 l 674.586 122.918
676.562 124.773 679.613 124.773 c 682.664 124.773 684.602 122.957 684.602
119.371 c 684.602 106.883 l h
687.57 106.883 m f
133.043 148.863 m 133.043 178.211 l 127.316 178.211 l 127.316 166.219 l
117.379 166.219 l 117.379 178.211 l 111.652 178.211 l 111.652 148.863 l
117.379 148.863 l 117.379 161.145 l 127.316 161.145 l 127.316 148.863 l
h
156.742 159.621 m 156.742 163.496 156.25 165.926 154.312 167.949 c 152.992
169.348 150.809 170.586 147.633 170.586 c 144.461 170.586 142.316 169.348
141 167.949 c 139.062 165.926 138.566 163.496 138.566 159.621 c 138.566
155.707 139.062 153.273 141 151.254 c 142.316 149.852 144.461 148.617 147.633
148.617 c 150.809 148.617 152.992 149.852 154.312 151.254 c 156.25 153.273
156.742 155.707 156.742 159.621 c 151.387 159.621 m 151.387 157.395 151.262
155.5 150.148 154.387 c 149.531 153.77 148.707 153.438 147.633 153.438
c 146.562 153.438 145.781 153.77 145.16 154.387 c 144.047 155.5 143.926
157.395 143.926 159.621 c 143.926 161.848 144.047 163.703 145.16 164.816
c 145.781 165.434 146.562 165.762 147.633 165.762 c 148.707 165.762 149.531
165.434 150.148 164.816 c 151.262 163.703 151.387 161.848 151.387 159.621
c 177.477 151.543 m 173.848 155.129 l 172.734 153.934 171.789 153.438 170.387
153.438 c 169.109 153.438 168.121 153.891 167.336 154.84 c 166.512 155.871
166.141 157.355 166.141 159.621 c 166.141 161.887 166.512 163.332 167.336
164.363 c 168.121 165.309 169.109 165.762 170.387 165.762 c 171.789 165.762
172.734 165.27 173.848 164.074 c 177.477 167.699 l 175.578 169.68 173.355
170.586 170.387 170.586 c 166.098 170.586 160.781 168.32 160.781 159.621
c 160.781 150.926 166.098 148.617 170.387 148.617 c 173.355 148.617 175.578
149.566 177.477 151.543 c 199.32 148.863 m 199.32 162.754 l 199.32 167.289
196.848 170.586 192.148 170.586 c 190.254 170.586 188.441 169.844 186.996
168.359 c 186.996 178.211 l 181.637 178.211 l 181.637 148.863 l 186.996
148.863 l 186.996 161.969 l 186.996 164.773 188.77 165.762 190.457 165.762
c 192.148 165.762 193.961 164.816 193.961 161.969 c 193.961 148.863 l h
221.246 155.625 m 221.246 159.25 219.105 161.516 214.859 161.93 c 211.48
162.258 l 209.582 162.426 209.254 163.332 209.254 164.113 c 209.254 165.184
210.16 166.176 212.305 166.176 c 214.16 166.176 216.055 165.844 217.289
164.734 c 220.59 168.07 l 218.527 170.008 215.723 170.586 212.387 170.586
c 208.016 170.586 204.102 168.195 204.102 163.742 c 204.102 159.785 206.492
158.098 210.367 157.727 c 213.746 157.395 l 215.438 157.23 216.012 156.488
216.012 155.418 c 216.012 153.809 214.074 153.191 212.223 153.191 c 210.574
153.191 208.266 153.438 206.492 155.211 c 202.988 151.707 l 205.707 148.988
208.758 148.617 212.137 148.617 c 217.207 148.617 221.246 150.883 221.246
155.625 c 241.363 151.543 m 237.734 155.129 l 236.621 153.934 235.672 153.438
234.273 153.438 c 232.996 153.438 232.004 153.891 231.223 154.84 c 230.398
155.871 230.027 157.355 230.027 159.621 c 230.027 161.887 230.398 163.332
231.223 164.363 c 232.004 165.309 232.996 165.762 234.273 165.762 c 235.672
165.762 236.621 165.27 237.734 164.074 c 241.363 167.699 l 239.465 169.68
237.238 170.586 234.273 170.586 c 229.984 170.586 224.668 168.32 224.668
159.621 c 224.668 150.926 229.984 148.617 234.273 148.617 c 237.238 148.617
239.465 149.566 241.363 151.543 c 263.207 148.863 m 263.207 162.754 l 263.207
167.289 260.734 170.586 256.035 170.586 c 254.137 170.586 252.324 169.844
250.883 168.359 c 250.883 178.211 l 245.523 178.211 l 245.523 148.863 l
250.883 148.863 l 250.883 161.969 l 250.883 164.773 252.656 165.762 254.344
165.762 c 256.035 165.762 257.848 164.816 257.848 161.969 c 257.848 148.863
l h
286.578 148.863 m 286.578 170.336 l 281.219 170.336 l 281.219 157.355 l
281.219 154.426 279.32 153.438 277.633 153.438 c 275.941 153.438 274.086
154.426 274.086 157.355 c 274.086 170.336 l 268.73 170.336 l 268.73 156.613
l 268.73 154.262 269.184 152.242 270.914 150.512 c 272.109 149.316 273.84
148.617 275.984 148.617 c 277.961 148.617 279.941 149.359 281.34 150.844
c 281.34 148.863 l h
301.703 148.863 m 301.703 153.398 l 299.641 153.398 l 298.281 153.398 297.746
154.055 297.746 155.336 c 297.746 178.211 l 292.387 178.211 l 292.387 155.004
l 292.387 151.953 294.242 148.863 298.652 148.863 c h
322.605 157.93 m 322.605 160.32 l 322.605 166.219 319.223 170.586 313.246
170.586 c 307.684 170.586 303.891 166.629 303.891 159.621 c 303.891 150.926
308.754 148.617 313.824 148.617 c 317.699 148.617 319.801 149.812 321.984
151.996 c 318.73 155.168 l 317.371 153.809 316.215 153.152 313.867 153.152
c 310.859 153.152 309.168 155.168 309.168 157.93 c h
317.328 161.598 m 309.168 161.598 l 309.207 162.547 309.332 163.125 309.66
163.906 c 310.238 165.184 311.434 166.133 313.246 166.133 c 315.062 166.133
316.258 165.184 316.832 163.906 c 317.164 163.125 317.285 162.547 317.328
161.598 c f
128.871 301.703 m 128.871 311.031 l 128.871 312.418 127.68 313.406 126.492
313.406 c 57.867 313.406 l 56.68 313.406 55.488 312.418 55.488 311.031
c 55.488 202.539 l 55.488 201.348 56.68 200.16 57.867 200.16 c 69.77 200.16
l 71.156 200.16 72.148 201.348 72.148 202.539 c 72.148 250.934 l 116.973
250.934 l 118.16 250.934 119.352 251.926 119.352 253.312 c 119.352 262.633
l 119.352 264.023 118.16 265.012 116.973 265.012 c 72.148 265.012 l 72.148
299.328 l 126.492 299.328 l 127.68 299.328 128.871 300.32 128.871 301.703
c f
221.688 202.535 m 221.688 311.031 l 221.688 312.414 220.699 313.406 219.309
313.406 c 207.605 313.406 l 206.219 313.406 205.227 312.414 205.227 311.031
c 205.227 265.012 l 160.406 265.012 l 160.406 311.031 l 160.406 312.414
159.414 313.406 158.023 313.406 c 146.121 313.406 l 144.934 313.406 143.746
312.414 143.746 311.031 c 143.746 202.535 l 143.746 201.348 144.934 200.16
146.121 200.16 c 158.023 200.16 l 159.414 200.16 160.406 201.348 160.406
202.535 c 160.406 250.934 l 205.227 250.934 l 205.227 202.535 l 205.227
201.348 206.219 200.16 207.605 200.16 c 219.309 200.16 l 220.699 200.16
221.688 201.348 221.688 202.535 c f
447.672 300.316 m 437.359 300.316 425.262 297.738 425.262 285.047 c 425.262
282.668 l 425.262 273.742 433.984 267.789 451.238 264.82 c 471.668 261.445
487.734 256.285 487.734 231.891 c 487.734 229.711 l 487.734 215.629 481.582
198.973 452.43 198.973 c 442.914 198.973 l 420.895 198.973 408.398 210.668
407.605 231.891 c 407.605 233.285 408.598 234.273 409.988 234.273 c 421.688
234.273 l 423.078 234.273 424.07 233.285 424.07 231.891 c 424.863 218.801
431.211 213.051 445.289 213.051 c 450.055 213.051 l 467.703 213.051 471.27
219.398 471.27 229.711 c 471.27 231.891 l 471.27 241.812 468.496 246.77
444.102 250.934 c 412.961 256.086 408.797 270.961 408.797 282.668 c 408.797
285.047 l 408.797 294.168 412.367 301.906 419.113 307.059 c 425.457 312.02
434.379 314.402 445.289 314.402 c 450.055 314.402 l 470.68 314.402 482.973
304.086 484.957 285.047 c 485.152 283.66 483.961 282.668 482.578 282.668
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presentation/gfx/wifi.gp Normal file
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reset;
set terminal qt size 500,500
po = -40;
gamma = 1.4;
rssi(dist) = po - 10*gamma*log(dist/1);
getRSSI(x,y) = (dx=x-apx, dy=y-apy, dist=sqrt(dx*dx + dy*dy), rssi(dist));
getRSSI2(x,y) = ( getRSSI(x,y) - ((y>w1)?(6):(0)) );
prob(val, mu, sigma) = ( 1/(sigma*sqrt(2*pi)) * exp( -0.5 * ((val-mu)/sigma)**2 ) );
unset xtics;
unset ytics;
s = 0.5;
apx = 15;
apy = 15;
w1 = 17;
wh = 1.2;
ux = 2;
uy = 5;
#set colorbox user origin screen 0.9,0.5
set origin -0.125,-0.125
set size 1.25,1.25
unset colorbox;
set xrange[0:30];
set yrange[0:30];
set cbrange[-40:-100];
set isosamples 200;
#set view equal xy
set arrow 1 from apx-s,apy-s to apx+s,apy+s front nohead lw 2
set arrow 2 from apx-s,apy+s to apx+s,apy-s front nohead lw 2
set label 1 "AP" at apx+1,apy-0.5 front font ",20"
#set object 1 circle at graph apx,apy radius graph 2 lc rgb "#000000" lw 1 front
#set arrow 3 from ux-s,uy-s to ux+s,uy+s front nohead lw 2
#set arrow 4 from ux-s,uy+s to ux+s,uy-s front nohead lw 2
#set arrow 5 from apx,apy to ux,uy front nohead lw 1 dashtype 3
set view map;
set terminal pngcairo size 512,512
# plot 1
set output "wifi1.png"
splot getRSSI(x,y) with pm3d notitle;
# plot 2
set output "wifi2.png"
#set arrow 81 from 15,w2 to 30,w2 front nohead lw 4
#set arrow 82 from 0,w1 to 30,w1 front nohead lw 10 lc rgb "#ffffff"
set object 82 rectangle center apx,w1 size 30,wh front fillstyle solid fc rgb "#ffffff"
set object 83 rectangle center apx,w1 size 30,wh front fillstyle pattern 4 fc rgb "#000000"
splot getRSSI2(x,y) with pm3d notitle;
unset cbrange;
set palette rgb 33,13,10;
unset colorbox;
# plot 3
set output "wifi3.png"
unset arrow 82;
unset arrow 81;
unset object 82;
unset object 83;
splot prob(-70, getRSSI(x,y), 4) with pm3d notitle;
# plot 4
set output "wifi4.png"
#set arrow 81 from 15,w2 to 30,w2 front nohead lw 4
#set arrow 82 from 0,w1 to 30,w1 front nohead lw 4
set object 82 rectangle center apx,w1 size 30,wh front fillstyle solid fc rgb "#ffffff"
set object 83 rectangle center apx,w1 size 30,wh front fillstyle pattern 4 fc rgb "#000000"
splot prob(-70, getRSSI2(x,y), 4) with pm3d notitle;

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107
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\documentclass[fleqn]{beamer}
%\usetheme{Warsaw}
%\usetheme{Montpellier}
%\usetheme{CambridgeUS}
%\usetheme{Singapore}
%\usetheme{m}
\usetheme[everytitleformat=regular]{m}
% Costumizing the m-theme here
\setbeamertemplate{footline}[text line]{%
\parbox{\linewidth}{
\vspace*{-35pt}\insertpagenumber
\hfill\inserttitle
\hspace*{-30pt}
\hfill\includegraphics[width=0.20\textwidth]{gfx/logo_orange}
\hspace*{-30pt}
}
}
\definecolor{mWhite}{HTML}{FFFFFF}
\definecolor{mOrange}{HTML}{e84e25}
\setbeamercolor{frametitle}{%
use=mWhite,
fg=mWhite,
bg=mOrange
}
\setbeamercolor{alerted text}{%
fg=mOrange
}
% End Costumizing
\usepackage[utf8]{inputenc}
\usepackage{mathptmx}
%\usepackage[scaled=0.9]{helvet}
%\usepackage{courier}
% font
\usepackage{lmodern}
%video
%\usepackage{multimedia}
%\usepackage[3D]{movie15}
\usepackage{media9}
%\usepackage{wrapfig}
\usepackage{graphicx}
\usepackage{caption}
\usepackage{subcaption}
\usepackage{amsmath}
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\newcommand{\mat}[1]{\boldsymbol{#1}}
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\newcommand{\SI}[2]{\ensuremath{#1}\text{\,#2}}
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\newcommand{\cm}{cm}
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\newcommand{\milli}{m}
\newcommand{\second}{s}
\newcommand{\giga}{G}
\newcommand{\hertz}{Hz}
\newcommand{\dBm}{dBm}
\newcommand{\percent}{\%}
\newcommand{\decibel}{dB}
\newcommand{\dB}{dB}
\newcommand{\degree}{\ensuremath{^{\circ}}}
\newcommand{\R}{\mathbb{R}}
\newcommand{\N}{\mathbb{N}}
\newcommand{\NDist}{\mathcal{N}}
\newcommand{\UDist}{\mathcal{U}}
\newcommand{\qTurn}{\theta}
\newcommand{\qBaro}{\hat\rho_{\text{rel}}}
\newcommand{\oWifi}{s_{\text{wifi}}}
\newcommand{\oBeacons}{s_{\text{beacons}}}
\newcommand{\oStep}{n_\text{step}}
\newcommand{\oTurn}{\Delta\theta}
\newcommand{\oBaro}{\rho_{\text{rel}}}
\newcommand{\ispace}{\vspace{2mm}}
\newcommand{\vecB}[2]{\begin{pmatrix} #1\\ #2 \end{pmatrix}}
\newcommand{\matD}[4]{\begin{bmatrix} #1 & #2 \\ #3 & #4 \end{bmatrix}}
\title{On Prior Navigation Knowledge in Multi Sensor Indoor Localisation}
%\author{F. Ebner, T. Fetzer, F. Deinzer, L. Köping, M. Grzegorzek}
\author{F. Ebner$^\star$, T. Fetzer$^\star$, F. Deinzer$^\star$, L. Köping$^\dagger$, M. Grzegorzek$^\dagger$}
\date{\today}
\institute{ $^\star$ University of Applied Sciences W\"urzburg - Schweinfurt \\
$^\dagger$ University of Siegen - Pattern Recognition Group}
\begin{document}
\maketitle
%\frame{\tableofcontents[currentsection]}
\frame{\tableofcontents}
\section{Overview}
\begin{frame}
\begin{tabular}{lcr}
% icons: https://thenounproject.com/search/?q=graph
\includegraphics[width = 0.12\textwidth]{icons/wifi1.eps} \enskip \includegraphics[width = 0.09\textwidth]{icons/ibeacon1.eps} &
&
\includegraphics[width = 0.14\textwidth]{icons/accel1.eps} \enskip \includegraphics[width = 0.12\textwidth]{icons/gyro1.eps} \\
\small{absolute positioning $(x,y,z)$} & & \small{relative positioning $(x,y)$} \\
\small{\textit{Wi-Fi, iBeacons}} & & \small{\textit{accelerometer, gyroscope}} \\
\\
~\hspace{4.5cm}~ & & ~\hspace{4.5cm}~\\
\\
\includegraphics[width = 0.12\textwidth]{icons/baro1.eps} &
&
\includegraphics[width = 0.12\textwidth]{icons/graph1.eps} \enskip \includegraphics[width = 0.12\textwidth]{icons/route1.eps} \\
\small{relative positioning $(z)$} & & \small{motion prediction $(x,y,z)$} \\
\small{\textit{barometer}} & & \small{\textit{graph, routing}}
\end{tabular}
\end{frame}
\section{System}
\subsection{Recursive Density Estimation}
\begin{frame}
\frametitle{Recursive Density Estimation}
\begin{itemize}
\item<1-> Current State\\
$\vec{q} = (x,y,z, \qTurn, \qBaro)^T, \enskip{}
\overbrace{x,y,z \in \R}^{\text{position}}, \enskip
\overbrace{\qTurn \in \R}^{\text{heading}},\enskip{}
\overbrace{\qBaro \in \R}^{\text{rel. pressure}}
$ \\
$\vec{q_0} = $ uniformly distributed
\ispace
\item<2-> Observation\\
$\vec{o} = (\vec{\oWifi}, \vec{\oBeacons}, \oStep, \oTurn, \oBaro)$
\ispace
\item<3-> \small$
\underbrace{ p(\vec{q_t}\mid \vec{o}_{1:t})}_{\text{estimation}}
\propto %
\underbrace{ p(\vec{o_t} \mid \vec{q_t}) }_{\text{evaluation}}%
\int
\underbrace{ p(\vec{q_t} \mid \vec{q_{t-1}}, \vec{o_{t-1}}) }_{\text{transition}}%
\underbrace{ p(\vec{q_{t-1}} \mid \vec{o}_{1:t-1})}_{\text{recursion}}%
d\vec{q}_{t-1}%
$
\end{itemize}
\end{frame}
\subsection{Observation}
\begin{frame}
\frametitle{Observation}
\begin{itemize}
\item<1-> a location's probability based on the current sensor readings
\begin{equation*}
\begin{split}
p(\vec{o}_t \mid \vec{q}_t) =&\\
&p(\vec{o}_t \mid \vec{q}_t)_{\text{wifi}} \\
&p(\vec{o}_t \mid \vec{q}_t)_{\text{beacons}} \\
&p(\vec{o}_t \mid \vec{q}_t)_{\text{baro}} \\
\end{split}
\end{equation*}
\ispace
\item<1-> assuming statistical independence
\item<1-> \textit{step- and turn detection are used within the transition}
\end{itemize}
\end{frame}
%\begin{frame}
% \frametitle{Observation - Wi-Fi/iBeacons}
% \begin{itemize}
% \item<1-> 2D signal strength prediction\\
% $
% P_r(d) =
% \underbrace{P_0}_{\text{reference}}\enskip
% \underbrace{- 10 \gamma \cdot \log_{10}(\tfrac{d}{d_0})}_{\text{attenuation per meter}}\enskip
% \underbrace{+ X}_{\text{noise}}
% ,\enskip\enskip
% X \sim \NDist(0,\sigma^2_{\text{wifi}})
% $
% \ispace
% \item<2-> 3D signal strength prediction\\
% $
% P_r'(d,\Delta f) = P_r(d) + \Delta f \lambda,\enskip
% \underbrace{\Delta f \in \N}_{\text{number of floors}}
% ,\enskip
% \underbrace{\lambda \approx -8}_{\text{attenuation per floor}}
% $
% \ispace
% \item<3->
% $p(\vec{o}_t \mid \vec{q}_t)_\text{wifi}=$
% $p(\vec{\oWifi} \mid \vec{q}_t) = \prod_{\oWifi} \NDist(s_i \mid P_r'(d_i, \Delta f_i), \sigma_{\text{wifi}}^2)$,\\
% \vspace{3mm}
% $\sigma_{\text{wifi}}$ also depends on the measurement's age\\
% $\Delta f_i = $floors between location and sender\\
% $d_i = \| \underbrace{(\varrho_i^x, \varrho_i^y, \varrho_i^z\cdot h)^T}_{\text{sender's position}} - (q_t^x, q_t^y, q_t^z)^T \|$,\\
% \item<1-> FAST ETWAS ZU VOLL? GRAFIK?
% \end{itemize}
%\end{frame}
\begin{frame}
\frametitle{Observation - Wi-Fi/iBeacons}
\begin{itemize}
\item<1->
$p(\vec{o}_t \mid \vec{q}_t)_\text{wifi}=$
$p(\vec{\oWifi} \mid \vec{q}_t) = \prod_{\oWifi} \NDist(s_i \mid P_r(d_i, \Delta f_i), \sigma_{\text{wifi}}^2)$,\\
\ispace
\item<2-> 3D signal strength prediction\\\ispace
$
P_r(d,\Delta f) =
\underbrace{P_0}_{\text{reference}}\enskip
\underbrace{- 10 \gamma \cdot \log_{10}(\tfrac{d}{d_0})}_{\text{attenuation per meter}}\enskip
\underbrace{+ \Delta f \lambda}_\text{floor attenuation}
\underbrace{+ X}_{\text{ noise }}
$
%\\\ispace$
% X \sim \NDist(0,\sigma^2_{\text{wifi}}),\enskip
% \underbrace{\Delta f \in \N}_{\text{number of floors}},\enskip
% \underbrace{\lambda \approx -8}_{\text{attenuation per floor}}
%$
%\ispace
\only<3>{ \includegraphics[width = 0.4\textwidth]{gfx/wifi1.png} }%
\only<4->{ \includegraphics[width = 0.4\textwidth]{gfx/wifi2.png} }%
\only<5>{ \includegraphics[width = 0.4\textwidth]{gfx/wifi3.png} }%
\only<6->{ \includegraphics[width = 0.4\textwidth]{gfx/wifi4.png} }%
\end{itemize}
\end{frame}
\begin{frame}
\frametitle{Observation - Barometer}
\begin{itemize}
\item<1-> $p(\vec{o}_t \mid \vec{q}_t)_{\text{baro}} = $
$\NDist(o_t^{\oBaro} \mid q_t^{\qBaro}, \sigma_{\text{baro}}^2)$
\ispace
\item<2-> each transition performs a relative pressure prediction:\\
\ispace
$q_t^{\qBaro} = q_{t-1}^{\qBaro} + \Delta z \cdot b$, \enskip
$\underbrace{\Delta z = q_{t-1}^z - q_{t}^z}_{\text{height change}}$, \enskip
$\underbrace{b \in \R}_{\text{pressure change / meter}}$\\
%
\vspace{5mm}
\begin{figure}
\centering
\includegraphics[width = 0.4\textwidth]{gfx/baroChange}
\end{figure}
\end{itemize}
\end{frame}
%\begin{frame}
% \frametitle{Observation - Step/Turn}
% \begin{itemize}
% \item<1-> $
% p(\vec{o}_t \mid \vec{q}_t, \vec{q}_{t-1})_{\text{step}} =
% \begin{cases}
% \NDist(d_{\text{obs}} \mid d_{s}, \sigma_{s}^2) & \quad \text{step}\\
% \NDist(d_{\text{obs}} \mid d_{ns}, \sigma_{ns}^2) & \quad \text{no step}
% \end{cases}
% $,\\
% \ispace
% $ d_{\text{obs}} = \| (q_{t-1}^x, q_{t-1}^y)^T - (q_t^x, q_t^y)^T \| $
% \ispace
% \item<2-> $
% p(\vec{o}_t \mid \vec{q}_t, \vec{q}_{t-1})_{\text{turn}} =
% f_{\text{mises}}(\Delta \alpha \mid \Delta \alpha_t, \kappa),
% $\\
% \ispace
% $
% \Delta \alpha = \angle \vec{q}_{t} - \angle \vec{q}_{t-1}, \enskip
% \Delta \alpha_t = \text{gyroscope}
% $
% \end{itemize}
%\end{frame}
\subsection{Transition}
\begin{frame}
\frametitle{Transition - Floorplan}
\only<1>{%
1) start with the building's floorplan\\%
\includegraphics[width = 1.0\textwidth]{gfx/step1}%
}%
\only<2>{%
2) divide into cells and remove those intersecting with walls\\%
\includegraphics[width = 1.0\textwidth]{gfx/step2}%
}%
\only<3>{%
3) add edges to all (available) adjacent cells\\%
\includegraphics[width = 1.0\textwidth]{gfx/step3}%
}%
\only<4>{%
4) add stairs and remove unreachable cells\\%
\includegraphics[width = 1.0\textwidth]{gfx/step4}%
}%
\end{frame}
\newcommand{\leHeading}{\theta_{\text{walk}}}
%\newcommand{\leDistance}{d_{\text{walk}}}
\newcommand{\leDistance}{d}
\begin{frame}
\frametitle{Transition - Random Walk}
\begin{minipage}{0.49\textwidth}
$p(\vec{q}_t \mid \vec{q}_{t-1})$:
\begin{enumerate}
\item get node $\vec{q}_{t-1}$ belongs to
\item draw distance $\leDistance$ to walk%\\ \textit{depends on the number of detected steps}
\item repeat until $\leDistance$ is reached
\begin{enumerate}
\item draw edge $e_{i,j}$ according to its probability $p(e_{i,j})$
\item walk along the edge
\item $\leDistance = \leDistance - \|e_{i,j}\|$
\end{enumerate}
\end{enumerate}
\end{minipage}
\begin{minipage}{0.49\textwidth}
\begin{figure}
\includegraphics[width = 1.0\textwidth]{gfx/walk}
\end{figure}
\end{minipage}
\end{frame}
\begin{frame}
\frametitle{Transition - Random Walk}
\begin{itemize}
%\item<1-> each transition $p(\vec{q}_t \mid \vec{q}_{t-1}, \vec{o}_{t-1})$ from $\vec{q}_{t-1}$ to $\vec{q}_t$ is
% \begin{itemize}
% \item a random walk along several edges
% \item uses constraints to describe pedestrian's walking behaviour
% \item depends on recent sensor readings (distance to walk, heading)
% \item uses prior knowledge of the pedestrian's desired destination
% \end{itemize}
% \ispace
\item<1-> distance to walk\\
\ispace
$%
\leDistance =
\underbrace{{o}_{t-1}^{\oStep}}_\text{steps detected} \cdot
\underbrace{s_\text{step}}_\text{step size} +
\underbrace{\mathcal{N}(0, \sigma^2_{\leDistance})}_\text{uncertainty}
$\newline\newline
\item<2-> pedestrian's heading\\
\ispace
$p(e_{i,j})_\text{turn} = p(e_{i,j} \mid \leHeading) = \NDist(\angle e_{i,j} \mid \leHeading, \sigma^2_{\text{dev}} )$\\
\ispace
$%
\underbrace{\leHeading = {q}_{t}^{\qTurn}}_\text{current heading} =
\underbrace{{q}_{t-1}^{\qTurn}}_\text{previous heading} +
\underbrace{{o}_{t-1}^{\oTurn}}_\text{sensor readings} +
\underbrace{\mathcal{N}(0, \sigma^2_{\leHeading})}_\text{uncertainty}
$\\
\end{itemize}
\end{frame}
\newcommand{\dist}[2]{\text{d}(#1, #2)}
\newcommand{\dest}{v_\text{dest}}
\begin{frame}
\frametitle{Transition - Prior Knowledge}
\begin{itemize}
\item<1->
pedestrian's destination is known beforehand
\item<2->
use this prior knowledge to enhance the movement prediction
\begin{itemize}
\item calculate the shortest path from the desired destination to all other vertices using Dijkstra's algorithm
\item favour nodes approaching the destination over others
\ispace
\item
$%
p(e_{i,j})_\text{path} = p(v_j \mid v_i) =
\begin{cases}
\kappa & \dist{v_j}{\dest} < \dist{v_i}{\dest}\\
(1-\kappa) & \text{else}
\end{cases}
$
\end{itemize}
\item<3-> however: calculated path is very unrealistic and sticks to walls
\end{itemize}
\end{frame}
\begin{frame}
\frametitle{Transition - Shortest Path}
\only<1>{%
1) using shortest path as-is, produces unlikely-to-walk paths
\includegraphics[width = 1.0\textwidth]{gfx/path1}%
}%
\only<2>{%
2) determine likelyhood for a vertex to be visited by the pedestrian
\includegraphics[width = 1.0\textwidth]{gfx/step5}%
}%
\only<3>{%
3) use this likelyhood to adjust Dijkstra's weighting function $\delta(e_{i,h})$
\includegraphics[width = 1.0\textwidth]{gfx/path2}%
}%
\end{frame}
\section{Experiments}
%\frame{\tableofcontents[currentsection]}
%\begin{frame}
% \frametitle{WiFi \& simple transition}
% $\overline{e} = \SI{730}{\cm},\enskip\sigma = \SI{395}{\cm}$
% \vspace{-13mm}
% \begin{figure}
% \centering{}
% \includegraphics[width = 1.0\textwidth]{gfx2/paths/path2_wifi_only_simple_trans}
% \end{figure}
%\end{frame}
\begin{frame}
%\movie[start=6s, width=11cm,height=6cm, poster]{}{yy.gif}
%\includemovie[autoplay, poster]{4cm}{3cm}{yy.gif}
%\includemedia[width=5cm,height=4cm]{}{/tmp/mgl/out.mpg}
%\newcommand\Wider[2][3em]{%
% \makebox[\linewidth][c]{%
% \begin{minipage}{\dimexpr\textwidth+#1\relax}
% \raggedright#2
% \end{minipage}%
% }%
%}
\vspace{-5mm}
\makebox[\linewidth][c]{
\begin{minipage}{\dimexpr\textwidth+5em\relax}
\raggedright
\includemedia[
activate=pageopen,%
width=\textwidth, height=8.0cm,%
addresource=exp.flv,%
flashvars={%
source=exp.flv%
&scalemode=letterbox%
}
]{}{VPlayer.swf}
\end{minipage}
}
%\includemedia[
% width=0.6\linewidth,%
% height=0.3375\linewidth,%
% activate=pageopen,%
% addresource=nyan.flv,
% flashvars={}%
%]{}{nyan.flv}
\end{frame}
\end{document}

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SET PATH=%PATH%;D:\texlive\bin\win32
del main.toc
del main.snm
del main.aux
del main.dvi
del main.log
del main.nav
del main.out
pdflatex main.tex
del main.toc
del main.snm
del main.aux
del main.dvi
del main.log
del main.nav
del main.out
pause

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#!/bin/bash
# latex binaries
PATH=$PATH:/mnt/usb/latex/bin/x86_64-linux/
pdflatex main.tex
evince main.pdf

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@@ -78,7 +78,7 @@
\caption{Error development while walking along Path 4 using the Nexus 6. \caption{Error development while walking along Path 4 using the Nexus 6.
When leaving the suggested route in \refSeg{3}, the error of \textbf{shortest} path \refeq{eq:transShortestPath} When leaving the suggested route in \refSeg{3}, the error of \textbf{shortest} path \refeq{eq:transShortestPath}
and \textbf{multi}path \refeq{eq:transMultiPath} increases. and \textbf{multi}path \refeq{eq:transMultiPath} increases.
The same issues arise when facing multimodalities between two staircases just before the destination \refSeg{9}.} The same issues arise when facing multimodalities between two staircases in \refSeg{9}, just before the destination.}
\label{fig:errorTimedNexus} \label{fig:errorTimedNexus}
\end{figure} \end{figure}
% detailed analysis of path 4 % detailed analysis of path 4
@@ -143,7 +143,7 @@ as seen in fig. \ref{fig:nexusPathDetails} \refSeg{6}.
% overall error-distribution for nexus and galaxy % overall error-distribution for nexus and galaxy
\begin{figure} \begin{figure}
\input{gfx/eval/error_dist_nexus} \input{gfx/eval/error_dist_nexus}
\caption{Error distribution of all walks conducted with the Motorola Nexus 6 for distinct percentile values. \caption{Cumulative error distribution of all walks conducted with the \mbox{Nexus 6} for distinct percentile values.
Both, \textbf{shortest} path \refeq{eq:transShortestPath} and \textbf{multi}path Both, \textbf{shortest} path \refeq{eq:transShortestPath} and \textbf{multi}path
\refeq{eq:transMultiPath} clearly provide an enhancement compared to the reference \refeq{eq:transSimple}.} \refeq{eq:transMultiPath} clearly provide an enhancement compared to the reference \refeq{eq:transSimple}.}
%\commentByFrank{percentile erwaehnt} %\commentByFrank{percentile erwaehnt}

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@@ -164,7 +164,7 @@
% %
\begin{figure} \begin{figure}
\includegraphics[width=\columnwidth]{door_pca} \includegraphics[width=\columnwidth]{door_pca}
\caption{Detect doors within the floorplan using $k$-NN to get the centroid $\vec{c}$ and covariance $\mat{\Sigma}$ \caption{Detecting doors within the floorplan using $k$-NN to get the centroid $\vec{c}$ and covariance $\mat{\Sigma}$
of the wall-vertices (black) near $\mVertexA$. While the left version is fine, the $\mVertexA$ in the middle is too far of the wall-vertices (black) near $\mVertexA$. While the left version is fine, the $\mVertexA$ in the middle is too far
from $\vec{c}$ and the right one has an invalid eigenvalue-ratio.} from $\vec{c}$ and the right one has an invalid eigenvalue-ratio.}
\label{fig:doorPCA} \label{fig:doorPCA}