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This commit is contained in:
FrankE
2017-05-10 21:38:53 +02:00
parent 7dece06f8a
commit 3451e96444
3 changed files with 143 additions and 47 deletions
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165
main.cpp
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@@ -1068,28 +1068,51 @@ void compareAll() {
p2.settings.maxZ = 4.1;
p2.buildFloorplan();
K::GnuplotSplotElementLines line1; p.splot.add(&line1); line1.setTitle("\\noOptEmpiric{}"); line1.getStroke().getColor().setHexStr("#ff0000"); line1.getStroke().setType(K::GnuplotDashtype::DOTTED); line1.getStroke().setWidth(2);
K::GnuplotSplotElementLines line1b; p.splot.add(&line1b); line1b.getStroke().getColor().setHexStr("#ff0000"); line1b.getStroke().setWidth(5);
const float s = 2.0;
K::GnuplotSplotElementLines lineGT; lineGT.getStroke().setWidth(16); lineGT.getStroke().getColor().setHexStr("#999999");
K::GnuplotSplotElementLines line2; p.splot.add(&line2); line2.setTitle("\\optPerFloor{}"); line2.getStroke().getColor().setHexStr("#0000ff"); line2.getStroke().setType(K::GnuplotDashtype::DASHED); line2.getStroke().setWidth(2);
K::GnuplotSplotElementLines line2b; p.splot.add(&line2b); line2b.getStroke().getColor().setHexStr("#0000ff"); line2b.getStroke().setWidth(5);
K::GnuplotSplotElementLines line1; line1.setTitle("\\noOptEmpiric{}"); line1.getStroke().getColor().setHexStr("#ff0000"); line1.getStroke().setType(K::GnuplotDashtype::DOTTED); line1.getStroke().setWidth(2*s);
K::GnuplotSplotElementLines line1b; line1b.getStroke().getColor().setHexStr("#ff0000"); line1b.getStroke().setWidth(5*s);
K::GnuplotSplotElementLines line3; p.splot.add(&line3); line3.setTitle("PF + \\optPerFloor{}"); line3.getStroke().getColor().setHexStr("#00dd00"); line3.getStroke().setWidth(2);
K::GnuplotSplotElementLines line3b; p.splot.add(&line3b); line3b.getStroke().getColor().setHexStr("#00dd00"); line3b.getStroke().setWidth(6);
K::GnuplotSplotElementLines line2; line2.setTitle("\\optPerFloor{}"); line2.getStroke().getColor().setHexStr("#0000ff"); line2.getStroke().setType(K::GnuplotDashtype::DASHED); line2.getStroke().setWidth(2*s);
K::GnuplotSplotElementLines line2b; p.splot.add(&line2b); line2b.getStroke().getColor().setHexStr("#0000ff"); line2b.getStroke().setWidth(5*s);
K::GnuplotSplotElementLines line4; line4.setTitle("PF + \\noOptEmpiric{}");
K::GnuplotSplotElementLines line4b; line4b.getStroke().setWidth(4);
K::GnuplotSplotElementLines line3; line3.setTitle("PF + \\optPerFloor{}"); line3.getStroke().getColor().setHexStr("#00cc00"); line3.getStroke().setWidth(2*s);
K::GnuplotSplotElementLines line3b; line3b.getStroke().getColor().setHexStr("#00cc00"); line3b.getStroke().setWidth(8*s);
K::GnuplotSplotElementLines line4; line4.getStroke().setWidth(1.5*s); line4.setTitle("PF + \\noOptEmpiric{}");
K::GnuplotSplotElementLines line4b; line4b.getStroke().setWidth(1.5*s);
p2.splot.add(&line4); // the failing path
p2.splot.add(&line4b); // the failing path
p.splot.add(&lineGT);
p2.splot.add(&lineGT);
p.splot.add(&line2);
p.splot.add(&line2b);
p.splot.add(&line1);
p.splot.add(&line1b);
p.splot.add(&line3);
p.splot.add(&line3b);
p.splot.add(&line4);
p.splot.add(&line4b);
//p2.splot.add(&line4); // the failing path
//p2.splot.add(&line4b); // the failing path
//p2.splot.add(&line1);
//p2.splot.add(&line1b);
//p2.splot.add(&line2);
//p2.splot.add(&line2b);
//p2.splot.add(&line3);
//p2.splot.add(&line3b);
p2.splot.add(&line1);
p2.splot.add(&line1b);
p2.splot.add(&line2);
p2.splot.add(&line2b);
p2.splot.add(&line3);
p2.splot.add(&line3b);
// ERROR OVER TIME
@@ -1101,6 +1124,7 @@ void compareAll() {
pet.setColor(0, "#ff0000");
pet.setLabel(0, "\\noOptEmpiric{}");
pet.getStroke(0).setType(K::GnuplotDashtype::DOTTED);
pet.setWidth(0, 3);
// OPT_PER_FLOOR
MovingAVG<float> avga2(12);
@@ -1108,12 +1132,14 @@ void compareAll() {
pet.setColor(1, "#0000ff");
pet.setLabel(1, "\\optPerFloor{}");
pet.getStroke(1).setType(K::GnuplotDashtype::DASHED);
pet.setWidth(1, 3);
// PARTICLE FILTER
MovingAVG<float> avga3(3);
for (const WalkResult::Entry& e : res3.entries) {avga3.add(e.err); pet.addErr(e.ts, avga3.get(), 2); ms += 500;}
pet.setColor(2, "#00dd00");
pet.setLabel(2, "PF + \\optPerFloor{}");
pet.setWidth(2, 3);
auto isOutdoor = [] (const Timestamp ts) {
return ts.sec() > 95 && ts.sec() < 119;
@@ -1169,22 +1195,26 @@ void compareAll() {
if (isOutdoor(e.ts)) {line3b.add(gp3);}
}
const Walk gtPoints = FloorplanHelper::getGroundTruth(map, Settings::GroundTruth::path1);
for (const Point3 pt : gtPoints) {
const K::GnuplotPoint3 gp3(pt.x, pt.y, pt.z);
lineGT.add(gp3);
}
// failing walk
const Point3 failOffset(0, 1, 0); // offset. visibility
for (const WalkResult::Entry& e : res4.entries) {
const Point3 pt = e.estimation;
const K::GnuplotPoint3 gp3(pt.x, pt.y, pt.z);
line4.add(gp3);
const K::GnuplotPoint3 offset(failOffset.x, failOffset.y, failOffset.z);
line4.add(gp3 + offset);
if (isOutdoor(e.ts)) {line4b.add(gp3);}
}
p.addStartIndicator(res1.entries[0].estimation, "#ff0000");
p.addStartIndicator(res2.entries[0].estimation, "#0000ff");
p.addStartIndicator(res3.entries[0].estimation, "#00cc00");
p.addStartIndicator(res1.entries[0].estimation, "#ff0000", 1.25);
p.addStartIndicator(res2.entries[0].estimation, "#0000ff", 1.25);
p.addStartIndicator(res3.entries[0].estimation, "#00cc00", 1.25);
p2.addStartIndicator(res1.entries[0].estimation, "#ff0000");
p2.addStartIndicator(res2.entries[0].estimation, "#0000ff");
p2.addStartIndicator(res3.entries[0].estimation, "#00cc00");
p2.addStartIndicator(res4.entries[0].estimation, "#000000");
p.splot.getCustom() << "set view equal xy\n";
p.splot.getCustom() << "unset border\n";
@@ -1194,18 +1224,26 @@ void compareAll() {
p.splot.getAxisZ().setTicsVisible(false);
p.splot.getAxisZ().setRange(K::GnuplotAxis::Range(-8, 19.5));
p.splot.getView().setCamera(74,30);
p.splot.getView().setScaleAll(3.9);
p.splot.getKey().setVisible(true);
p.splot.getKey().setSampleLength(0.5);
p.splot.getKey().setSampleLength(1.0);
p.splot.getKey().setWidthIncrement(4.5);
p.splot.setStringMod(new K::GnuplotStringModLaTeX());
p.splot.getKey().setOpaque(true);
//p.splot.getKey().setPosition(K::GnuplotCoordinate2(0.2, 1.0, K::GnuplotCoordinateSystem::SCREEN));
p.splot.getKey().setPosition(K::GnuplotCoordinate2(1.0, 1.0, K::GnuplotCoordinateSystem::SCREEN));
p.gp.setTerminal("epslatex", K::GnuplotSize(8.3, 4.8));
//p.splot.getView().setScaleAll(3.9);
//p.gp.setTerminal("epslatex", K::GnuplotSize(8.3, 4.8));
//p.gp.writePlotToFile(Settings::fPathGFX + "final3D.gp");
//p.gp.setOutput(Settings::fPathGFX + "final3D.tex");
p.splot.getView().setScaleAll(3.3);
p.gp.setTerminal("epslatex", K::GnuplotSize(8.3*1.75, 4.8*1.75));
p.gp.writePlotToFile(Settings::fPathGFX + "final3D.gp");
p.gp.setOutput(Settings::fPathGFX + "final3D.tex");
p.plot();
p2.splot.getCustom() << "set view equal xy\n";
@@ -1222,23 +1260,68 @@ void compareAll() {
p2.splot.getKey().setWidthIncrement(4.5);
p2.splot.setStringMod(new K::GnuplotStringModLaTeX());
// only list the additional line within the key
line1.setTitle("");
line2.setTitle("");
line3.setTitle("");
//line1.setTitle("");
//line2.setTitle("");
//line3.setTitle("");
p2.splot.getKey().setVisible(true);
p2.splot.getKey().setPosition(K::GnuplotCoordinate2(0.53, 1.0, K::GnuplotCoordinateSystem::SCREEN));
//p2.splot.getKey().setPosition(K::GnuplotCoordinate2(0.71, 0.35, K::GnuplotCoordinateSystem::SCREEN));
//p2.splot.getKey().setPosition(K::GnuplotCoordinate2(0.53, 1.0, K::GnuplotCoordinateSystem::SCREEN));
p2.splot.getKey().setPosition(K::GnuplotCoordinate2(0.71, 0.45, K::GnuplotCoordinateSystem::SCREEN));
p2.splot.getView().setCamera(0,0);
p2.splot.getView().setScaleAll(4.0);
p2.gp.setTerminal("epslatex", K::GnuplotSize(8.3, 4.8));
p2.gp.writePlotToFile(Settings::fPathGFX + "final2D.gp");
p2.gp.setOutput(Settings::fPathGFX + "final2D.tex");
p2.setScale(1,1, 0.02, -0.04);
p2.splot.getView().setScaleAll(4.2);
//p2.gp.setTerminal("epslatex", K::GnuplotSize(8.3, 4.8));
//p2.setScale(1,1, 0.02, -0.04);
K::GnuplotObjectPolygon* ps1 = p2.addStartIndicator(res1.entries[0].estimation, "#ff0000", 1.25);
K::GnuplotObjectPolygon* ps2 = p2.addStartIndicator(res2.entries[0].estimation, "#0000ff", 1.25);
K::GnuplotObjectPolygon* ps3 = p2.addStartIndicator(res3.entries[0].estimation, "#00aa00", 1.25);
K::GnuplotObjectPolygon* ps4 = p2.addStartIndicator(res4.entries[0].estimation+failOffset, "#000000", 1.25);
ps1->setEnabled(true);
ps2->setEnabled(true);
ps3->setEnabled(false);
ps4->setEnabled(false);
p2.splot.add(&line2);
p2.splot.add(&line2b);
p2.splot.add(&line1);
p2.splot.add(&line1b);
p2.splot.getKey().setWidthIncrement(6.0);
p2.splot.getKey().setPosition(K::GnuplotCoordinate2(0.55, 0.48, K::GnuplotCoordinateSystem::SCREEN));
p2.gp.setTerminal("epslatex", K::GnuplotSize(8.0, 4.7));
p2.gp.writePlotToFile(Settings::fPathGFX + "final2D-a.gp");
p2.gp.setOutput(Settings::fPathGFX + "final2D-a.tex");
p2.plot();
ps1->setEnabled(false);
ps2->setEnabled(false);
ps3->setEnabled(true);
ps4->setEnabled(true);
p2.splot.remove(&line1);
p2.splot.remove(&line1b);
p2.splot.remove(&line2);
p2.splot.remove(&line2b);
p2.splot.add(&line3);
p2.splot.add(&line3b);
p2.splot.add(&line4);
p2.splot.add(&line4b);
p2.splot.getKey().setWidthIncrement(4.5);
p2.splot.getKey().setPosition(K::GnuplotCoordinate2(0.78, 0.48, K::GnuplotCoordinateSystem::SCREEN));
p2.gp.setTerminal("epslatex", K::GnuplotSize(8.0, 4.7));
p2.gp.writePlotToFile(Settings::fPathGFX + "final2D-b.gp");
p2.gp.setOutput(Settings::fPathGFX + "final2D-b.tex");
p2.plot();
// bigger
//p2.splot.getKey().setPosition(K::GnuplotCoordinate2(0.25, 1.0, K::GnuplotCoordinateSystem::SCREEN));
//p2.splot.getView().setScaleAll(3.5);
//p2.gp.setTerminal("epslatex", K::GnuplotSize(8.3*1.75, 4.8*1.75));
//p2.setScale(1,1, 0.01, -0.02);
int i = 0;
(void) i;
@@ -1256,9 +1339,9 @@ int main(void) {
//plotAllWalks(map);
//compareAll();
compareAll();
//return 0;
return 0;
//testWAF();
//sleep(1);
@@ -1455,7 +1538,7 @@ int main(void) {
// wifi vs ground-truth distance error
if (1 == 1) {
if (1 == 0) {
std::vector<std::string> files = {
Settings::path1a, Settings::path1b,

3
plots/Plotty.h
View File

@@ -342,13 +342,12 @@ public:
splot.getObjects().add(poly);
}
K::GnuplotObjectPolygon* addStartIndicator(const Point3 pt, const std::string& color) {
K::GnuplotObjectPolygon* addStartIndicator(const Point3 pt, const std::string& color, const float s = 2) {
// for (const Point3 p : points) {
// if (p.z < settings.minZ) {return nullptr;}
// if (p.z > settings.maxZ) {return nullptr;}
// }
const float s = 2.0;
K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon();
poly->setFill(K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr(color)));
poly->setStroke(K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromRGB(0,0,0)));

22
tex/chapters/experiments.tex
View File

@@ -705,13 +705,26 @@
building prevents the density from entering, due to a very high difference between model and real-world conditions.
\begin{figure}
\begin{subfigure}{0.49\textwidth}
%\begin{subfigure}{0.49\textwidth}
% \centering
% \input{gfx/final3D.tex}
%\end{subfigure}
%\begin{subfigure}{0.49\textwidth}
% \centering
% \input{gfx/final2D.tex}
%\end{subfigure}
\begin{subfigure}{0.99\textwidth}
\centering
\input{gfx/final3D.tex}
\end{subfigure}
\begin{subfigure}{0.49\textwidth}
\\\vspace{4mm}
\begin{subfigure}{0.48\textwidth}
\centering
\input{gfx/final2D.tex}
\input{gfx/final2D-a.tex}
\end{subfigure}
\begin{subfigure}{0.48\textwidth}
\centering
\input{gfx/final2D-b.tex}
\end{subfigure}
\\
\begin{subfigure}{0.99\textwidth}
@@ -723,7 +736,8 @@
is increased (bold line). A particle filter (PF, \refeq{eq:recursiveDensity}) on top of the optimized model
takes \SI{5}{\second} to initialize the starting-position (rectangles), fixes the outdoor-issue and
improves indoor situations. A filter on top of {\em \noOptEmpiric{}} got stuck right before
entering the 2nd building.
entering the 2nd building. Both, the filtered and unfiltered version of {\em \noOptEmpiric{}}
are dragged into the 2nd floor in the middle of the walk.
}
\label{fig:final}
\end{figure}