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added path 2 for eval instead path 3

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toni
2016-05-09 15:04:37 +02:00
parent 89f764e22f
commit 5a3677e139
42 changed files with 18072 additions and 13 deletions
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2
code/CMakeLists.txt.user
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 3.6.0, 2016-05-06T02:46:46. --> <!-- Written by QtCreator 3.6.0, 2016-05-09T01:57:30. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>

6
code/Settings.h
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@@ -17,11 +17,11 @@ namespace MiscSettings {
const int timeSteps = 500; const int timeSteps = 500;
const int numParticles = 500; const int numParticles = 2500;
const int numBSParticles = 100; const int numBSParticles = 500;
const int lag = 5; const int lag = 30;
const int fixedLagGap = 1; const int fixedLagGap = 1;

4
code/eval/SmoothingEval1.h
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@@ -46,7 +46,7 @@ public:
//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) ); //pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
// state estimation step // state estimation step
pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>())); pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>())); //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))); //pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
@@ -57,7 +57,7 @@ public:
bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>())); bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
bool smoothing_resample = false; bool smoothing_resample = false;
//bf->setNEffThreshold(1.0);
//Smoothing using Simple Trans //Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>())); bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));

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tex/bare_conf.dvi
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2
tex/bare_conf.tex
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@@ -120,7 +120,7 @@
% gfx include folder % gfx include folder
\graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/},{gfx/activity/},{gfx/eval/interval_path4_comp/},{gfx/eval/interval_path3_bad/},{gfx/particles/}, {gfx/eval/lag_path4_error/}, {gfx/eval/interval_path3_good/}} \graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/},{gfx/activity/},{gfx/eval/interval_path4_comp/},{gfx/eval/interval_path3_bad/},{gfx/particles/}, {gfx/eval/lag_path4_error/}, {gfx/eval/interval_path3_good/}, {gfx/eval/interval_path2_good/}, {gfx/eval/interval_path2_bad/}}
% correct bad hyphenation here % correct bad hyphenation here

21
tex/chapters/experiments.tex
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@@ -88,9 +88,15 @@ We deployed 10 MC runs using \SI{2500}{} particles for approximation and a multi
Now, the positional average error along all 4 paths using the Nexus and the Galaxy could be improved from \SI{2.08}{\meter} to \SI{1.37}{\meter}. Now, the positional average error along all 4 paths using the Nexus and the Galaxy could be improved from \SI{2.08}{\meter} to \SI{1.37}{\meter}.
Using the same number of particles and $500$ sample realisations the BS performs with an average error of \SI{2.21}{\meter} for filtering and \SI{1.51}{\meter} for smoothing. Using the same number of particles and $500$ sample realisations the BS performs with an average error of \SI{2.21}{\meter} for filtering and \SI{1.51}{\meter} for smoothing.
The difference between both filtering steps is of course based upon the randomized behaviour of the respective probabilistic models. The difference between both filtering steps is of course based upon the randomized behaviour of the respective probabilistic models.
It is interesting to note, that the positional error is very similar for both used smartphones, although the approximation error varies greatly as we will see later. It is interesting to note, that the positional error is very similar for both used smartphones, although the approximation error varies greatly.
Using the FBS, the Galaxy donates an average approximation error of \SI{4.03}{\meter} by filtering with \SI{7.74}{\meter}.
In contrast the Nexus 6 filters at \SI{5.11}{\meter} and results in \SI{3.87}{\meter} for smoothing.
The BS has a similar improvement rate.
A visual example of the smoothing outcome for path 3 is illustrated in fig. \ref{fig:int_path3_a}. A visual example of the smoothing outcome for path 3 is illustrated in fig. \ref{fig:int_path3_a}.
It can be clearly seen, how the smoothing compensates for the faulty detected floor change using future knowledge.
The estimation of BS looks way more realistic and adapts better to the ground truth path. The estimation of BS looks way more realistic and adapts better to the ground truth path.
%However, in this particular example the FBS starts at an earlier position (cf. fig. \ref{fig:intcomp} seg. 2), better handling the initial uniform distribution. %However, in this particular example the FBS starts at an earlier position (cf. fig. \ref{fig:intcomp} seg. 2), better handling the initial uniform distribution.
%Another advantage of BS over FBS, is the ability to still improve the filtering results even while reducing the number of particles radical. %Another advantage of BS over FBS, is the ability to still improve the filtering results even while reducing the number of particles radical.
@@ -98,16 +104,16 @@ The estimation of BS looks way more realistic and adapts better to the ground tr
\begin{figure} \begin{figure}
\begin{subfigure}{0.175\textwidth} \begin{subfigure}{0.175\textwidth}
\input{gfx/eval/interval_path3_good/path3_interval_good} \input{gfx/eval/interval_path2_good/path2_interval_good}
\caption{} \caption{}
\label{fig:int_path3_a} \label{fig:int_path2_a}
\end{subfigure} \end{subfigure}
\begin{subfigure}{0.175\textwidth} \begin{subfigure}{0.175\textwidth}
\input{gfx/eval/interval_path3_bad/path3_interval} \input{gfx/eval/interval_path2_bad/path2_interval}
\caption{} \caption{}
\label{fig:int_path3_b} \label{fig:int_path2_b}
\end{subfigure} \end{subfigure}
\caption{a) Exemplary comparison between BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. b) A situation where BS smoothing was not able to improve the filtering results. Two main factors are causing this: an initial position within a detached room and inaccurate pressure readings given by the Galaxy S5.} \caption{a) Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. b) A situation where BS smoothing was not able to improve the filtering results. Two main factors are causing this: an initial position within a detached room and inaccurate pressure readings given by the Galaxy S5.}
\label{fig:int_path3_comp} \label{fig:int_path3_comp}
\end{figure} \end{figure}
Despite the very good outcomes provided by both interval smoother, there are some rare situations in which smoothing does not improve the filtered estimation or even improves the visual path. Despite the very good outcomes provided by both interval smoother, there are some rare situations in which smoothing does not improve the filtered estimation or even improves the visual path.
@@ -118,6 +124,9 @@ This shows that the smoothing results are of course highly depend upon the filte
At next, we discuss the advantages and disadvantages of utilizing FBS and BS as fixed-lag smoother. At next, we discuss the advantages and disadvantages of utilizing FBS and BS as fixed-lag smoother.
Compared to fixed-interval smoothing, timely errors are now of higher importance due to an interest on real-time localization. Compared to fixed-interval smoothing, timely errors are now of higher importance due to an interest on real-time localization.
Especially interesting in this context are small lags $\tau < 10$ considering filter updates near \SI{500}{\milli\second}. Especially interesting in this context are small lags $\tau < 10$ considering filter updates near \SI{500}{\milli\second}.
%Path 4 grafik mit fixed-lags
% %
%wie gut ist fixed-lag mit einem lag = 5. was fällt so auf? %wie gut ist fixed-lag mit einem lag = 5. was fällt so auf?
Fig. \ref{fig:lag_error_path4} illustrates the different approximation errors alongside path 4 using $500$ particles, \SI{100}{sample realisations} for BS and a fixed-lag $\tau = 5$. Fig. \ref{fig:lag_error_path4} illustrates the different approximation errors alongside path 4 using $500$ particles, \SI{100}{sample realisations} for BS and a fixed-lag $\tau = 5$.

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180
tex/gfx/eval/interval_path2_bad/BS/err_dist_norm_bergwerk_path2_nexus_simple_interval7.dat Normal file
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@@ -0,0 +1,180 @@
298.094
313.78
321.556
319.421
312.224
334.076
367.509
392.811
420.826
437.863
441.057
450.009
448.644
455.862
463.348
467.815
464.699
463.412
468.447
472.391
472.247
464.017
437.746
422.692
414.768
403.5
398.143
393.174
387.924
384.799
384.561
376.236
367.485
367.324
365.571
347.716
346.669
364.618
366.822
359.646
376.456
520.095
670.415
771.163
830.953
885.359
930.017
980.651
1043.26
1090.69
1150.43
1211.32
1271.28
1339.26
1395.64
1436.13
1446.92
1437.71
1437.32
1433.47
1407.81
1377.75
1358.8
1332.75
1294.49
1265.87
1230.74
1191.98
1170.88
1124.01
1056
996.754
974.189
947.885
972.939
989.097
987.663
898.686
836.241
877.227
938.364
1001.3
1064.7
1132.3
1199.45
1264.53
1329.08
1385.08
1442.5
1496.02
1546.4
1584.26
1585.54
1576.33
1566.84
1560.72
1562.68
1566.33
1564.96
1568.51
1564.47
1566.99
1551.3
1527.91
1502.51
1490.79
1493.38
1492.51
1491.95
1486.7
1474.36
1463.59
1459.78
1459.01
1456.7
1449.67
1441.11
1428.81
1423.69
1425.46
1424.19
1430.2
1426.55
1428.69
1440.27
1440.4
1438.38
1462.04
1480.21
1493.22
1493.37
1486.19
1489.43
1498.9
1501.04
1503.3
1501.59
1497.78
1493.62
1478.99
1467.37
1462.29
1462.85
1469.66
1464.71
1457.5
1446.93
1440.27
1442.07
1437.58
1441.26
1426.87
1415.05
1378.39
1345.97
1268.91
1195.85
1112.65
1004.28
911.137
774.073
654.254
531.678
409.066
336.888
267.536
209.778
163.235
131.93
103.379
82.9557
75.3868
71.4564
58.9944
49.3155
56.5223
60.0915
53.404
62.3407
33.4021

180
tex/gfx/eval/interval_path2_bad/BS/err_dist_smooth_bergwerk_path2_nexus_simple_interval7.dat Normal file
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@@ -0,0 +1,180 @@
363.122
357.7
359.086
358.84
359.016
358.985
356.835
347.229
330.523
326.005
315.932
290.91
264.459
241.49
204.414
180.631
150.927
129.25
108.823
104.784
100.338
101.874
100.821
113.091
159.011
209.341
259.624
324.096
398.005
535.158
588.483
634.704
642.862
694.226
726.065
802.96
829.979
886.033
961.537
1030.61
1062.95
1129.23
1142.63
1179.51
1203.87
1218.17
1226.48
1238.04
1257
1270.57
1293.6
1320.29
1388.24
1419.79
1430.89
1441.39
1445.56
1429.79
1408.59
1371.18
1308.65
1243.99
1181.75
1122.93
1050.2
980.828
913.084
845.269
814.53
803.707
793.232
760.826
715.382
634.36
642.969
681.195
759.239
821.648
918.074
1016.85
1077.22
1111.87
1130.12
1144.97
1178.6
1221.28
1250.86
1298.77
1278
1275.41
1378.19
1376.39
1384.48
1386.91
1413.25
1360.27
1417.73
1412.47
1410.51
1424.67
1439.3
1457.55
1471.92
1475.38
1461.82
1413.85
1407.73
1384.61
1365.27
1357.59
1365.38
1340.5
1378.51
1368.39
1332.82
1307.07
1279.85
1248.25
1212.08
1176.49
1128.51
1090.88
1041.82
875.498
843.479
881.071
824.683
744.988
735.224
708.534
706.616
686.069
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584.529
403.379
403.771
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395.281
385.194
381.018
374.567
375.395
360.544
349.045
338.765
330.516
318.028
317.059
317.361
313.775
338.31
333.83
339.433
337.762
326.574
317.921
321.721
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329.328
316.785
288.027
244.309
221.932
207.529
186.939
169.529
156.729
138.699
127.569
109.98
109.129
100.532
98.8728
96.8411
93.273
82.8353
82.2828
74.4649
58.8218
33.4021

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tex/gfx/eval/interval_path2_bad/BS/err_norm_bergwerk_path2_nexus_simple_interval7.dat Normal file
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@@ -0,0 +1,180 @@
298.094
313.78
323.919
341.271
355.13
391.615
435.714
467.552
522.072
573.856
618.168
669.092
706.848
752.778
798.292
840.164
875.302
911.197
952.598
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1040.65
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1050.78
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1071.06
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1222.77
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1207.44
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1194.97
1239.87
1278.89
1324.49
1382.06
1426.39
1483.32
1542.86
1607.59
1683.98
1745.65
1837.85
1902.29
1946.41
1976.43
1973.65
1949.48
1921.74
1906.47
1885.25
1852.79
1830.75
1803.49
1774.52
1765.58
1732.06
1680.4
1623.7
1560.85
1487.27
1468.16
1445.97
1429.63
1311.02
1222.64
1260.18
1320.57
1382.8
1445.64
1512.89
1579.76
1644.85
1710.17
1767.75
1826.79
1863.23
1884.33
1897.31
1875.68
1845.62
1816.03
1792.55
1778.07
1764.14
1745.56
1729.22
1702.21
1679.27
1636.12
1590.91
1542.63
1514
1504.44
1495.57
1491.95
1489.32
1485.39
1488.73
1505.56
1527.29
1547.49
1567.01
1591.26
1615.16
1647.75
1681.07
1718.28
1750.6
1768.05
1799.26
1842.34
1879.39
1914.29
1977.72
2029.42
2070.74
2114.81
2145.11
2191.4
2255.46
2284.88
2329.15
2375.44
2415.13
2461.55
2489.73
2510.58
2526.5
2553.22
2575.21
2602.88
2635.02
2667.39
2712.49
2765.88
2818.05
2874.86
2915.99
2958.93
2977.93
3000.16
2981.01
2957.04
2909.5
2799.07
2688.64
2543.14
2429.58
2313.62
2206.77
2140.61
2081.19
2027.48
1968.15
1926.08
1865.53
1792.87
1722.6
1662.35
1623.35
1579.67
1538.81
1511.39
1481.03
1432.87
1405.68

180
tex/gfx/eval/interval_path2_bad/BS/err_smooth_bergwerk_path2_nexus_simple_interval7.dat Normal file
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@@ -0,0 +1,180 @@
363.122
357.7
361.817
381.084
401.361
422.701
443.787
456.308
469.833
496.452
518.419
525.484
531.766
542.91
540.815
551.163
559.397
575.88
588.807
616.687
645.957
683.594
684.087
695.614
738.768
778.877
831.282
896.326
960.539
1081.17
1137.15
1182.37
1191.6
1243.61
1279.18
1357.92
1366.66
1362.6
1381.03
1385.57
1408.28
1464.54
1481.32
1515.81
1536.38
1551.19
1559.5
1572.13
1594.64
1609.08
1633.84
1662.05
1734.1
1768.38
1781.44
1842.52
1900.42
1938.05
1946.66
1910.01
1848.38
1785.06
1724.74
1669.24
1600.92
1536.48
1472.74
1409.35
1391.66
1391.79
1391.4
1344.82
1242.14
1095.71
1064.85
1073.25
1153.65
1214.4
1310.94
1408.73
1466.31
1497.82
1513.18
1526.19
1558.53
1601.23
1630.95
1679.23
1658.11
1638.26
1714.19
1684.08
1663.81
1637.64
1635.89
1587.51
1640.35
1603.07
1570.59
1552.98
1534.98
1525.36
1505.72
1493.69
1468.36
1413.95
1408.78
1391.37
1380.69
1385.87
1415.1
1420.26
1497.83
1527.15
1534.51
1554.65
1568.93
1588.32
1600.81
1613.25
1622.79
1621.26
1620.83
1618.89
1646.48
1683.53
1729.25
1734.32
1780.63
1818.58
1922.54
1942.01
1972.73
2079.06
1976.41
2037.4
2081.51
2127.99
2173.09
2252.95
2262.85
2284.73
2288.71
2294.27
2193.94
2200.03
2213.06
2236.66
2251.68
2226.12
2207
2222.69
2226.1
2238.01
2244.67
2252.97
2261.27
2249.91
2181.97
2111.14
2045.75
1961.96
1938.8
1918.89
1913.36
1873.58
1826.07
1782.05
1724.47
1658.24
1598.16
1570.71
1533.3
1493.58
1466.76
1445.98
1419.98
1407.35
1418.4
1405.68

216
tex/gfx/eval/interval_path2_bad/BS/est_norm_bergwerk_path2_nexus_simple_interval7.dat Normal file
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@@ -0,0 +1,216 @@
3182.24 3545.46 554.562
3166.93 3542.73 545.373
1993.77 3693.62 323.715
1415.5 3829.8 249.508
1165.89 3967.33 183.412
1036.48 4109.96 138.504
987.167 4168.06 99.706
926.086 4273.44 76.135
894.937 4313.49 55.0665
854.07 4360.2 34.456
836.735 4397.85 24.4039
826.956 4409.42 16.4406
823.157 4414.56 11.5727
834.444 4397.12 7.33343
847.773 4378.85 4.74736
859.187 4371.29 4.41915
828.776 4397.05 1.61456
821.062 4420.33 1.43859
809.857 4453.53 1.23748
815.9 4445.55 1.36883
852.796 4431.03 0.834502
925.532 4355.97 1.60545
950.779 4350.01 1.32558
957.986 4343.57 1.76926
981.062 4324.57 1.54666
978.331 4333.7 0.789555
977.933 4335.07 0.689128
968.753 4309.62 0.438434
972.397 4281.14 0.275534
945.266 4263.62 0.131563
921.304 4265.94 0.0332387
892.117 4237.57 0.0633013
877.605 4235.2 0.170156
866.268 4217.07 0.198897
857.44 4217.69 0.119078
848.322 4203.49 0.128644
853.405 4182.67 0.14798
848.419 4176.51 0.174731
836.15 4185.91 0.178796
842.823 4190.33 0.124208
861.175 4156.22 0.0444202
879.18 4112.98 0
906.779 4078.46 0
914.365 4048.02 0.00617268
914.178 4030.67 0.0116385
895.271 4031.6 0.0057798
869.166 4029.49 0
855.985 4035.16 0
841.854 4032.52 0.00356225
824.795 4031.13 0.00988921
821.641 4027.59 0
806.593 4037.54 0
786.125 4048.99 0
768.003 4053.14 0
743.821 4063.22 0
731.764 4071.45 0
725.417 4086.08 0
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1392.64 3031.19 719.802
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1601.51 3081.61 719.854
1621.71 3114.03 719.907
1673.33 3191.09 719.9
1733.09 3264.15 719.86
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2090.27 3685.93 719.938
2193.09 3805.75 719.933
2306.67 3928.32 719.971
2420.03 4036.67 719.991
2495.64 4098.68 719.99
2568.5 4158.26 719.993
2637.75 4206.68 720.001
2713.57 4242.73 720.001
2771.19 4266.13 719.999
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2937.86 4291.54 719.997
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3096.19 4280.63 720
3153.39 4284.72 720.001
3215.98 4285.56 720.001
3269.06 4270.56 720.001
3310.57 4261.2 719.999
3361.98 4260.6 720
3425.15 4242.46 720.001
3491.69 4262.44 720
e

181
tex/gfx/eval/interval_path2_bad/BS/est_smooth_bergwerk_path2_nexus_simple_interval7.dat Normal file
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@@ -0,0 +1,181 @@
788.592 4164.89 2.72744e-31
801.578 4162.5 1.02621e-26
803.655 4159.47 6.13301e-33
810.409 4155.45 5.74888e-09
818.643 4150.27 2.84386e-23
823.951 4147.25 3.14155e-36
827.135 4147.93 0
840.775 4151.52 0
844.724 4168.32 3.16622e-28
843.812 4173.94 9.02044e-34
844.442 4185.12 0.000145256
860.403 4204.87 0
879.311 4224.78 0
897.669 4241.35 2.97149e-26
918.803 4272.48 2.42419e-27
950.811 4286.25 0
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970.711 4334.16 0
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1451.6 2998.2 720
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1935.69 4146.25 720
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e

17
tex/gfx/eval/interval_path2_bad/BS/path_bergwerk_path2_nexus_simple_interval7.dat Normal file
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@@ -0,0 +1,17 @@
1000.18 4460 0
1000.18 4460 0
1180 4460 0
1180 5040 0
1660 5040 190
1660 4840 190
1180 4850 380
1180 5040 380
1660 5040 550
1660 4840 550
1180 4840 720
1180 4460 720
2350 4460 720
3600 4280 720
4620 4040 720
4620 3410 720
e

16
tex/gfx/eval/interval_path2_bad/BS/plot_bergwerk_path2_nexus_simple_interval7.gp Normal file
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set terminal eps size 3.4,2
set output 'bergwerk_path2_nexus_simple_interval7.eps'
set termoption dashlength 0.5
set ticslevel 0
set view equal xy
set zrange [0:2200]
set multiplot layout 1,1 scale 2.7,2.7 offset 0,0.23
set view 72,33
unset border
unset xtics
unset ytics
unset ztics
splot \
'floors.dat' skip 21 notitle with lines lc rgb '#777777', \
'path_bergwerk_path2_nexus_simple_interval7.dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \
'est_norm_bergwerk_path2_nexus_simple_interval7.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099', 'est_smooth_bergwerk_path2_nexus_simple_interval7.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000000'

3
tex/gfx/eval/interval_path2_bad/BS/plot_dist_err_bergwerk_path2_nexus_simple_interval7.gp Normal file
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plot \
'err_dist_norm_bergwerk_path2_nexus_simple_interval7.dat' with lines, \
'err_dist_smooth_bergwerk_path2_nexus_simple_interval7.dat' with lines

3
tex/gfx/eval/interval_path2_bad/BS/plot_err_bergwerk_path2_nexus_simple_interval7.gp Normal file
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plot \
'err_norm_bergwerk_path2_nexus_simple_interval7.dat' with lines, \
'err_smooth_bergwerk_path2_nexus_simple_interval7.dat' with lines

0
tex/gfx/eval/interval_path2_bad/BS/unsmoothed_bergwerk_path2_nexus_simple_interval7.stats Normal file
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2297
tex/gfx/eval/interval_path2_bad/floors.dat Normal file
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17
tex/gfx/eval/interval_path2_bad/path2.dat Normal file
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@@ -0,0 +1,17 @@
1000.18 4460 0
1000.18 4460 0
1180 4460 0
1180 5040 0
1660 5040 190
1660 4840 190
1180 4850 380
1180 5040 380
1660 5040 550
1660 4840 550
1180 4840 720
1180 4460 720
2350 4460 720
3600 4280 720
4620 4040 720
4620 3410 720
e

6647
tex/gfx/eval/interval_path2_bad/path2_interval.eps Normal file
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99
tex/gfx/eval/interval_path2_bad/path2_interval.tex Normal file
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Package color not loaded in conjunction with
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}{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
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% 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}%
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\newlength{\gptboxheight}%
\newlength{\gptboxwidth}%
\newsavebox{\gptboxtext}%
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\setlength{\fboxrule}{0.5pt}%
\setlength{\fboxsep}{1pt}%
\begin{picture}(4896.00,2014.00)%
\gplgaddtomacro\gplbacktext{%
}%
\gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname%
\put(3817,393){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname%
\put(3817,173){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
\csname LTb\endcsname%
\put(3817,393){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname%
\put(3817,173){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
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\gplbacktext
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\end{picture}%
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4
tex/gfx/eval/interval_path2_bad/startpoints_moved.dat Normal file
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1210 470 1060
1060.18 4520 0
180 2970 1060
1070 470 1060

20
tex/gfx/eval/interval_path2_bad/vis.gp Normal file
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@@ -0,0 +1,20 @@
set terminal epslatex size 3.4,1.4
set output "path2_interval.tex"
set termoption dashlength 0.5
set ticslevel 0
set view equal xy
set zrange [0:2400]
set multiplot layout 1,1 scale 3.1,3.1 offset -0.12,0.26
set view 78,33
unset border
unset xtics
unset ytics
unset ztics
set key at screen 0.86,0.25 opaque box samplen 0.5 width -7.0
splot \
'floors.dat' notitle with lines lc rgb '#999999', \
'path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \
'BS/est_norm_bergwerk_path2_nexus_simple_interval7.dat' skip 21 title "\\footnotesize{filtered}" with lines lw 1.0 lc rgb '#00FF00', \
'BS/est_smooth_bergwerk_path2_nexus_simple_interval7.dat' skip 21 title "\\footnotesize{smoothed (BS)}" with lines lw 1.0 lc rgb '#0000FF'

BIN
tex/gfx/eval/interval_path2_good/BS/bergwerk_path2_galaxy_simple_interval7.png Normal file
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168
tex/gfx/eval/interval_path2_good/BS/err_dist_norm_bergwerk_path2_galaxy_simple_interval7.dat Normal file
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@@ -0,0 +1,168 @@
467.394
518.509
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408.074
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395.967
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303.091
273.215
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203.723
179.511
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146.557
177.056
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140.2
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47.1387
38.949
39.6442
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117.386
125.849
132.459
145.746
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169.204
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131.675
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4303.11 4013.87 720.001
4313.1 4009.67 719.781
4339.94 4013.27 719.754
e

17
tex/gfx/eval/interval_path2_good/BS/path_bergwerk_path2_galaxy_simple_interval7.dat Normal file
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@@ -0,0 +1,17 @@
1000.18 4460 0
1000.18 4460 0
1180 4460 0
1180 5040 0
1660 5040 190
1660 4840 190
1180 4850 380
1180 5040 380
1660 5040 550
1660 4840 550
1180 4840 720
1180 4460 720
2350 4460 720
3600 4280 720
4620 4040 720
4620 3410 720
e

16
tex/gfx/eval/interval_path2_good/BS/plot_bergwerk_path2_galaxy_simple_interval7.gp Normal file
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set terminal eps size 3.4,2
set output 'bergwerk_path2_galaxy_simple_interval7.eps'
set termoption dashlength 0.5
set ticslevel 0
set view equal xy
set zrange [0:2200]
set multiplot layout 1,1 scale 2.7,2.7 offset 0,0.23
set view 72,33
unset border
unset xtics
unset ytics
unset ztics
splot \
'floors.dat' skip 21 notitle with lines lc rgb '#777777', \
'path_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \
'est_norm_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099', 'est_smooth_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000000'

3
tex/gfx/eval/interval_path2_good/BS/plot_dist_err_bergwerk_path2_galaxy_simple_interval7.gp Normal file
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plot \
'err_dist_norm_bergwerk_path2_galaxy_simple_interval7.dat' with lines, \
'err_dist_smooth_bergwerk_path2_galaxy_simple_interval7.dat' with lines

3
tex/gfx/eval/interval_path2_good/BS/plot_err_bergwerk_path2_galaxy_simple_interval7.gp Normal file
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@@ -0,0 +1,3 @@
plot \
'err_norm_bergwerk_path2_galaxy_simple_interval7.dat' with lines, \
'err_smooth_bergwerk_path2_galaxy_simple_interval7.dat' with lines

0
tex/gfx/eval/interval_path2_good/BS/unsmoothed_bergwerk_path2_galaxy_simple_interval7.stats Normal file
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2297
tex/gfx/eval/interval_path2_good/floors.dat Normal file
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17
tex/gfx/eval/interval_path2_good/path2.dat Normal file
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@@ -0,0 +1,17 @@
1000.18 4460 0
1000.18 4460 0
1180 4460 0
1180 5040 0
1660 5040 190
1660 4840 190
1180 4850 380
1180 5040 380
1660 5040 550
1660 4840 550
1180 4840 720
1180 4460 720
2350 4460 720
3600 4280 720
4620 4040 720
4620 3410 720
e

4294
tex/gfx/eval/interval_path2_good/path2_interval_good.eps Normal file
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95
tex/gfx/eval/interval_path2_good/path2_interval_good.tex Normal file
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@@ -0,0 +1,95 @@
% 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}(4896.00,2014.00)%
\gplgaddtomacro\gplbacktext{%
}%
\gplgaddtomacro\gplfronttext{%
\csname LTb\endcsname%
\put(2761,4147){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
\csname LTb\endcsname%
\put(2761,3927){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
}%
\gplbacktext
\put(0,0){\includegraphics{path2_interval_good}}%
\gplfronttext
\end{picture}%
\endgroup

4
tex/gfx/eval/interval_path2_good/startpoints_moved.dat Normal file
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@@ -0,0 +1,4 @@
1210 470 1060
1060.18 4520 0
180 2970 1060
1070 470 1060

19
tex/gfx/eval/interval_path2_good/vis.gp Normal file
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@@ -0,0 +1,19 @@
set terminal epslatex size 3.4,1.4
set output "path2_interval_good.tex"
set termoption dashlength 0.5
set ticslevel 0
set view equal xy
set zrange [0:2400]
set multiplot layout 1,1 scale 3.1,3.1 offset -0.12,0.26
set view 78,33
unset border
unset xtics
unset ytics
unset ztics
splot \
'floors.dat' notitle with lines lc rgb '#999999', \
'path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \
'BS/est_norm_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 title "\\footnotesize{filtered}" with lines lw 1.0 lc rgb '#00FF00', \
'BS/est_smooth_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 title "\\footnotesize{smoothed (BS)}" with lines lw 1.0 lc rgb '#0000FF'