added new gfx (path2 compare)
This commit is contained in:
kazu
@@ -120,7 +120,7 @@
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% gfx include folder
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\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/}}
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\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/}, {gfx/eval/interval_path2_compare/}}
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% correct bad hyphenation here
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@@ -103,18 +103,20 @@ The estimation of BS looks way more realistic and adapts better to the ground tr
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%For example \SI{50}{} particles and \SI{25}{} sample realisations are providing reliable estimations similar to above experiments, though the risk of losing track is higher.
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\begin{figure}
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\begin{subfigure}{0.175\textwidth}
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\input{gfx/eval/interval_path2_good/path2_interval_good}
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\caption{}
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\label{fig:int_path2_a}
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\end{subfigure}
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\begin{subfigure}{0.175\textwidth}
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\input{gfx/eval/interval_path2_bad/path2_interval}
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\caption{}
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\label{fig:int_path2_b}
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\end{subfigure}
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\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.}
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\label{fig:int_path3_comp}
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%\begin{subfigure}{0.175\textwidth}
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% \input{gfx/eval/interval_path2_good/path2_interval_good}
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% \caption{}
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% \label{fig:int_path2_a}
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%\end{subfigure}
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%\begin{subfigure}{0.175\textwidth}
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% \input{gfx/eval/interval_path2_bad/path2_interval}
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% \caption{}
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% \label{fig:int_path2_b}
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%\end{subfigure}
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%\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.}
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\input{gfx/eval/interval_path2_compare/path2_interval_compare}
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\caption{left) Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. right) 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.}
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\label{fig:int_path2_comp}
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\end{figure}
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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.
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For example fig. \ref{fig:int_path3_b} depicts such a situation for path 3 using BS and measurements provided by the Galaxy S5.
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1690
tex/gfx/eval/interval_path2_compare/floors.dat
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1690
tex/gfx/eval/interval_path2_compare/floors.dat
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Load Diff
7340
tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps
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7340
tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps
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Load Diff
103
tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex
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103
tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex
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@@ -0,0 +1,103 @@
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% GNUPLOT: LaTeX picture with Postscript
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\begingroup
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\makeatletter
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\providecommand\color[2][]{%
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\GenericError{(gnuplot) \space\space\space\@spaces}{%
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Package color not loaded in conjunction with
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terminal option `colourtext'%
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}{See the gnuplot documentation for explanation.%
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}{Either use 'blacktext' in gnuplot or load the package
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color.sty in LaTeX.}%
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\renewcommand\color[2][]{}%
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}%
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\providecommand\includegraphics[2][]{%
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\GenericError{(gnuplot) \space\space\space\@spaces}{%
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Package graphicx or graphics not loaded%
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}{See the gnuplot documentation for explanation.%
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}{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}%
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\renewcommand\includegraphics[2][]{}%
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}%
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\providecommand\rotatebox[2]{#2}%
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\@ifundefined{ifGPcolor}{%
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\newif\ifGPcolor
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\GPcolorfalse
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}{}%
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\@ifundefined{ifGPblacktext}{%
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\newif\ifGPblacktext
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\GPblacktexttrue
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}{}%
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% define a \g@addto@macro without @ in the name:
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\let\gplgaddtomacro\g@addto@macro
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% define empty templates for all commands taking text:
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\gdef\gplbacktext{}%
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\gdef\gplfronttext{}%
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\makeatother
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\ifGPblacktext
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% no textcolor at all
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\def\colorrgb#1{}%
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\def\colorgray#1{}%
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\else
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% gray or color?
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\ifGPcolor
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\def\colorrgb#1{\color[rgb]{#1}}%
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\def\colorgray#1{\color[gray]{#1}}%
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\expandafter\def\csname LTw\endcsname{\color{white}}%
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\expandafter\def\csname LTb\endcsname{\color{black}}%
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\expandafter\def\csname LTa\endcsname{\color{black}}%
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\expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}%
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\expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}%
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\expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}%
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\expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}%
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\expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}%
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\expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}%
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\expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}%
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\expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}%
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\expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}%
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\else
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% gray
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\def\colorrgb#1{\color{black}}%
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\def\colorgray#1{\color[gray]{#1}}%
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\expandafter\def\csname LTw\endcsname{\color{white}}%
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\expandafter\def\csname LTb\endcsname{\color{black}}%
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\expandafter\def\csname LTa\endcsname{\color{black}}%
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\expandafter\def\csname LT0\endcsname{\color{black}}%
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\expandafter\def\csname LT1\endcsname{\color{black}}%
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\expandafter\def\csname LT2\endcsname{\color{black}}%
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\expandafter\def\csname LT3\endcsname{\color{black}}%
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\expandafter\def\csname LT4\endcsname{\color{black}}%
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\expandafter\def\csname LT5\endcsname{\color{black}}%
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\expandafter\def\csname LT6\endcsname{\color{black}}%
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\expandafter\def\csname LT7\endcsname{\color{black}}%
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\expandafter\def\csname LT8\endcsname{\color{black}}%
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\fi
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\fi
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\setlength{\unitlength}{0.0500bp}%
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\ifx\gptboxheight\undefined%
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\newlength{\gptboxheight}%
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\newlength{\gptboxwidth}%
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\newsavebox{\gptboxtext}%
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\fi%
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\setlength{\fboxrule}{0.5pt}%
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\setlength{\fboxsep}{1pt}%
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\begin{picture}(4896.00,2014.00)%
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\gplgaddtomacro\gplbacktext{%
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}%
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\gplgaddtomacro\gplfronttext{%
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}%
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\gplgaddtomacro\gplbacktext{%
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}%
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\gplgaddtomacro\gplfronttext{%
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\csname LTb\endcsname%
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\put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
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\csname LTb\endcsname%
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\put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
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\csname LTb\endcsname%
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\put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
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\csname LTb\endcsname%
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\put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
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}%
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\gplbacktext
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\put(0,0){\includegraphics{path2_interval_compare}}%
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\gplfronttext
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\end{picture}%
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\endgroup
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38
tex/gfx/eval/interval_path2_compare/vis.gp
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38
tex/gfx/eval/interval_path2_compare/vis.gp
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@@ -0,0 +1,38 @@
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set terminal epslatex size 3.4,1.4
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set output "path2_interval_compare.tex"
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set termoption dashlength 0.5
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set ticslevel 0
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set view equal xy
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set zrange [0:1300]
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set xrange[0:5000]
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set yrange[2500:5200]
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set view 78,50
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unset border
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unset xtics
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unset ytics
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unset ztics
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set multiplot layout 1,2 scale 2.45,2.45 offset -0.005,0.23
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unset key
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splot \
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'floors.dat' notitle with lines lc rgb '#999999', \
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'../interval_path2_good/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \
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'../interval_path2_good/BS/est_norm_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 1.0 lc rgb '#00FF00', \
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'../interval_path2_good/BS/est_smooth_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 1.0 lc rgb '#0000FF'
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set key at screen 0.9,0.12 opaque box samplen 0.5 width -7.0 maxrows 1
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splot \
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'floors.dat' notitle with lines lc rgb '#999999', \
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'../interval_path2_bad/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \
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'../interval_path2_bad/BS/est_norm_bergwerk_path2_nexus_simple_interval7.dat' skip 21 title "\\footnotesize{filtered}" with lines lw 1.0 lc rgb '#00FF00', \
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'../interval_path2_bad/BS/est_smooth_bergwerk_path2_nexus_simple_interval7.dat' skip 21 title "\\footnotesize{smoothed (BS)}" with lines lw 1.0 lc rgb '#0000FF'
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#unset multiplot
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