From 7789adf6d5256b7f756424990a26bd01f6392213 Mon Sep 17 00:00:00 2001 From: kazu Date: Mon, 9 May 2016 16:07:47 +0200 Subject: [PATCH] added new gfx (path2 compare) --- tex/bare_conf.tex | 2 +- tex/chapters/experiments.tex | 26 +- .../eval/interval_path2_compare/floors.dat | 1690 ++++ .../path2_interval_compare.eps | 7340 +++++++++++++++++ .../path2_interval_compare.tex | 103 + tex/gfx/eval/interval_path2_compare/vis.gp | 38 + 6 files changed, 9186 insertions(+), 13 deletions(-) create mode 100644 tex/gfx/eval/interval_path2_compare/floors.dat create mode 100644 tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps create mode 100644 tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex create mode 100644 tex/gfx/eval/interval_path2_compare/vis.gp diff --git a/tex/bare_conf.tex b/tex/bare_conf.tex index 7d29199..5c16fdc 100644 --- a/tex/bare_conf.tex +++ b/tex/bare_conf.tex @@ -120,7 +120,7 @@ % 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/}, {gfx/eval/interval_path2_good/}, {gfx/eval/interval_path2_bad/}} +\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/}} % correct bad hyphenation here diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex index f972d35..9728982 100644 --- a/tex/chapters/experiments.tex +++ b/tex/chapters/experiments.tex @@ -103,18 +103,20 @@ The estimation of BS looks way more realistic and adapts better to the ground tr %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. \begin{figure} - \begin{subfigure}{0.175\textwidth} - \input{gfx/eval/interval_path2_good/path2_interval_good} - \caption{} - \label{fig:int_path2_a} - \end{subfigure} - \begin{subfigure}{0.175\textwidth} - \input{gfx/eval/interval_path2_bad/path2_interval} - \caption{} - \label{fig:int_path2_b} - \end{subfigure} - \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} + %\begin{subfigure}{0.175\textwidth} + % \input{gfx/eval/interval_path2_good/path2_interval_good} + % \caption{} + % \label{fig:int_path2_a} + %\end{subfigure} + %\begin{subfigure}{0.175\textwidth} + % \input{gfx/eval/interval_path2_bad/path2_interval} + % \caption{} + % \label{fig:int_path2_b} + %\end{subfigure} + %\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.} + \input{gfx/eval/interval_path2_compare/path2_interval_compare} + \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.} + \label{fig:int_path2_comp} \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. 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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{% + }% + \gplgaddtomacro\gplbacktext{% + }% + \gplgaddtomacro\gplfronttext{% + \csname LTb\endcsname% + \put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}% + \csname LTb\endcsname% + \put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}% + \csname LTb\endcsname% + \put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}% + \csname LTb\endcsname% + \put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}% + }% + \gplbacktext + \put(0,0){\includegraphics{path2_interval_compare}}% + \gplfronttext + \end{picture}% +\endgroup diff --git a/tex/gfx/eval/interval_path2_compare/vis.gp b/tex/gfx/eval/interval_path2_compare/vis.gp new file mode 100644 index 0000000..c1db001 --- /dev/null +++ b/tex/gfx/eval/interval_path2_compare/vis.gp @@ -0,0 +1,38 @@ +set terminal epslatex size 3.4,1.4 +set output "path2_interval_compare.tex" + +set termoption dashlength 0.5 +set ticslevel 0 +set view equal xy + + +set zrange [0:1300] +set xrange[0:5000] +set yrange[2500:5200] + +set view 78,50 +unset border +unset xtics +unset ytics +unset ztics + + +set multiplot layout 1,2 scale 2.45,2.45 offset -0.005,0.23 + +unset key +splot \ + 'floors.dat' notitle with lines lc rgb '#999999', \ + '../interval_path2_good/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \ + '../interval_path2_good/BS/est_norm_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 1.0 lc rgb '#00FF00', \ + '../interval_path2_good/BS/est_smooth_bergwerk_path2_galaxy_simple_interval7.dat' skip 21 notitle with lines lw 1.0 lc rgb '#0000FF' + + +set key at screen 0.9,0.12 opaque box samplen 0.5 width -7.0 maxrows 1 +splot \ + 'floors.dat' notitle with lines lc rgb '#999999', \ + '../interval_path2_bad/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \ + '../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', \ + '../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' + + +#unset multiplot