653 lines
24 KiB
C++
653 lines
24 KiB
C++
#ifndef SMOOTHINGEVALBASELOG_H
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#define SMOOTHINGEVALBASELOG_H
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#include "../Settings.h"
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#include "../Helper.h"
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#include "../Vis.h"
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#include <KLib/math/filter/particles/ParticleFilter.h>
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#include <KLib/math/filter/particles/ParticleFilterHistory.h>
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#include <KLib/math/filter/smoothing/BackwardSimulation.h>
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#include <KLib/math/filter/smoothing/CondensationBackwardFilter.h>
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#include <KLib/math/filter/smoothing/sampling/ParticleTrajectorieSampler.h>
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#include <KLib/math/filter/smoothing/sampling/CumulativeSampler.h>
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#include <KLib/math/statistics/Statistics.h>
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#include "GroundTruthWay.h"
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#include "../particles/MyState.h"
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#include "../particles/MyObservation.h"
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#include "../particles/MyEvaluation.h"
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#include "../particles/MyTransition.h"
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#include "../particles/MyInitializer.h"
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#include "../particles/smoothing/MySmoothingTransition.h"
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#include "../particles/smoothing/MySmoothingTransitionSimple.h"
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#include "../particles/smoothing/MySmoothingTransitionExperimental.h"
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#include "../reader/SensorReader.h"
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#include "../reader/SensorReaderStep.h"
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#include "../reader/SensorReaderTurn.h"
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#include "../reader/SensorReaderAccel.h"
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#include "../lukas/TurnObservation.h"
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#include "../lukas/StepObservation.h"
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#include "../lukas/ActivityDetection.h"
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#include "../toni/BarometerSensorReader.h"
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#include "../frank/WiFiSensorReader.h"
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#include "../frank/BeaconSensorReader.h"
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#include "../frank/OrientationSensorReader.h"
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
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class SmoothingEvalBaseLOG {
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protected:
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Grid<MyGridNode> grid;
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Helper::FHWSFloors floors;
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Vis vis;
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K::ParticleFilterHistory<MyState, MyControl, MyObservation>* pf;
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K::BackwardFilter<MyState>* bf;
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SensorReader* sr;
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SensorReaderTurn* srt;
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SensorReaderStep* srs;
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std::string runName;
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GroundTruthWay gtw;
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// OLD
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//std::vector<int> way0 = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
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//std::vector<int> way1 = {29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
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//std::vector<int> way2 = {29, 28, 27, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 1, 2, 19, 18, 17, 16, 15, 14, 13, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29};
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// NEW
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std::vector<int> path1 = {29, 28,27,26,255,25,24,23,22,21,20};
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std::vector<int> path1dbl = {29, 29, 28,27,26,255,25,24,23,22,21,20};
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std::vector<int> path2 = {19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
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std::vector<int> path2dbl = {19, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
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std::vector<int> path3 = {5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
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std::vector<int> path3dbl = {5, 5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
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std::vector<int> path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};
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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!
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float stepSize = 0.71;
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public:
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void dumpParticles(const std::string& mode, const int idx, const std::vector<K::Particle<MyState>>& particles, const Point3 curEst) {
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std::string a = "/tmp/" + runName;
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std::string b = a + "/particles";
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std::string c = b + "/" + mode + "_" + std::to_string(idx) + ".dat";
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std::string d = b + "/" + "plot" + "_" + std::to_string(idx) + ".gp";
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mkdir(a.c_str(), 0777);
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mkdir(b.c_str(), 0777);
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std::string file = c;
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// std::unordered_map<uint64_t, float> map;
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// for (const K::Particle<MyState>& p : particles) {
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// const float dz = std::abs(p.state.pCur.z - curEst.z);
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// //if (dz > 20) {continue;} // skip particles on other levels
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// const uint64_t idx = (uint64_t) p.state.pCur.z * 0xFFFFFFFFUL + (int) p.state.pCur.y * 0xFFFF + (int) p.state.pCur.x;
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// //const int x = idx & 0xFFFF; if (x - p.state.pCur.x > 10) {throw 1;} // sanity check
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// //const int y = idx / 0xFFFF; if (y - p.state.pCur.y > 10) {throw 1;} // sanity check
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// map[idx] += p.weight;
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// }
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// how to plot
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std::ofstream plot(d);
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plot << "splot\\\n";
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plot << "'filtered_" << (idx) << ".dat' every ::2 using 1:2:3:4 with points palette pt 3 notitle,\\\n";
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plot << "'filtered_" << (idx) << ".dat' every ::0::0 using 1:2:3:4 with points palette pt 3 ps 5 title 'avg',\\\n";
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plot << "'filtered_" << (idx) << ".dat' every ::1::1 using 1:2:3:4 with points palette pt 3 ps 3 title 'avg50',\\\n";
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plot << "'smoothed_" << (idx) << ".dat' every ::2 using ($$1+1000):2:3:4 with points palette pt 7 notitle,\\\n";
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plot << "'smoothed_" << (idx) << ".dat' every ::0::0 using ($$1+1000):2:3:4 with points palette pt 6 ps 5 title 'avg',\\\n";
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plot << "'smoothed_" << (idx) << ".dat' every ::1::1 using ($$1+1000):2:3:4 with points palette pt 6 ps 3 title 'avg50',\\\n";
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std::ofstream out(file);
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// first two entries are different : avg and avg 50%
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K::ParticleFilterEstimationWeightedAverage<MyState> avg;
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K::ParticleFilterEstimationOrderedWeightedAverage<MyState> avg50(0.5);
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const MyState sAvg = avg.estimate((std::vector<K::Particle<MyState>>&) particles);
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const MyState sAvg50 = avg50.estimate((std::vector<K::Particle<MyState>>&) particles);
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out << sAvg.pCur.x << " " << sAvg.pCur.y << " " << sAvg.pCur.z << " 0\n";
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out << sAvg50.pCur.x << " " << sAvg50.pCur.y << " " << sAvg50.pCur.z << " 0\n";
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for (const K::Particle<MyState>& p : particles) {
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const float dz = std::abs(p.state.pCur.z - curEst.z);
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if (dz > 20) {continue;} // skip particles on other levels
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out << p.state.pCur.x << " " << p.state.pCur.y << " " << p.state.pCur.z << " " << p.weight << "\n";
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}
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// for (auto it : map) {
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// const uint64_t idx = it.first;
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// const int x = idx % 0xFFFF;
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// const int y = idx / 0xFFFF % 0xFFFF;
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// const int z = idx / 0xFFFF / 0xFFFF;
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// out << x << " " << y << " " << z << " " << it.second << "\n";
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// }
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out.close();
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}
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void addPlotDump(const int idx, const std::string txt) {
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std::string c = "/tmp/" + runName + "/" + "particles" + "/plot_" + std::to_string(idx) + ".gp";
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std::ofstream out(c, std::fstream::app);
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out << txt;
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out.close();
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}
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SmoothingEvalBaseLOG() : grid(MiscSettings::gridSize_cm), floors(Helper::getFloors(grid)) {
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// build the grid
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Helper::buildTheGrid(grid, floors);
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// setup the visualisation
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vis.addFloor(floors.f0, floors.h0);
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vis.addFloor(floors.f1, floors.h1);
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vis.addFloor(floors.f2, floors.h2);
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vis.addFloor(floors.f3, floors.h3);
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vis.floors.setColorHex("#666666");
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vis.groundTruth.setCustomAttr("dashtype 3");
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vis.groundTruth.setColorHex("#009900");
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vis.gp << "unset cbrange\n";
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}
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static GridPoint conv(const Point3& p) {
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return GridPoint(p.x, p.y, p.z);
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}
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GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) {
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// construct the ground-truth-path by using all contained waypoint ids
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std::vector<Point3> path;
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for (int id : ids) {
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auto it = waypoints.find(id);
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if(it == waypoints.end()) {throw "not found";}
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path.push_back(it->second);
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}
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// new created the timed path
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GroundTruthWay gtw;
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int i = 0;
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while (sr.hasNext()) {
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const SensorEntry se = sr.getNext();
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if (se.data.empty()) {continue;} // why necessary??
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if (se.idx == 99) {
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gtw.add(se.ts, path[i]);
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++i;
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}
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}
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// ensure the sensor-data contained usable timestamps for the ground-truth mapping
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assert(i>0);
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sr.rewind();
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return gtw;
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}
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void run() {
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// sensor numbers
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const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5; const int s_orientation = 6;
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const int s_accel = 0;
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std::list<TurnObservation> turn_observations;
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std::list<StepObservation> step_observations;
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//Create an BarometerSensorReader
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BarometerSensorReader baroSensorReader;
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// activity detection
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ActivityDetection actDet;
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//Read all turn Observations
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while(srt->hasNext()) {
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SensorEntryTurn set = srt->getNext();
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TurnObservation to;
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to.ts = set.ts;
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to.delta_heading = set.delta_heading;
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to.delta_motion = set.delta_motion;
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turn_observations.push_back(to);
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}
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//Step Observations
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while(srs->hasNext()) {
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SensorEntryStep ses = srs->getNext();
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StepObservation so;
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so.ts = ses.ts;
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step_observations.push_back(so);
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}
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// the to-be-evaluated observation
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MyObservation obs;
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obs.step = new StepObservation(); obs.step->steps = 0;
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obs.turn = new TurnObservation(); obs.turn->delta_heading = 0; obs.turn->delta_motion = 0;
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// control data
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MyControl ctrl;
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//History of all estimated particles. Used for smoothing
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std::vector<std::vector<K::Particle<MyState>>> pfHistory;
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std::vector<Point3> smoothedEst;
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std::vector<uint64_t> tsHistory;
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std::vector<Point3> pathEst;
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uint64_t lastTransitionTS = 0;
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int64_t start_time = -1;
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K::Statistics<double> statsFiltering;
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K::Statistics<double> statsSmoothing;
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K::Statistics<float> statsDistFiltering;
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K::Statistics<float> statsDistSmoothing;
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int cnt = 0;
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// error per update-step
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std::vector<float> errorsNorm;
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std::vector<float> errorsSmooth;
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std::vector<float> errorsDistNorm;
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std::vector<float> errorsDistSmooth;
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//stats file
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std::ofstream statsout("/tmp/unsmoothed_" + runName + ".stats");
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// process each single sensor reading
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while(sr->hasNext()) {
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// get the next sensor reading from the CSV
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const SensorEntry se = sr->getNext();
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//start_time needed for time calculation of steps and turns
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obs.latestSensorDataTS = se.ts;
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if (start_time == -1) {start_time = se.ts;}
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int64_t current_time = se.ts - start_time;
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switch(se.idx) {
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case s_wifi: {
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obs.wifi = WiFiSensorReader::readWifi(se);
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break;
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}
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case s_beacons: {
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BeaconObservationEntry boe = BeaconSensorReader::getBeacon(se);
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if (!boe.mac.empty()) {
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obs.beacons.entries.push_back(boe);
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} // add the observed beacon
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obs.beacons.removeOld(obs.latestSensorDataTS);
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break;
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}
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case s_barometer: {
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obs.barometer = baroSensorReader.readBarometer(se);
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actDet.addBaro(baroSensorReader.getHPA(se));
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break;
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}
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case s_accel: {
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float acc[3];
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SensorReaderAccel sre; sre.read(se, acc);
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actDet.addAccel(acc);
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break;
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}
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// case s_linearAcceleration:{
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// baroSensorReader.readVerticalAcceleration(se);
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// break;
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// }
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case s_orientation: {
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obs.orientation = OrientationSensorReader::read(se);
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break;
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}
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}
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// process all occurred turns
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while (!step_observations.empty() && current_time > step_observations.front().ts) {
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const StepObservation _so = step_observations.front(); step_observations.pop_front(); (void) _so;
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obs.step->steps++;
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ctrl.walked_m = obs.step->steps * stepSize;
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}
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// process all occurred steps
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while (!turn_observations.empty() && current_time > turn_observations.front().ts) {
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const TurnObservation _to = turn_observations.front(); turn_observations.pop_front();
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obs.turn->delta_heading += _to.delta_heading;
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obs.turn->delta_motion += _to.delta_motion;
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ctrl.headingChange_rad = Angle::degToRad(obs.turn->delta_heading);
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}
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// currently detected activity
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// TODO: feed sensor values!
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ctrl.currentActivitiy = actDet.getCurrentActivity();
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// this is just for testing purposes
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obs.currentActivity = actDet.getCurrentActivity();
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// time for a transition?
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if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
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lastTransitionTS = se.ts;
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// timed updates
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((MyTransition*)pf->getTransition())->setCurrentTime(lastTransitionTS);
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// update the particle filter (transition + eval), estimate a new current position and add it to the estimated path
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const MyState est = pf->update(&ctrl, obs);
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const Point3 curEst = est.pCur;
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// error calculation. compare ground-truth to estimation
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const int offset = 0;
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const Point3 curGT = gtw.getPosAtTime(se.ts - offset);
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const Point3 diff = curEst - curGT;
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pathEst.push_back(curEst);
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const float err = diff.length();
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const float errDist = gtw.getMinDist(curEst); // minimum distance between estimation and ground-truth
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++cnt;
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// skip the first 24 scans due to uniform distribution start
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if (cnt > 35) {
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statsFiltering.add(err);
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statsDistFiltering.add(errDist);
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errorsNorm.push_back(err);
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errorsDistNorm.push_back(errDist);
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//std::cout << "FilteringTime: " << se.ts << " " << statsFiltering.asString() << std::endl;
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//std::cout << "FilteringDist: " << se.ts << " " << statsDistFiltering.asString() << std::endl;
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//save the current estimation for later smoothing.
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pfHistory.push_back(pf->getNonResamplingParticles());
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tsHistory.push_back(se.ts);
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dumpParticles("filtered", cnt-36, pf->getNonResamplingParticles(), curEst);
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}
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// plot
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vis.clearStates();
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for (int i = 0; i < (int) pf->getParticles().size(); i+=15) {
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const K::Particle<MyState>& p = pf->getParticles()[i];
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vis.addState(p.state.walkState);
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}
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vis.setTimestamp(se.ts);
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vis.addGroundTruth(gtw);
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vis.addEstPath(pathEst);
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vis.setEstAndShould(curEst, curGT);
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if (obs.barometer != nullptr) {
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vis.gp << "set label 112 'baro: " << obs.barometer->hpa << "' at screen 0.1,0.2\n";
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}
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vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << ctrl.headingChange_rad << "' at screen 0.1,0.1\n";
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//vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << obs.orientation.values[0] << "' at screen 0.1,0.1\n";
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Point2 p1(0.1, 0.1);
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Point2 p2 = p1 + Angle::getPointer(ctrl.headingChange_rad) * 0.05;
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//Point2 p2 = p1 + Angle::getPointer(obs.orientation.values[0]) * 0.05;
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vis.gp << "set arrow 999 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
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vis.show();
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// prevent gnuplot errors
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usleep(1000*33);
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}
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}
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statsout.close();
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// Smoothing Part starts here
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// ========================= //
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//File
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//std::ofstream statsout2("/tmp/smoothed_" + runName + ".stats");
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//stats.reset();
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bf->reset();
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vis.resetTimestamp();
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MyState estBF;
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//iterate thru all particle sets from T to t (currentParticleSetToSmoothAtTimeT)
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for(int i = pfHistory.size() - 1; i >= 0 ; i -= MiscSettings::fixedLagGap){
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//Set time
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((MySmoothingTransitionSimple*)bf->getTransition())->setCurrentTime(tsHistory[i]);
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estBF = bf->update(pfHistory[i]);
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smoothedEst.push_back(estBF.pCur);
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}
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for(int t = 0; t < smoothedEst.size(); ++t){
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int idx = smoothedEst.size() - 1 - t;
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const Point3 curSmoothedEst = smoothedEst[idx];
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dumpParticles("smoothed", t, bf->getbackwardParticles()[idx], curSmoothedEst);
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}
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std::reverse(smoothedEst.begin(), smoothedEst.end());
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for(int t = 0; t < smoothedEst.size(); ++t){
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const Point3 curSmoothedEst = smoothedEst[t];
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// error calculation. compare ground-truth to estimation
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const Point3 curGTSmoothed = gtw.getPosAtTime(tsHistory[t]);
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const Point3 diffSmoothed = curSmoothedEst - curGTSmoothed;
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const float errSmoothed = diffSmoothed.length();
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const float errDistSmoothed = gtw.getMinDist(curSmoothedEst); // minimum distance between smoothed-estimation and ground-truth
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statsSmoothing.add(errSmoothed);
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statsDistSmoothing.add(errDistSmoothed);
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errorsSmooth.push_back(errSmoothed);
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errorsDistSmooth.push_back(errDistSmoothed);
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//std::cout << "SmoothingTime: " << tsHistory[t] << " " << statsSmoothing.asString() << std::endl;
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//std::cout << "SmoothingDist: " << tsHistory[t] << " " << statsDistSmoothing.asString() << std::endl;
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// plot
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vis.clearStates();
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for (int j = 0; j < (int) bf->getbackwardParticles().back().size(); j+=15) {
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const K::Particle<MyState>& p = bf->getbackwardParticles().back()[j];
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vis.addState(p.state.walkState);
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}
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vis.setTimestamp(tsHistory[t]);
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vis.addGroundTruth(gtw);
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vis.addEstPath(smoothedEst);
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vis.setEstAndShould(curSmoothedEst, curGTSmoothed);
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|
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if (obs.barometer != nullptr) {
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vis.gp << "set label 112 'baro: " << obs.barometer->hpa << "' at screen 0.1,0.2\n";
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}
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vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << ctrl.headingChange_rad << "' at screen 0.1,0.1\n";
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vis.gp << "set label 112 '" << "Act: " << actDet.toString() << "' at screen 0.1,0.15\n";
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//vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << obs.orientation.values[0] << "' at screen 0.1,0.1\n";
|
|
|
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Point2 p1(0.1, 0.1);
|
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Point2 p2 = p1 + Angle::getPointer(ctrl.headingChange_rad) * 0.05;
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//Point2 p2 = p1 + Angle::getPointer(obs.orientation.values[0]) * 0.05;
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vis.gp << "set arrow 999 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
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|
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vis.show();
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|
|
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// prevent gnuplot errors
|
|
usleep(1000*33);
|
|
}
|
|
|
|
|
|
|
|
//statsout2.close();
|
|
|
|
{ // detailled error-description (normally filtered)
|
|
std::ofstream oError("/tmp/err_norm_" + runName + ".dat");
|
|
for (float f : errorsNorm) {oError << f << "\n";}
|
|
oError.close();
|
|
}
|
|
|
|
{ // detailled error-description (smothed)
|
|
std::ofstream oError("/tmp/err_smooth_" + runName + ".dat");
|
|
for (float f : errorsSmooth) {oError << f << "\n";}
|
|
oError.close();
|
|
}
|
|
|
|
{ // detailled distance-error-description (normally filtered)
|
|
std::ofstream oError("/tmp/err_dist_norm_" + runName + ".dat");
|
|
for (float f : errorsDistNorm) {oError << f << "\n";}
|
|
oError.close();
|
|
}
|
|
|
|
{ // detailled distance-error-description (smothed)
|
|
std::ofstream oError("/tmp/err_dist_smooth_" + runName + ".dat");
|
|
for (float f : errorsDistSmooth) {oError << f << "\n";}
|
|
oError.close();
|
|
}
|
|
|
|
// plot
|
|
//vis.clearStates();
|
|
vis.gp.setTerminal("png", K::GnuplotSize(1280 * 2.54, 720 * 2.54) );
|
|
vis.gp.setOutput("/tmp/" + runName + ".png");
|
|
vis.gp << "set view 60," << 40 << "\n"; //For fixed position
|
|
|
|
for (int j = 0; j < (int) bf->getbackwardParticles().back().size(); j+=15) {
|
|
const K::Particle<MyState>& p = bf->getbackwardParticles().back()[j];
|
|
vis.addState(p.state.walkState);
|
|
}
|
|
//vis.setTimestamp(se.ts);
|
|
vis.setFilteringMedian(statsFiltering.getMedian());
|
|
vis.setSmoothingMedian(statsSmoothing.getMedian());
|
|
vis.addGroundTruth(gtw);
|
|
vis.addEstPath(pathEst);
|
|
vis.addSmoothPath(smoothedEst);
|
|
//vis.setEstAndShould(curEst, curGT);
|
|
//vis.setEstAndShould2(curSmoothedEst, curGTSmoothed);
|
|
|
|
if (obs.barometer != nullptr) {
|
|
vis.gp << "set label 112 'baro: " << obs.barometer->hpa << "' at screen 0.1,0.2\n";
|
|
}
|
|
vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << ctrl.headingChange_rad << "' at screen 0.1,0.1\n";
|
|
|
|
//vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << obs.orientation.values[0] << "' at screen 0.1,0.1\n";
|
|
|
|
Point2 p1(0.1, 0.1);
|
|
Point2 p2 = p1 + Angle::getPointer(ctrl.headingChange_rad) * 0.05;
|
|
//Point2 p2 = p1 + Angle::getPointer(obs.orientation.values[0]) * 0.05;
|
|
vis.gp << "set arrow 999 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
|
|
|
|
vis.show();
|
|
vis.show();
|
|
vis.show();
|
|
vis.show();
|
|
|
|
// prevent gnuplot errors
|
|
usleep(1000*33);
|
|
|
|
|
|
// append error for each run to a file
|
|
std::ofstream oTError("/tmp/errorsFilter.txt", std::ios_base::app);
|
|
oTError << runName << "\n\t"; statsFiltering.appendTo(oTError); oTError << "\n\n";
|
|
oTError.close();
|
|
|
|
// append error for each run to a file
|
|
std::ofstream oSError("/tmp/errorsSmoothing.txt", std::ios_base::app);
|
|
oSError << runName << "\n\t"; statsSmoothing.appendTo(oSError); oSError << "\n\n";
|
|
oSError.close();
|
|
|
|
// append error for each run to a file
|
|
std::ofstream oTDError("/tmp/errorsDistFiltering.txt", std::ios_base::app);
|
|
oTDError << runName << "\n\t"; statsDistFiltering.appendTo(oTDError); oTDError << "\n\n";
|
|
oTDError.close();
|
|
|
|
// append error for each run to a file
|
|
std::ofstream oSDError("/tmp/errorsDistSmoothing.txt", std::ios_base::app);
|
|
oSDError << runName << "\n\t"; statsDistSmoothing.appendTo(oSDError); oSDError << "\n\n";
|
|
oSDError.close();
|
|
|
|
|
|
// plot-data
|
|
std::ofstream oPath("/tmp/path_" + runName + ".dat"); vis.groundTruth.addDataTo(oPath); oPath.close(); // ground truth
|
|
std::ofstream oEstN("/tmp/est_norm_" + runName + ".dat"); vis.estPath.addDataTo(oEstN); oEstN.close(); // estimation via filter itself
|
|
std::ofstream oEstS("/tmp/est_smooth_" + runName + ".dat"); vis.smoothPath.addDataTo(oEstS); oEstS.close(); // estimation via smoothing
|
|
std::ofstream oFloor("/tmp/floors.dat"); vis.floors.addDataTo(oFloor); oFloor.close();
|
|
|
|
std::ofstream oPlot("/tmp/plot_" + runName + ".gp");
|
|
|
|
oPlot << "set terminal eps size 3.4,2\n";
|
|
oPlot << "set output '" << runName << ".eps'\n";
|
|
oPlot << "set termoption dashlength 0.5\n";
|
|
|
|
oPlot << "set ticslevel 0\n";
|
|
oPlot << "set view equal xy\n";
|
|
oPlot << "set zrange [0:2200]\n";
|
|
oPlot << "set multiplot layout 1,1 scale 2.7,2.7 offset 0,0.23\n";
|
|
oPlot << "set view 72,33\n";
|
|
|
|
oPlot << "unset border\n";
|
|
oPlot << "unset xtics\n";
|
|
oPlot << "unset ytics\n";
|
|
oPlot << "unset ztics\n";
|
|
|
|
oPlot << "splot \\\n";
|
|
oPlot << "'floors.dat' skip 21 notitle with lines lc rgb '#777777', \\\n";
|
|
oPlot << "'path_" << runName << ".dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \\\n";
|
|
oPlot << "'est_norm_" << runName << ".dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099', ";
|
|
oPlot << "'est_smooth_" << runName << ".dat' skip 21 notitle with lines lw 2.5 lc rgb '#000000' ";
|
|
|
|
oPlot.close();
|
|
|
|
{
|
|
std::ofstream oErrPlot("/tmp/plot_err_" + runName + ".gp");
|
|
oErrPlot << "plot \\\n";
|
|
oErrPlot << "'err_norm_" << runName << ".dat' with lines, \\\n";
|
|
oErrPlot << "'err_smooth_" << runName << ".dat' with lines";
|
|
oErrPlot.close();
|
|
}
|
|
|
|
{
|
|
std::ofstream oErrPlot("/tmp/plot_dist_err_" + runName + ".gp");
|
|
oErrPlot << "plot \\\n";
|
|
oErrPlot << "'err_dist_norm_" << runName << ".dat' with lines, \\\n";
|
|
oErrPlot << "'err_dist_smooth_" << runName << ".dat' with lines";
|
|
oErrPlot.close();
|
|
}
|
|
}
|
|
|
|
};
|
|
|
|
#endif // EVALBASE_H
|