parskip=relative provoziert TeX grouping error bei TikZ-Bildern

\documentclass[%
   %draft,     % Entwurfsstadium
   final,      % fertiges Dokument
	 % --- Paper Settings ---
   paper=a4,% [Todo: add alternatives]  %%PW: A5 soll man nicht machen. Univerlag will A4 auch bei Druck in A5. A5 erfordert Nacharbeit bei Skalierung von Titelblatt, TikZ-Bildern, Langen Formeln
   paper=portrait, % landscape
   pagesize=auto, % driver
   % --- Base Font Size ---
   fontsize=11pt,%
	 % --- Koma Script Version ---
   version=last, %
 ]{scrbook} % Classes: scrartcl, scrreprt, scrbook
 
\KOMAoptions{%
	  parskip=relative, % change indentation according to fontsize (recommended)
   %parskip=absolute, % do not change indentation according to fontsize
   % parskip=false    % indentation of 1em
   % parskip=true   % parksip of 1 line - with free space in last line of 1em
   % parskip=full-  % parksip of 1 line - no adjustment
   % parskip=full+  % parksip of 1 line - with free space in last line of 1/4
   % parskip=full*  % parksip of 1 line - with free space in last line of 1/3     %% TeX Grouping Capacity Fehler wenn TikZ-Bilder kommen. Seltsam.
   % parskip=half   % parksip of 1/2 line - with free space in last line of 1em
   % parskip=half-  % parksip of 1/2 line - no adjustment
   % parskip=half+  % parksip of 1/2 line - with free space in last line of 1/3
   % parskip=half*  % parksip of 1/2 line - with free space in last line of 1em
}%
 
\usepackage{tikz}
 
\usetikzlibrary{decorations.pathmorphing} % noisy shapes
\usetikzlibrary{fit}					% fitting shapes to coordinates
\usetikzlibrary{backgrounds}	% drawing the background after the foreground
\usetikzlibrary{arrows}
 
\pagestyle{empty}
 
 
\begin{document}
 
\input{TikZpolarizingmicroscope.tex}
\input{kalman-filter_tikz_img.tex}
 
\end{document}

% Polarizing microscope
% Author: Cyril Langlois
% This TikZ code sketches the light behavior during its travel in a polarizing
% petrographic microscope when a birefringent crystal thin section is inserted
% between the polarizing devices.
% 
% The goal was to correctly show the vectorial relationships between light
% electric fields during its travel through the first polaroid, the mineral
% section and the second polaroid.
 
%%%<
\begin{tikzpicture}[x={(0.866cm,-0.5cm)}, y={(0.866cm,0.5cm)}, z={(0cm,1cm)}, scale=1.0,
    %Option for nice arrows
    >=stealth, %
    inner sep=0pt, outer sep=2pt,%
    axis/.style={thick,->},
    wave/.style={thick,color=#1,smooth},
    polaroid/.style={fill=black!60!white, opacity=0.3},
]
    % Colors
    \colorlet{darkgreen}{green!50!black}
    \colorlet{lightgreen}{green!80!black}
    \colorlet{darkred}{red!50!black}
    \colorlet{lightred}{red!80!black}
 
    % Frame
    \coordinate (O) at (0, 0, 0);
    \draw[axis] (O) -- +(14, 0,   0) node [right] {x};
    \draw[axis] (O) -- +(0,  2.5, 0) node [right] {y};
    \draw[axis] (O) -- +(0,  0,   2) node [above] {z};
 
    \draw[thick,dashed] (-2,0,0) -- (O);
 
    % monochromatic incident light with electric field
    \draw[wave=blue, opacity=0.7, variable=\x, samples at={-2,-1.75,...,0}]
        plot (\x, { cos(1.0*\x r)*sin(2.0*\x r)}, { sin(1.0*\x r)*sin(2.0*\x r)})
        plot (\x, {-cos(1.0*\x r)*sin(2.0*\x r)}, {-sin(1.0*\x r)*sin(2.0*\x r)});
 
    \foreach \x in{-2,-1.75,...,0}{
        \draw[color=blue, opacity=0.7,->]
            (\x,0,0) -- (\x, { cos(1.0*\x r)*sin(2.0*\x r)}, { sin(1.0*\x r)*sin(2.0*\x r)})
            (\x,0,0) -- (\x, {-cos(1.0*\x r)*sin(2.0*\x r)}, {-sin(1.0*\x r)*sin(2.0*\x r)});
    }
 
    \filldraw[polaroid] (0,-2,-1.5) -- (0,-2,1.5) -- (0,2,1.5) -- (0,2,-1.5) -- (0,-2,-1.5)
        node[below, sloped, near end]{Polaroid};%
 
    %Direction of polarization
    \draw[thick,<->] (0,-1.75,-1) -- (0,-0.75,-1);
 
    % Electric field vectors
    \draw[wave=blue, variable=\x,samples at={0,0.25,...,6}]
        plot (\x,{sin(2*\x r)},0)node[anchor=north]{$\vec{E}$};
 
    %Polarized light between polaroid and thin section
    \foreach \x in{0, 0.25,...,6}
        \draw[color=blue,->] (\x,0,0) -- (\x,{sin(2*\x r)},0);
 
    \draw (3,1,1) node [text width=2.5cm, text centered]{Polarized light};
 
    %Crystal thin section
    \begin{scope}[thick]
        \draw (6,-2,-1.5) -- (6,-2,1.5) node [above, sloped, midway]{Crystal section}
                -- (6, 2, 1.5) -- (6, 2, -1.5) -- cycle % First face
            (6,  -2, -1.5) -- (6.2, -2,-1.5)
            (6,   2, -1.5) -- (6.2,  2,-1.5)
            (6,  -2,  1.5) -- (6.2, -2, 1.5)
            (6,   2,  1.5) -- (6.2,  2, 1.5)
            (6.2,-2, -1.5) -- (6.2, -2, 1.5) -- (6.2, 2, 1.5) 
                -- (6.2, 2, -1.5) -- cycle; % Second face
 
        %Optical indices
        \draw[darkred, ->]       (6.1, 0, 0) -- (6.1, 0.26,  0.966) node [right] {$n_{g}'$}; % index 1
        \draw[darkred, dashed]   (6.1, 0, 0) -- (6.1,-0.26, -0.966); % index 1
        \draw[darkgreen, ->]     (6.1, 0, 0) -- (6.1, 0.644,-0.173) node [right] {$n_{p}'$}; % index 2
        \draw[darkgreen, dashed] (6.1, 0, 0) -- (6.1,-0.644, 0.173); % index 2
    \end{scope}
 
    %Rays leaving thin section
    \draw[wave=darkred,   variable=\x, samples at={6.2,6.45,...,12}] 
        plot (\x, {0.26*0.26*sin(2*(\x-0.5) r)},  {0.966*0.26*sin(2*(\x-0.5) r)});  %n'g-oriented ray
    \draw[wave=darkgreen, variable=\x, samples at={6.2,6.45,...,12}]
        plot (\x, {0.966*0.966*sin(2*(\x-0.1) r)},{-0.26*0.966*sin(2*(\x-0.1) r)}); %n'p-oriented ray
    \draw (10,1,1) node [text width=2.5cm, text centered] {Polarized and dephased light};
 
    \foreach \x in{6.2,6.45,...,12} {
        \draw[color=darkgreen, ->] (\x, 0, 0) --
            (\x, {0.966*0.966*sin(2*(\x-0.1) r)}, {-0.26*0.966*sin(2*(\x-0.1) r)});
        \draw[color=darkred,   ->] (\x, 0, 0) --
            (\x, {0.26*0.26*sin(2*(\x-0.5) r)}, {0.966*0.26*sin(2*(\x-0.5) r)});
    }
 
    %Second polarization
    \draw[polaroid]   (12, -2,  -1.5) -- (12, -2,   1.5)  %Polarizing filter
        node [above, sloped,midway] {Polaroid} -- (12, 2, 1.5) -- (12, 2, -1.5) -- cycle;
    \draw[thick, <->] (12, -1.5,-0.5) -- (12, -1.5, 0.5); %Polarization direction
 
    %Light leaving the second polaroid
    \draw[wave=lightgreen,variable=\x, samples at={12, 12.25,..., 14}]
        plot (\x,{0}, {0.966*0.966*0.26*sin(2*(\x-0.5) r)}); %n'g polarized ray
    \draw[wave=lightred,  variable=\x, samples at={12, 12.25,..., 14}]
        plot (\x,{0}, {-0.26*0.966*sin(2*(\x-0.1) r)});      %n'p polarized ray
 
    \node[text width=14cm, anchor=north west, yshift=-2mm] at (current bounding box.south west)
        {Light behavior in a petrographic microscope with light polarizing
        device. Only one incident wavelength is shown (monochromatic light).
        The magnetic field, perpendicular to the electric one, is not drawn.};
\end{tikzpicture}

\begin{figure}[htbp]
\centering
% The state vector is represented by a blue circle.
% "minimum size" makes sure all circles have the same size
% independently of their contents.
\tikzstyle{state}=[circle,
                                    thick,
                                    minimum size=1.2cm,
                                    draw=blue!80,
                                    fill=blue!20]
 
% The measurement vector is represented by an orange circle.
\tikzstyle{measurement}=[circle,
                                                thick,
                                                minimum size=1.2cm,
                                                draw=orange!80,
                                                fill=orange!25]
 
% The control input vector is represented by a purple circle.
\tikzstyle{input}=[circle,
                                    thick,
                                    minimum size=1.2cm,
                                    draw=purple!80,
                                    fill=purple!20]
 
% The input, state transition, and measurement matrices
% are represented by gray squares.
% They have a smaller minimal size for aesthetic reasons.
\tikzstyle{matrx}=[rectangle,
                                    thick,
                                    minimum size=1cm,
                                    draw=gray!80,
                                    fill=gray!20]
 
% The system and measurement noise are represented by yellow
% circles with a "noisy" uneven circumference.
% This requires the TikZ library "decorations.pathmorphing".
\tikzstyle{noise}=[circle,
                                    thick,
                                    minimum size=1.2cm,
                                    draw=yellow!85!black,
                                    fill=yellow!40,
                                    decorate,
                                    decoration={random steps,
                                                            segment length=2pt,
                                                            amplitude=2pt}]
 
% Everything is drawn on underlying gray rectangles with
% rounded corners.
\tikzstyle{background}=[rectangle,
                                                fill=gray!10,
                                                inner sep=0.2cm,
                                                rounded corners=5mm]
 
\begin{tikzpicture}[>=latex,text height=1.5ex,text depth=0.25ex]
    % "text height" and "text depth" are required to vertically
    % align the labels with and without indices.
 
  % The various elements are conveniently placed using a matrix:
  \matrix[row sep=0.5cm,column sep=0.5cm] {
    % First line: Control input
    &
        \node (u_k-1) [input]{$\mathbf{u}_{k-1}$}; &
        &
        \node (u_k)   [input]{$\mathbf{u}_k$};     &
        &
        \node (u_k+1) [input]{$\mathbf{u}_{k+1}$}; &
        \\
        % Second line: System noise & input matrix
        \node (w_k-1) [noise] {$\mathbf{w}_{k-1}$}; &
        \node (B_k-1) [matrx] {$\mathbf{B}$};       &
        \node (w_k)   [noise] {$\mathbf{w}_k$};     &
        \node (B_k)   [matrx] {$\mathbf{B}$};       &
        \node (w_k+1) [noise] {$\mathbf{w}_{k+1}$}; &
        \node (B_k+1) [matrx] {$\mathbf{B}$};       &
        \\
        % Third line: State & state transition matrix
        \node (A_k-2)         {$\cdots$};           &
        \node (x_k-1) [state] {$\mathbf{x}_{k-1}$}; &
        \node (A_k-1) [matrx] {$\mathbf{A}$};       &
        \node (x_k)   [state] {$\mathbf{x}_k$};     &
        \node (A_k)   [matrx] {$\mathbf{A}$};       &
        \node (x_k+1) [state] {$\mathbf{x}_{k+1}$}; &
        \node (A_k+1)         {$\cdots$};           \\
        % Fourth line: Measurement noise & measurement matrix
        \node (v_k-1) [noise] {$\mathbf{v}_{k-1}$}; &
        \node (H_k-1) [matrx] {$\mathbf{H}$};       &
        \node (v_k)   [noise] {$\mathbf{v}_k$};     &
        \node (H_k)   [matrx] {$\mathbf{H}$};       &
        \node (v_k+1) [noise] {$\mathbf{v}_{k+1}$}; &
        \node (H_k+1) [matrx] {$\mathbf{H}$};       &
        \\
        % Fifth line: Measurement
        &
        \node (z_k-1) [measurement] {$\mathbf{z}_{k-1}$}; &
        &
        \node (z_k)   [measurement] {$\mathbf{z}_k$};     &
        &
        \node (z_k+1) [measurement] {$\mathbf{z}_{k+1}$}; &
        \\
    };
 
    % The diagram elements are now connected through arrows:
    \path[->]
        (A_k-2) edge[thick] (x_k-1)	% The main path between the
        (x_k-1) edge[thick] (A_k-1)	% states via the state
        (A_k-1) edge[thick] (x_k)		% transition matrices is
        (x_k)   edge[thick] (A_k)		% accentuated.
        (A_k)   edge[thick] (x_k+1)	% x -> A -> x -> A -> ...
        (x_k+1) edge[thick] (A_k+1)
 
        (x_k-1) edge (H_k-1)				% Output path x -> H -> z
        (H_k-1) edge (z_k-1)
        (x_k)   edge (H_k)
        (H_k)   edge (z_k)
        (x_k+1) edge (H_k+1)
        (H_k+1) edge (z_k+1)
 
        (v_k-1) edge (z_k-1)				% Output noise v -> z
        (v_k)   edge (z_k)
        (v_k+1) edge (z_k+1)
 
        (w_k-1) edge (x_k-1)				% System noise w -> x
        (w_k)   edge (x_k)
        (w_k+1) edge (x_k+1)
 
        (u_k-1) edge (B_k-1)				% Input path u -> B -> x
        (B_k-1) edge (x_k-1)
        (u_k)   edge (B_k)
        (B_k)   edge (x_k)
        (u_k+1) edge (B_k+1)
        (B_k+1) edge (x_k+1)
        ;
 
    % Now that the diagram has been drawn, background rectangles
    % can be fitted to its elements. This requires the TikZ
    % libraries "fit" and "background".
    % Control input and measurement are labeled. These labels have
    % not been translated to English as "Measurement" instead of
    % "Messung" would not look good due to it being too long a word.
    \begin{pgfonlayer}{background}
        \node [background,
                    fit=(u_k-1) (u_k+1),
                    label=left:Entrance:] {};
        \node [background,
                    fit=(w_k-1) (v_k-1) (A_k+1)] {};
        \node [background,
                    fit=(z_k-1) (z_k+1),
                    label=left:Measure:] {};
    \end{pgfonlayer}
\end{tikzpicture}
 
\caption[Shortened for TOC: System model of the (linear) Kalman filter.]{This is the system model of the (linear) Kalman filter. At each time step the state vector $\mathbf{x}_k$ is propagated to the new state
estimation $\mathbf{x}_{k+1}$ by multiplication with the constant state transition matrix $\mathbf{A}$. The state vector $\mathbf{x}_{k+1}$ is additionally influenced by the control input vector $\mathbf{u}_{k+1}$ multiplied by the input matrix $\mathbf{B}$, and the system noise vector $\mathbf{w}_{k+1}$. The system state cannot be measured directly. The measurement vector $\mathbf{z}_k$ consists of the information contained within the state vector $\mathbf{x}_k$ multiplied by the measurement matrix $\mathbf{H}$, and the additional measurement noise $\mathbf{v}_k$.}
\end{figure}