def construct_features_kinematics(self): """ Independently loads/sets-up the kinematics in self.data_W. """ for demonstration in self.list_of_demonstrations: W = utils.sample_matrix(utils.get_kinematic_features(demonstration), sampling_rate = self.sr) scaler = preprocessing.StandardScaler().fit(W) self.data_W[demonstration] = scaler.transform(W)
def construct_features_kinematics(self):
"""
Independently loads/sets-up the kinematics in self.data_W.
"""
for demonstration in self.list_of_demonstrations:
W = utils.sample_matrix(
utils.get_kinematic_features(demonstration),
sampling_rate=self.sr)
scaler = preprocessing.StandardScaler().fit(W)
self.data_W[demonstration] = scaler.transform(W)
def construct_features_kinematics(self): """ Loads kinematic features (saved in text files) and populates self.data_X dictionary """ for demonstration in self.list_of_demonstrations: W = utils.sample_matrix(utils.get_kinematic_features(demonstration), sampling_rate = self.sr) scaler = preprocessing.StandardScaler().fit(W) self.data_X[demonstration] = scaler.transform(W) print "Kinematics ", demonstration, self.data_X[demonstration].shape
def construct_features_kinematics(self):
"""
Loads kinematic features (saved in text files) and populates
self.data_X dictionary
"""
for demonstration in self.list_of_demonstrations:
W = utils.sample_matrix(utils.get_kinematic_features(demonstration), sampling_rate=self.sr)
scaler = preprocessing.StandardScaler().fit(W)
self.data_X[demonstration] = scaler.transform(W)
print "Kinematics ", demonstration, self.data_X[demonstration].shape
def main(DEBUG=False):
if DEBUG:
list_of_demonstrations = [
'Suturing_E005',
]
else:
# list_of_demonstrations = ["plane_3", "plane_4", "plane_5",
# "plane_6", "plane_7", "plane_8", "plane_9", "plane_10"]
# list_of_demonstrations = ["plane_6", "plane_7", "plane_8", "plane_9", "plane_10"]
# list_of_demonstrations = ["011_01", "011_02", "011_03", "011_04", "011_05"]
list_of_demonstrations = [
"010_01", "010_02", "010_03", "010_04", "010_05"
]
# list_of_demonstrations = ["Needle_Passing_E001", "Needle_Passing_E003", "Needle_Passing_E004", "Needle_Passing_E005",
# "Needle_Passing_D001", "Needle_Passing_D002","Needle_Passing_D003", "Needle_Passing_D004", "Needle_Passing_D005"]
# list_of_demonstrations = ["people_0", "people_1", "people_2", "people_3", "people_4", "people_5", "people_6"]
# list_of_demonstrations = ['Suturing_G002', 'Suturing_G004', 'Suturing_G005',
# 'Suturing_H003', 'Suturing_H004', 'Suturing_H005',
# 'Suturing_I001', 'Suturing_I002', 'Suturing_I003', 'Suturing_I004', 'Suturing_I005']
# list_of_demonstrations = ['Suturing_E001','Suturing_E002', 'Suturing_E003', 'Suturing_E004', 'Suturing_E005',
# 'Suturing_D001','Suturing_D002', 'Suturing_D003', 'Suturing_D004', 'Suturing_D005',
# 'Suturing_C001','Suturing_C002', 'Suturing_C003', 'Suturing_C004', 'Suturing_C005',
# 'Suturing_F001','Suturing_F002', 'Suturing_F003', 'Suturing_F004', 'Suturing_F005',
# 'Suturing_G002', 'Suturing_G004', 'Suturing_G005',
# 'Suturing_H003', 'Suturing_H004', 'Suturing_H005',
# 'Suturing_I001', 'Suturing_I002', 'Suturing_I003', 'Suturing_I004', 'Suturing_I005',
# 'Suturing_B001', 'Suturing_B002', 'Suturing_B003', 'Suturing_B004', 'Suturing_B005']
# list_of_demonstrations = ["Needle_Passing_B001", "Needle_Passing_B002", "Needle_Passing_B003", "Needle_Passing_B004",
# "Needle_Passing_C001","Needle_Passing_C002", "Needle_Passing_C003", "Needle_Passing_C004", "Needle_Passing_C005",
# "Needle_Passing_D001","Needle_Passing_D002", "Needle_Passing_D003", "Needle_Passing_D004", "Needle_Passing_D005",
# "Needle_Passing_E001", "Needle_Passing_E003", "Needle_Passing_E004", "Needle_Passing_E005",
# "Needle_Passing_F001", "Needle_Passing_F003", "Needle_Passing_F004",
# "Needle_Passing_H002", "Needle_Passing_H004", "Needle_Passing_H005",
# "Needle_Passing_I002", "Needle_Passing_I003", "Needle_Passing_I004","Needle_Passing_I005"]
# Experts + Intermediates (Needle Passing)
# list_of_demonstrations = ["Needle_Passing_C001","Needle_Passing_C002", "Needle_Passing_C003", "Needle_Passing_C004", "Needle_Passing_C005",
# "Needle_Passing_D001","Needle_Passing_D002", "Needle_Passing_D003", "Needle_Passing_D004", "Needle_Passing_D005",
# "Needle_Passing_E001", "Needle_Passing_E003", "Needle_Passing_E004", "Needle_Passing_E005",
# "Needle_Passing_F001", "Needle_Passing_F003", "Needle_Passing_F004"]
# list_of_demonstrations = ["lego_2", "lego_3", "lego_4", "lego_5", "lego_6", "lego_7"]
# list_of_demonstrations = ["people2_2", "people2_3", "people2_4", "people2_5", "people2_6", "people2_7"]
list_of_demonstrations = [
'Suturing_E001', 'Suturing_E002', 'Suturing_E003', 'Suturing_E004',
'Suturing_E005'
]
# Parse Kinematic Features
print "Parsing Kinematic Features"
kinematics = {}
for demonstration in list_of_demonstrations:
W = utils.get_kinematic_features(demonstration)
kinematics[demonstration] = W
sr = constants.SR
print "Sampling rate:", sr
featurize_sift(list_of_demonstrations, kinematics, sr)
# featurize_1(list_of_demonstrations, kinematics, sr)
# featurize_2(list_of_demonstrations, kinematics, sr)
# featurize_3(list_of_demonstrations, kinematics, sr)
# featurize_4(list_of_demonstrations, kinematics, sr)
# featurize_5(list_of_demonstrations, kinematics, sr)
# featurize_6(list_of_demonstrations, kinematics, sr)
# featurize_7(list_of_demonstrations, kinematics, sr)
# featurize_8(list_of_demonstrations, kinematics, sr)
# featurize_visual(list_of_demonstrations, sr)
featurize_PCA(list_of_demonstrations, kinematics, sr)
pass
def main(DEBUG = False):
if DEBUG:
list_of_demonstrations = ['Suturing_E005',]
else:
# list_of_demonstrations = ["plane_3", "plane_4", "plane_5",
# "plane_6", "plane_7", "plane_8", "plane_9", "plane_10"]
# list_of_demonstrations = ["plane_6", "plane_7", "plane_8", "plane_9", "plane_10"]
# list_of_demonstrations = ["011_01", "011_02", "011_03", "011_04", "011_05"]
list_of_demonstrations = ["010_01", "010_02", "010_03", "010_04", "010_05"]
# list_of_demonstrations = ["Needle_Passing_E001", "Needle_Passing_E003", "Needle_Passing_E004", "Needle_Passing_E005",
# "Needle_Passing_D001", "Needle_Passing_D002","Needle_Passing_D003", "Needle_Passing_D004", "Needle_Passing_D005"]
# list_of_demonstrations = ["people_0", "people_1", "people_2", "people_3", "people_4", "people_5", "people_6"]
# list_of_demonstrations = ['Suturing_G002', 'Suturing_G004', 'Suturing_G005',
# 'Suturing_H003', 'Suturing_H004', 'Suturing_H005',
# 'Suturing_I001', 'Suturing_I002', 'Suturing_I003', 'Suturing_I004', 'Suturing_I005']
# list_of_demonstrations = ['Suturing_E001','Suturing_E002', 'Suturing_E003', 'Suturing_E004', 'Suturing_E005',
# 'Suturing_D001','Suturing_D002', 'Suturing_D003', 'Suturing_D004', 'Suturing_D005',
# 'Suturing_C001','Suturing_C002', 'Suturing_C003', 'Suturing_C004', 'Suturing_C005',
# 'Suturing_F001','Suturing_F002', 'Suturing_F003', 'Suturing_F004', 'Suturing_F005',
# 'Suturing_G002', 'Suturing_G004', 'Suturing_G005',
# 'Suturing_H003', 'Suturing_H004', 'Suturing_H005',
# 'Suturing_I001', 'Suturing_I002', 'Suturing_I003', 'Suturing_I004', 'Suturing_I005',
# 'Suturing_B001', 'Suturing_B002', 'Suturing_B003', 'Suturing_B004', 'Suturing_B005']
# list_of_demonstrations = ["Needle_Passing_B001", "Needle_Passing_B002", "Needle_Passing_B003", "Needle_Passing_B004",
# "Needle_Passing_C001","Needle_Passing_C002", "Needle_Passing_C003", "Needle_Passing_C004", "Needle_Passing_C005",
# "Needle_Passing_D001","Needle_Passing_D002", "Needle_Passing_D003", "Needle_Passing_D004", "Needle_Passing_D005",
# "Needle_Passing_E001", "Needle_Passing_E003", "Needle_Passing_E004", "Needle_Passing_E005",
# "Needle_Passing_F001", "Needle_Passing_F003", "Needle_Passing_F004",
# "Needle_Passing_H002", "Needle_Passing_H004", "Needle_Passing_H005",
# "Needle_Passing_I002", "Needle_Passing_I003", "Needle_Passing_I004","Needle_Passing_I005"]
# Experts + Intermediates (Needle Passing)
# list_of_demonstrations = ["Needle_Passing_C001","Needle_Passing_C002", "Needle_Passing_C003", "Needle_Passing_C004", "Needle_Passing_C005",
# "Needle_Passing_D001","Needle_Passing_D002", "Needle_Passing_D003", "Needle_Passing_D004", "Needle_Passing_D005",
# "Needle_Passing_E001", "Needle_Passing_E003", "Needle_Passing_E004", "Needle_Passing_E005",
# "Needle_Passing_F001", "Needle_Passing_F003", "Needle_Passing_F004"]
# list_of_demonstrations = ["lego_2", "lego_3", "lego_4", "lego_5", "lego_6", "lego_7"]
# list_of_demonstrations = ["people2_2", "people2_3", "people2_4", "people2_5", "people2_6", "people2_7"]
list_of_demonstrations = ['Suturing_E001','Suturing_E002', 'Suturing_E003', 'Suturing_E004', 'Suturing_E005']
# Parse Kinematic Features
print "Parsing Kinematic Features"
kinematics = {}
for demonstration in list_of_demonstrations:
W = utils.get_kinematic_features(demonstration)
kinematics[demonstration] = W
sr = constants.SR
print "Sampling rate:",sr
featurize_sift(list_of_demonstrations, kinematics, sr)
# featurize_1(list_of_demonstrations, kinematics, sr)
# featurize_2(list_of_demonstrations, kinematics, sr)
# featurize_3(list_of_demonstrations, kinematics, sr)
# featurize_4(list_of_demonstrations, kinematics, sr)
# featurize_5(list_of_demonstrations, kinematics, sr)
# featurize_6(list_of_demonstrations, kinematics, sr)
# featurize_7(list_of_demonstrations, kinematics, sr)
# featurize_8(list_of_demonstrations, kinematics, sr)
# featurize_visual(list_of_demonstrations, sr)
featurize_PCA(list_of_demonstrations, kinematics, sr)
pass
