def predict(min_proba):
# Load classifier along with the label encoder.
with open(os.path.join(common.PRJ_DIR, common.SVM_MODEL), 'rb') as fp:
model = pickle.load(fp)
with open(os.path.join(common.PRJ_DIR, common.LABELS), 'rb') as fp:
le = pickle.load(fp)
# Calculate size of radar image data array used for training.
train_size_z = int((common.R_MAX - common.R_MIN) / common.R_RES) + 1
train_size_y = int((common.PHI_MAX - common.PHI_MIN) / common.PHI_RES) + 1
train_size_x = int(
(common.THETA_MAX - common.THETA_MIN) / common.THETA_RES) + 1
logger.debug(f'train_size: {train_size_x}, {train_size_y}, {train_size_z}')
try:
while True:
# Scan according to profile and record targets.
radar.Trigger()
# Retrieve any targets from the last recording.
targets = radar.GetSensorTargets()
if not targets:
continue
# Retrieve the last completed triggered recording
raw_image, size_x, size_y, size_z, _ = radar.GetRawImage()
raw_image_np = np.array(raw_image, dtype=np.float32)
for t, target in enumerate(targets):
logger.info('**********')
logger.info(
'Target #{}:\nx: {}\ny: {}\nz: {}\namplitude: {}\n'.format(
t + 1, target.xPosCm, target.yPosCm, target.zPosCm,
target.amplitude))
i, j, k = common.calculate_matrix_indices(
target.xPosCm, target.yPosCm, target.zPosCm, size_x,
size_y, size_z)
# projection_yz is the 2D projection of target in y-z plane.
projection_yz = raw_image_np[i, :, :]
# projection_xz is the 2D projection of target in x-z plane.
projection_xz = raw_image_np[:, j, :]
# projection_xy is 2D projection of target signal in x-y plane.
projection_xy = raw_image_np[:, :, k]
proj_zoom = calc_proj_zoom(train_size_x, train_size_y,
train_size_z, size_x, size_y,
size_z)
observation = common.process_samples(
[(projection_xz, projection_yz, projection_xy)],
proj_mask=PROJ_MASK,
proj_zoom=proj_zoom,
scale=True)
# Make a prediction.
name, prob = classifier(observation, model, le, min_proba)
logger.info(f'Detected {name} with probability {prob}')
logger.info('**********')
except KeyboardInterrupt:
pass
finally:
# Stop and Disconnect.
radar.Stop()
radar.Disconnect()
radar.Clean()
logger.info('Successful radar shutdown.')
return
def main():
# Load radar observations and labels.
with open(path.join(common.PRJ_DIR, common.RADAR_DATA), 'rb') as fp:
data_pickle = pickle.load(fp)
print('Loading and scaling samples.')
processed_samples = common.process_samples(data_pickle['samples'],
proj_mask=PROJ_MASK)
#print('processed_samples {}'.format(processed_samples))
# Encode the labels.
print('Encoding labels.')
le = LabelEncoder()
encoded_labels = le.fit_transform(data_pickle['labels'])
class_names = list(le.classes_)
print(f'class names: {class_names}')
# Balance the dataset.
balanced_labels, balanced_data = balance_classes(encoded_labels,
processed_samples)
# Plot the dataset.
plot_data = balanced_data
plot_dataset(balanced_labels, plot_data)
# Split data up into train and test sets.
(X_train, X_test, y_train,
y_test) = train_test_split(balanced_data,
balanced_labels,
test_size=0.20,
random_state=RANDOM_SEED,
shuffle=True)
#print('X_train: {} X_test: {} y_train: {} y_test: {}'.format(X_train, X_test, y_train, y_test))
skf = StratifiedKFold(n_splits=FOLDS)
# Find best svm classifier, evaluate and then save it.
best_svm = find_best_svm_estimator(X_train, y_train,
skf.split(X_train, y_train),
RANDOM_SEED)
evaluate_model(best_svm, X_test, y_test, class_names, SVM_CM)
print('\n Saving svm model...')
with open(path.join(common.PRJ_DIR, common.SVM_MODEL), 'wb') as outfile:
outfile.write(pickle.dumps(best_svm))
"""
# Find best XGBoost classifier, evaluate and save it.
best_xgb = find_best_xgb_estimator(X_train, y_train, skf.split(X_train, y_train),
PARA_COMB, RANDOM_SEED)
evaluate_model(best_xgb, X_test, y_test, class_names, XGB_CM)
print('\n Saving xgb model...')
with open(path.join(common.PRJ_DIR, common.XGB_MODEL), 'wb') as outfile:
outfile.write(pickle.dumps(best_xgb))
"""
# Write the label encoder to disk.
print('\n Saving label encoder.')
with open(path.join(common.PRJ_DIR, common.LABELS), 'wb') as outfile:
outfile.write(pickle.dumps(le))
def svc_fit(train, proj_mask, epochs, folds=5, batch_size=32):
""" Fit SVM using SVC on data set.
Args:
train (tuple of list): (X, y) train data.
proj_mask (Namedtuple): Radar projections to use for training.
epochs (int): Number of times to augment data.
folds (int, optional): Number of folds for the Stratified K-Folds
cross-validator. Default=5
batch_size (int, optional): Augment batch size. Default=32.
Returns:
estimator: Estimator that was chosen by grid search.
"""
def find_best_svm_estimator(X, y, cv, random_seed):
"""Exhaustive search over specified parameter values for svm.
Returns:
optimized svm estimator.
Note:
https://www.csie.ntu.edu.tw/~cjlin/papers/guide/guide.pdf
"""
print('\n Finding best svm estimator...')
Cs = [0.01, 0.1, 1, 10, 100]
gammas = [0.001, 0.01, 0.1, 1, 10]
param_grid = [{
'C': Cs,
'kernel': ['linear']
}, {
'C': Cs,
'gamma': gammas,
'kernel': ['rbf']
}]
init_est = svm.SVC(probability=True,
class_weight='balanced',
random_state=random_seed,
cache_size=1000,
verbose=False)
grid_search = model_selection.GridSearchCV(estimator=init_est,
param_grid=param_grid,
verbose=2,
n_jobs=4,
cv=cv)
grid_search.fit(X, y)
#print('\n All results:')
#print(grid_search.cv_results_)
logger.info('\n Best estimator:')
logger.info(grid_search.best_estimator_)
logger.info('\n Best score for {}-fold search:'.format(folds))
logger.info(grid_search.best_score_)
logger.info('\n Best hyperparameters:')
logger.info(grid_search.best_params_)
return grid_search.best_estimator_
X_train, y_train = train
# Augment training set.
if epochs:
data_gen = DataGenerator(rotation_range=15.0,
zoom_range=0.3,
noise_sd=0.2)
logger.info('Augmenting data set.')
logger.info(f'Original number of training samples: {y_train.shape[0]}')
# Faster to use a list in below ops.
y_train = y_train.tolist()
# Do not mutate original lists.
xc = X_train.copy()
yc = y_train.copy()
for e in range(epochs):
logger.debug(f'epoch: {e}')
batch = 0
for X_batch, y_batch in data_gen.flow(xc,
yc,
batch_size=batch_size):
logger.debug(f'batch: {batch}')
X_train.extend(X_batch)
y_train.extend(y_batch)
batch += 1
if batch >= len(xc) / batch_size:
break
# Sanity check if augmentation introduced a scaling problem.
max = np.amax([[np.concatenate(t, axis=None)] for t in X_train])
assert abs(max - 1.0) < 1e-6, 'scale error'
# Convert y_train back to np array.
y_train = np.array(y_train, dtype=np.int8)
logger.info(
f'Augmented number of training samples: {y_train.shape[0]}')
logger.info('Generating feature vectors from radar projections.')
X_train = common.process_samples(X_train, proj_mask=proj_mask)
logger.info(f'Feature vector length: {X_train.shape[1]}')
# Balance classes.
logger.info('Balancing classes.')
y_train, X_train = balance_classes(y_train, X_train)
skf = model_selection.StratifiedKFold(n_splits=folds)
# Find best classifier.
logger.info('Finding best classifier.')
clf = find_best_svm_estimator(X_train, y_train,
skf.split(X_train, y_train), RANDOM_SEED)
return clf
def sgd_fit(train,
test,
proj_mask,
online_learn,
svm_model,
epochs,
folds=5,
batch_size=32):
""" Fit SVM using SGD on data set.
Args:
train (tuple of list): (X, y) train data.
test (tuple of list): (X, y) test data.
proj_mask (Namedtuple): Radar projections to use for training.
online_learn (bool): If True perform online learning with data.
svm_model (str): Name of existing svm model for online learning.
epochs (int): Number of times to augment data.
folds (int, optional): Number of folds for the Stratified K-Folds
cross-validator. Default=5
batch_size (int, optional): Augment batch size. Default=32.
Returns:
estimator: Estimator that was chosen by grid search.
"""
def find_best_sgd_svm_estimator(X, y, cv, random_seed):
"""Exhaustive search over specified parameter values for svm using sgd.
Returns:
optimized svm estimator.
"""
max_iter = max(np.ceil(10**6 / len(X)), 1000)
small_alphas = [10.0e-08, 10.0e-09, 10.0e-10]
alphas = [10.0e-04, 10.0e-05, 10.0e-06, 10.0e-07]
l1_ratios = [0.075, 0.15, 0.30]
param_grid = [{
'alpha': alphas,
'penalty': ['l1', 'l2'],
'average': [False]
}, {
'alpha': alphas,
'penalty': ['elasticnet'],
'average': [False],
'l1_ratio': l1_ratios
}, {
'alpha': small_alphas,
'penalty': ['l1', 'l2'],
'average': [True]
}, {
'alpha': small_alphas,
'penalty': ['elasticnet'],
'average': [True],
'l1_ratio': l1_ratios
}]
init_est = linear_model.SGDClassifier(loss='log',
max_iter=max_iter,
random_state=random_seed,
n_jobs=-1,
warm_start=True)
grid_search = model_selection.GridSearchCV(estimator=init_est,
param_grid=param_grid,
verbose=2,
n_jobs=-1,
cv=cv)
grid_search.fit(X, y)
#print('\n All results:')
#print(grid_search.cv_results_)
logger.info('\n Best estimator:')
logger.info(grid_search.best_estimator_)
logger.info('\n Best score for {}-fold search:'.format(folds))
logger.info(grid_search.best_score_)
logger.info('\n Best hyperparameters:')
logger.info(grid_search.best_params_)
return grid_search.best_estimator_
X_train, y_train = train
X_test, y_test = test
# Make a copy of train set for later use in augmentation.
if epochs:
xc = X_train.copy()
yc = y_train.copy()
# Generate feature vectors from radar projections.
logger.info('Generating feature vectors.')
X_train = common.process_samples(X_train, proj_mask=proj_mask)
X_test = common.process_samples(X_test, proj_mask=proj_mask)
logger.info(f'Feature vector length: {X_train.shape[1]}')
# Balance classes.
logger.info('Balancing classes.')
y_train, X_train = balance_classes(y_train, X_train)
if not online_learn:
# Find best initial classifier.
logger.info('Running best fit with new data.')
skf = model_selection.StratifiedKFold(n_splits=folds)
clf = find_best_sgd_svm_estimator(X_train, y_train,
skf.split(X_train, y_train),
RANDOM_SEED)
else:
# Fit existing classifier with new data.
logger.info('Running partial fit with new data.')
with open(os.path.join(common.PRJ_DIR, svm_model), 'rb') as fp:
clf = pickle.load(fp)
max_iter = max(np.ceil(10**6 / len(X_train)), 1000)
for _ in range(max_iter):
clf.partial_fit(X_train, y_train)
# Augment training set and use to run partial fits on classifier.
if epochs:
logger.info(
f'Running partial fit with augmented data (epochs: {epochs}).')
y_predicted = clf.predict(X_test)
logger.debug(
f'Un-augmented accuracy: {metrics.accuracy_score(y_test, y_predicted)}.'
)
data_gen = DataGenerator(rotation_range=5.0,
zoom_range=0.2,
noise_sd=0.1,
balance=True)
for e in range(epochs):
logger.debug(f'Augment epoch: {e}.')
batch = 0
for X_batch, y_batch in data_gen.flow(xc,
yc,
batch_size=batch_size):
logger.debug(f'Augment batch: {batch}.')
X_batch = common.process_samples(X_batch, proj_mask=proj_mask)
y_batch, X_batch = balance_classes(y_batch, X_batch)
clf.partial_fit(X_batch, y_batch, classes=np.unique(y_train))
y_predicted = clf.predict(X_test)
acc = metrics.accuracy_score(y_test, y_predicted)
logger.debug(f'Augmented accuracy: {acc}.')
batch += 1
if batch >= len(xc) / batch_size:
break
return clf
if not args.use_svc:
logger.info('Using SVM algo: SGDClassifier.')
clf = sgd_fit(train=(X_train, y_train),
test=(X_test, y_test),
proj_mask=args.proj_mask,
online_learn=args.online_learn,
svm_model=args.svm_model,
epochs=args.epochs)
else:
logger.info('Using SVM algo: SVC.')
clf = svc_fit(train=(X_train, y_train),
proj_mask=args.proj_mask,
epochs=args.epochs)
# Generate feature vectors.
X_val_fv = common.process_samples(X_val, proj_mask=proj_mask)
X_test_fv = common.process_samples(X_test, proj_mask=proj_mask)
logger.info('Calibrating classifier.')
cal_clf = calibration.CalibratedClassifierCV(base_estimator=clf,
cv='prefit')
cal_clf.fit(X_val_fv, y_val)
logger.info('Evaluating final classifier on test set.')
evaluate_model(cal_clf, X_test_fv, y_test, class_names, args.svm_cm)
logger.info(f'Saving svm model to: {args.svm_model}.')
with open(args.svm_model, 'wb') as outfile:
outfile.write(pickle.dumps(cal_clf))
# Do not overwrite label encoder if online learning was performed.
def main():
radar.Init()
# Configure Walabot database install location.
radar.SetSettingsFolder()
# Establish communication with walabot.
try:
radar.ConnectAny()
except radar.WalabotError as err:
print(f'Failed to connect to Walabot.\nerror code: {str(err.code)}')
exit(1)
# Set radar scan profile.
radar.SetProfile(common.RADAR_PROFILE)
# Set scan arena in polar coords
radar.SetArenaR(common.R_MIN, common.R_MAX, common.R_RES)
radar.SetArenaPhi(common.PHI_MIN, common.PHI_MAX, common.PHI_RES)
radar.SetArenaTheta(common.THETA_MIN, common.THETA_MAX, common.THETA_RES)
# Threshold
radar.SetThreshold(RADAR_THRESHOLD)
# radar filtering
filter_type = radar.FILTER_TYPE_MTI if MTI else radar.FILTER_TYPE_NONE
radar.SetDynamicImageFilter(filter_type)
# Start the system in preparation for scanning.
radar.Start()
# Calibrate scanning to ignore or reduce the signals if not in MTI mode.
if not MTI:
common.calibrate()
try:
while True:
# Scan according to profile and record targets.
radar.Trigger()
# Retrieve any targets from the last recording.
targets = radar.GetSensorTargets()
if not targets:
continue
# Retrieve the last completed triggered recording
raw_image, size_x, size_y, size_z, _ = radar.GetRawImage()
raw_image_np = np.array(raw_image, dtype=np.float32)
for t, target in enumerate(targets):
print(
'Target #{}:\nx: {}\ny: {}\nz: {}\namplitude: {}\n'.format(
t + 1, target.xPosCm, target.yPosCm, target.zPosCm,
target.amplitude))
i, j, k = common.calculate_matrix_indices(
target.xPosCm, target.yPosCm, target.zPosCm, size_x,
size_y, size_z)
# projection_yz is the 2D projection of target in y-z plane.
projection_yz = raw_image_np[i, :, :]
# projection_xz is the 2D projection of target in x-z plane.
projection_xz = raw_image_np[:, j, :]
# projection_xy is 2D projection of target signal in x-y plane.
projection_xy = raw_image_np[:, :, k]
observation = common.process_samples(
[(projection_xy, projection_yz, projection_xz)],
proj_mask=PROJ_MASK)
# Make a prediction.
name, prob = classifier(observation)
if name == 'person':
color_name = colored(name, 'green')
elif name == 'dog':
color_name = colored(name, 'yellow')
elif name == 'cat':
color_name = colored(name, 'blue')
else:
color_name = colored(name, 'red')
print(f'Detected {color_name} with probability {prob}\n')
except KeyboardInterrupt:
pass
finally:
# Stop and Disconnect.
radar.Stop()
radar.Disconnect()
radar.Clean()
print('Successful termination.')
def main():
# Load radar observations and labels.
with open(os.path.join(common.PRJ_DIR, common.RADAR_DATA), 'rb') as fp:
data_pickle = pickle.load(fp)
# Samples are in the form [(xz, yz, xy), ...] and are in range [0, RADAR_MAX].
samples = data_pickle['samples']
#max_sample = np.amax([[np.concatenate(t, axis=None)] for t in samples])
#print(f'samples: {samples}')
# Scale each feature to the [0, 1] range without breaking the sparsity.
print('Scaling samples.')
samples = [[p / common.RADAR_MAX for p in s] for s in samples]
#max_sample = np.amax([[np.concatenate(t, axis=None)] for t in samples])
#print(f'sample max: {max_sample}')
#print(f'scaled samples: {samples}')
# Encode the labels.
print('Encoding labels.')
le = preprocessing.LabelEncoder()
encoded_labels = le.fit_transform(data_pickle['labels'])
class_names = list(le.classes_)
print(f'class names: {class_names}')
# Split data and labels up into train and test sets.
print('Splitting data into train and test sets.')
X_train, X_test, y_train, y_test = model_selection.train_test_split(
samples,
encoded_labels,
test_size=0.20,
random_state=RANDOM_SEED,
shuffle=True)
#print(f'X_train: {X_train} X_test: {X_test} y_train: {y_train} y_test: {y_test}')
# Augment training set.
data_gen = DataGenerator(rotation_range=15.0, zoom_range=0.3, noise_sd=0.2)
print('Augmenting dataset.')
print(f'X len: {len(X_train)}, y len: {len(y_train)}')
# Faster to use a list in below ops.
y_train = y_train.tolist()
# Do not mutate original lists.
xc = X_train.copy()
yc = y_train.copy()
for e in range(EPOCHS):
print(f'epoch: {e}')
batch = 0
for X_batch, y_batch in data_gen.flow(xc, yc, batch_size=BATCH_SIZE):
print(f'batch: {batch}')
X_train.extend(X_batch)
y_train.extend(y_batch)
batch += 1
if batch >= len(xc) / BATCH_SIZE:
break
# Sanity check if augmentation introduced a scaling problem.
max = np.amax([[np.concatenate(t, axis=None)] for t in X_train])
assert abs(max - 1.0) < 1e-6, "scale error"
print('Generating feature vectors from radar projections.')
X_train = common.process_samples(X_train, proj_mask=PROJ_MASK)
# Convert y_train back to np array.
y_train = np.array(y_train, dtype=np.int8)
# Balance classes.
# This replicates minority class samples.
# Augmenting data may not result in perfect balance so this will fine-tune.
print('Balancing classes.')
y_train, X_train = balance_classes(y_train, X_train)
skf = model_selection.StratifiedKFold(n_splits=FOLDS)
# Find best classifier.
best_svm = find_best_sgd_svm_estimator(X_train, y_train,
skf.split(X_train, y_train),
RANDOM_SEED)
print('Evaluating best svm classifier.')
X_test = common.process_samples(X_test, proj_mask=PROJ_MASK)
evaluate_model(best_svm, X_test, y_test, class_names, SVM_CM)
print('\n Saving svm model.')
with open(os.path.join(common.PRJ_DIR, common.SVM_MODEL), 'wb') as outfile:
outfile.write(pickle.dumps(best_svm))
"""
# Find best XGBoost classifier, evaluate and save it.
best_xgb = find_best_xgb_estimator(X_train, y_train, skf.split(X_train, y_train),
PARA_COMB, RANDOM_SEED)
evaluate_model(best_xgb, X_test, y_test, class_names, XGB_CM)
print('\n Saving xgb model...')
with open(os.path.join(common.PRJ_DIR, common.XGB_MODEL), 'wb') as outfile:
outfile.write(pickle.dumps(best_xgb))
"""
# Write the label encoder to disk.
print('\n Saving label encoder.')
with open(os.path.join(common.PRJ_DIR, common.LABELS), 'wb') as outfile:
outfile.write(pickle.dumps(le))