def processImage(self, jpegbytes):
self.currentImage = imresize(
pygame.surfarray.array3d(pygame.image.load(cStringIO.StringIO(jpegbytes), 'tmp.jpg').convert()), (32, 24))
self.currentImage = ndi.gaussian_filter(self.currentImage, .5) - ndi.gaussian_filter(self.currentImage, 1)
self.currentImage = self.currentImage / 255.0
self.pattern = np.tile(np.reshape(self.currentImage, (32 * 24 * 3)), (64, 1))
self.pattern = self.pattern + 0.001 * (1 - np.random.random((self.pattern.shape[0], self.pattern.shape[1])))
self.bias = np.ones((self.pattern.shape[0], 1))
self.pattern = np.concatenate((self.pattern, self.bias), axis=1)
self.act1 = np.concatenate((np.squeeze(np.array(af(np.dot(self.pattern, self.w1)))), self.bias), axis=1)
self.act2 = np.squeeze(np.array(af(np.dot(self.act1, self.w2))))
self.act22 = 0 * self.act2
for i in range(self.act2.shape[0]):
self.act22[i, np.argmax(self.act2[i, :])] = 1
self.nn_treads = self.action_vectors_motor[np.argmax(np.sum(self.act22, axis=0))]
print self.nn_treads
if np.sum(np.abs(self.treads)):
for i in range(np.asarray(self.action_vectors_motor).shape[0]):
if self.action_vectors_motor[i] == self.treads:
break
self.category = np.tile(self.action_vectors_neuro[i], (self.pattern.shape[0], 1))
self.error = self.category - self.act2
self.sse = np.power(self.error, 2).sum
self.delta_w2 = self.error * self.act2 * (1 - self.act2)
self.delta_w1 = np.dot(self.delta_w2, self.w2.transpose()) * self.act1 * (1 - self.act1)
self.delta_w1 = np.delete(self.delta_w1, -1, 1)
self.dw1 = np.dot(self.L1, np.dot(self.pattern.transpose(), self.delta_w1)) + self.M * self.dw1
self.dw2 = np.dot(self.L2, np.dot(self.act1.transpose(), self.delta_w2)) + self.M * self.dw2
self.w1 = self.w1 + self.dw1
self.w2 = self.w2 + self.dw2
self.w1 = self.w1 + 0.00001 * (-0.5 + np.random.random((self.w1.shape[0], self.w1.shape[1])))
self.w2 = self.w2 + 0.00001 * (-0.5 + np.random.random((self.w2.shape[0], self.w2.shape[1])))
def forward_get_all(self, inputs):
"""
Returns the outputs from all layers, from input to output.
Parameters
----------
inputs : NxD np array
An array with N samples with D dimensions (features). For example
an input with 2 samples and 3 dimensions:
inputs = array([[1,2,3],
[3,4,5]])
Returns
-------
result : list
A list of 2d np arrays. The all the arrays will have N rows,
the number of outputs for each array will depend on the
of nodes in that particular layer.
"""
w = self.weights # shorthand
samples,d = np.shape(inputs)
res = []
x = np.concatenate((inputs, np.array([np.ones(samples)]).T), axis=1)
for i in range(0, self.get_num_layers()):
af = self.act_funcs[i][0]
y = af(np.dot(x, w[i].T))
res.append(y)
if i+1 != self.get_num_layers():
x = np.concatenate((y, np.array([np.ones(samples)]).T), axis=1)
return res
def processImage(self, jpegbytes):
self.currentImage = imresize(
pygame.surfarray.array3d(
pygame.image.load(cStringIO.StringIO(jpegbytes),
'tmp.jpg').convert()), (32, 24))
self.currentImage = ndi.gaussian_filter(
self.currentImage, .5) - ndi.gaussian_filter(self.currentImage, 1)
self.currentImage = self.currentImage / 255.0
self.pattern = np.tile(np.reshape(self.currentImage, (32 * 24 * 3)),
(64, 1))
self.pattern = self.pattern + 0.001 * (1 - np.random.random(
(self.pattern.shape[0], self.pattern.shape[1])))
self.bias = np.ones((self.pattern.shape[0], 1))
self.pattern = np.concatenate((self.pattern, self.bias), axis=1)
self.act1 = np.concatenate((np.squeeze(
np.array(af(np.dot(self.pattern, self.w1)))), self.bias),
axis=1)
self.act2 = np.squeeze(np.array(af(np.dot(self.act1, self.w2))))
self.act22 = 0 * self.act2
for i in range(self.act2.shape[0]):
self.act22[i, np.argmax(self.act2[i, :])] = 1
self.nn_treads = self.action_vectors_motor[np.argmax(
np.sum(self.act22, axis=0))]
print self.nn_treads
if np.sum(np.abs(self.treads)):
for i in range(np.asarray(self.action_vectors_motor).shape[0]):
if self.action_vectors_motor[i] == self.treads:
break
self.category = np.tile(self.action_vectors_neuro[i],
(self.pattern.shape[0], 1))
self.error = self.category - self.act2
self.sse = np.power(self.error, 2).sum
self.delta_w2 = self.error * self.act2 * (1 - self.act2)
self.delta_w1 = np.dot(
self.delta_w2,
self.w2.transpose()) * self.act1 * (1 - self.act1)
self.delta_w1 = np.delete(self.delta_w1, -1, 1)
self.dw1 = np.dot(self.L1,
np.dot(self.pattern.transpose(),
self.delta_w1)) + self.M * self.dw1
self.dw2 = np.dot(self.L2,
np.dot(self.act1.transpose(),
self.delta_w2)) + self.M * self.dw2
self.w1 = self.w1 + self.dw1
self.w2 = self.w2 + self.dw2
self.w1 = self.w1 + 0.00001 * (-0.5 + np.random.random(
(self.w1.shape[0], self.w1.shape[1])))
self.w2 = self.w2 + 0.00001 * (-0.5 + np.random.random(
(self.w2.shape[0], self.w2.shape[1])))
def process_image_from_rover(self, jpegbytes):
try:
self.currentImage = imresize(
pygame.surfarray.array3d(pygame.image.load(cStringIO.StringIO(jpegbytes), "tmp.jpg").convert()),
(32, 24),
)
self.currentImage = ndi.gaussian_filter(self.currentImage, 0.5) - ndi.gaussian_filter(self.currentImage, 1)
self.currentImage = self.currentImage / 255.0
self.pattern = np.tile(np.reshape(self.currentImage, (32 * 24 * 3)), (64, 1))
self.pattern += 0.001 * (1 - np.random.random((self.pattern.shape[0], self.pattern.shape[1])))
self.bias = np.ones((self.pattern.shape[0], 1))
self.pattern = np.concatenate((self.pattern, self.bias), axis=1)
self.act1 = np.concatenate(
(np.squeeze(np.array(af(np.dot(self.pattern, self.network_weight_one)))), self.bias), axis=1
)
self.act2 = np.squeeze(np.array(af(np.dot(self.act1, self.network_weight_two))))
self.act22 = 0 * self.act2
for i in range(self.act2.shape[0]):
self.act22[i, np.argmax(self.act2[i, :])] = 1
self.nn_treads = self.action_vectors_motor[np.argmax(np.sum(self.act22, axis=0))]
print(self.nn_treads)
if np.sum(np.abs(self.treads)):
for i in range(np.asarray(self.action_vectors_motor).shape[0]):
if self.action_vectors_motor[i] == self.treads:
break
self.category = np.tile(self.action_vectors_neuro[i], (self.pattern.shape[0], 1))
self.error = self.category - self.act2
self.sse = np.power(self.error, 2).sum
self.delta_w2 = self.error * self.act2 * (1 - self.act2)
self.delta_w1 = np.dot(self.delta_w2, self.network_weight_two.transpose()) * self.act1 * (1 - self.act1)
self.delta_w1 = np.delete(self.delta_w1, -1, 1)
self.dw1 = (
np.dot(self.network_learning_rate_one, np.dot(self.pattern.transpose(), self.delta_w1))
+ self.M * self.dw1
)
self.dw2 = (
np.dot(self.network_learning_rate_two, np.dot(self.act1.transpose(), self.delta_w2))
+ self.M * self.dw2
)
self.network_weight_one = self.network_weight_one + self.dw1
self.network_weight_two = self.network_weight_two + self.dw2
self.network_weight_one += 0.0001 * (
-0.5 + np.random.random((self.network_weight_one.shape[0], self.network_weight_one.shape[1]))
) # increase random Value
self.network_weight_two += 0.0001 * (
-0.5 + np.random.random((self.network_weight_two.shape[0], self.network_weight_two.shape[1]))
) # increase random Value
except:
pass
