def crossover(m1, m2, NN):
# Maybe could be sped up using flatten/reshape output?
net = NN()
r = random.randint(0, net.wi.size + net.wo.size)
output1 = [empty_like(net.wi), empty_like(net.wo)]
output2 = [empty_like(net.wi), empty_like(net.wo)]
# split at index and then recombine
# split_ind = computerAsIndex()
# output1 = m1[split_ind:] + m2[:split_ind]
# flatten, recombine and reshape
# m1 = array(m1[0].flatten(), m1[1].flatten()).flatten()
# output1 = m1[r:] + m2[:r]
# output1 = [output1[:net.wi.size], output1[net.wi.size:]]
for i in xrange(len(m1)):
for j in xrange(len(m1[i])):
for k in xrange(len(m1[i][j])):
if r >= 0:
output1[i][j][k] = m1[i][j][k]
output2[i][j][k] = m2[i][j][k]
elif r < 0:
output1[i][j][k] = m2[i][j][k]
output2[i][j][k] = m1[i][j][k]
r -= 1
return output1, output2
def crossover(m1, m2, NN):
# Maybe could be sped up using flatten/reshape output?
net = NN()
r = random.randint(0, net.wi.size + net.wo.size)
output1 = [empty_like(net.wi), empty_like(net.wo)]
output2 = [empty_like(net.wi), empty_like(net.wo)]
# split at index and then recombine
# split_ind = computerAsIndex()
# output1 = m1[split_ind:] + m2[:split_ind]
# flatten, recombine and reshape
# m1 = array(m1[0].flatten(), m1[1].flatten()).flatten()
# output1 = m1[r:] + m2[:r]
# output1 = [output1[:net.wi.size], output1[net.wi.size:]]
for i in xrange(len(m1)):
for j in xrange(len(m1[i])):
for k in xrange(len(m1[i][j])):
if r >= 0:
output1[i][j][k] = m1[i][j][k]
output2[i][j][k] = m2[i][j][k]
elif r < 0:
output1[i][j][k] = m2[i][j][k]
output2[i][j][k] = m1[i][j][k]
r -= 1
return output1, output2
def crossover(m1, m2, NN):
# Maybe could be sped up using flatten/reshape output?
net = NN()
r = random.randint(0, net.wi.size + net.wo.size)
output1 = [empty_like(net.wi), empty_like(net.wo)]
output2 = [empty_like(net.wi), empty_like(net.wo)]
for i in xrange(len(m1)):
for j in xrange(len(m1[i])):
for k in xrange(len(m1[i][j])):
if r >= 0:
output1[i][j][k][:] = m1[i][j][k]
output2[i][j][k][:] = m2[i][j][k]
elif r < 0:
output1[i][j][k][:] = m2[i][j][k]
output2[i][j][k][:] = m1[i][j][k]
r -= 1
return output1, output2
def calc_vec_field_fast(path_x, path_y, path_z, cube_size, cube_step):
vector_field = 0
# Grid for the coordinates of the field (Read about mgrid, similar to matlab)
xc, yc, zc = mgrid[0:cube_size:cube_step, 0:cube_size:cube_step,
0:cube_size:cube_step]
for m in range(path_x.shape[0]):
# First we subtract a point of the path to the entire field
vector_field_matrix = array(
[path_x[m] - xc, path_y[m] - yc, path_z[m] - zc])
# Now we obtain the components to calculate the vector module
v_x = vector_field_matrix[0, :, :, :]
v_y = vector_field_matrix[1, :, :, :]
v_z = vector_field_matrix[2, :, :, :]
v_x2 = v_x * v_x
v_y2 = v_y * v_y
v_z2 = v_z * v_z
# Now we calculate a module vector field
mod_vec = sqrt(v_x2 + v_y2 + v_z2)
# Now we obtain the tangent to that point on the route
tangent = array([(path_x[m] - path_x[m - 1]),
(path_y[m] - path_y[m - 1]),
(path_z[m] - path_z[m - 1])])
# And define the tangent vector field
tan_vec_field = empty_like(vector_field_matrix)
# We apply a scaling factor to this matrix
scaling_factor = 10
tan_vec_field[0, :, :, :] = (tangent[0]) * scaling_factor
tan_vec_field[1, :, :, :] = (tangent[1]) * scaling_factor
tan_vec_field[2, :, :, :] = (tangent[2]) * scaling_factor
vector_field_matrix = vector_field_matrix + tan_vec_field
# Now we compare
if m == 0:
# First iteration
min_mod_vec = mod_vec.copy()
vector_field = vector_field_matrix.copy()
else:
# We check if the module of the vector in any point of the
# matrix is less than the minimum module.
# if it is we replace the value.
# That means that for this particular point in the path there exist a shorter way
# so we replace that part of the field.
condition = (mod_vec < min_mod_vec)
min_mod_vec[condition] = mod_vec[condition]
vector_field[:, condition] = vector_field_matrix[:, condition]
return vector_field, xc, yc, zc
def arrayofanis(ra, dec, dmu, method=joshrwithrot):
"""Gets a 2d array of anisotropies, like the one presented in the poster"""
# ra, dec
inputs = pl.mgrid[0:360,0:180].swapaxes(0,2).swapaxes(0,1)*(2*pl.pi/360)
outputs = pl.empty_like(inputs[:,:,0])
for i in range(len(inputs[0,:])):
for j in range(len(inputs[:,0])):
outputs[j,i] = method(inputs[j,i], dmu, ra, dec)
return outputs
def calc_vec_field_fast(path_x, path_y, path_z, cube_size, cube_step):
vector_field = 0
# Grid for the coordinates of the field (Read about mgrid, similar to matlab)
xc, yc, zc = mgrid[0:cube_size:cube_step, 0:cube_size:cube_step, 0:cube_size:cube_step]
for m in range(path_x.shape[0]):
# First we subtract a point of the path to the entire field
vector_field_matrix = array([path_x[m]-xc, path_y[m]-yc, path_z[m]-zc])
# Now we obtain the components to calculate the vector module
v_x = vector_field_matrix[0, :, :, :]
v_y = vector_field_matrix[1, :, :, :]
v_z = vector_field_matrix[2, :, :, :]
v_x2 = v_x*v_x
v_y2 = v_y*v_y
v_z2 = v_z*v_z
# Now we calculate a module vector field
mod_vec = sqrt(v_x2+v_y2+v_z2)
# Now we obtain the tangent to that point on the route
tangent = array([(path_x[m]-path_x[m-1]), (path_y[m]-path_y[m-1]), (path_z[m]-path_z[m-1])])
# And define the tangent vector field
tan_vec_field = empty_like(vector_field_matrix)
# We apply a scaling factor to this matrix
scaling_factor = 10
tan_vec_field[0, :, :, :] = (tangent[0])*scaling_factor
tan_vec_field[1, :, :, :] = (tangent[1])*scaling_factor
tan_vec_field[2, :, :, :] = (tangent[2])*scaling_factor
vector_field_matrix = vector_field_matrix + tan_vec_field
# Now we compare
if m == 0:
# First iteration
min_mod_vec = mod_vec.copy()
vector_field = vector_field_matrix.copy()
else:
# We check if the module of the vector in any point of the
# matrix is less than the minimum module.
# if it is we replace the value.
# That means that for this particular point in the path there exist a shorter way
# so we replace that part of the field.
condition = (mod_vec < min_mod_vec)
min_mod_vec[condition] = mod_vec[condition]
vector_field[:, condition] = vector_field_matrix[:, condition]
return vector_field, xc, yc, zc
def test_decodefft():
from time import time
class finf:
pass
finf.num_chan = 1
finf.num_hei = 300
numbauds = 13
finf.subcode = py.array([[1., 1, 1, 1, 1, -1, -1, 1, 1, -1, 1, -1, 1],
[-1., -1, -1, -1, -1, 1, 1, -1, -1, 1, -1, 1,
-1]])
data1 = py.random([6, finf.num_hei, 128])
factor = 5.
data1[0, :numbauds, 0] += factor * finf.subcode[0]
data1[0, 50:50 + numbauds, 0] += factor * finf.subcode[0]
data2 = py.random([6, finf.num_hei, 128])
data2[0, 50:50 + numbauds, 0] += factor * finf.subcode[0]
datas = (data1, data2)
# prevfs = py.rcParams['font.size']
py.rcParams['font.size'] = 8 #this is just to make label lines close
for i in range(2):
data = datas[i].copy()
fig = py.figure()
nrows = 5
ax = fig.add_subplot(nrows, 1, 1)
ax.plot(data[0, :, 0], '.-')
ax.legend(['data'], loc=2)
ax.set_xlim([0, finf.num_hei])
ax = fig.add_subplot(nrows, 1, 2)
decodedata3 = py.empty_like(data)
stime = time()
# for ch in range(data.shape[0]):
# decodedata3[ch,:,:] = decoder_ht(data[ch,:,:],finf.subcode[0],-1)
decodedata3 = decoder_ht(data, finf.subcode, 1)
dtime = time() - stime
ax.plot(abs(decodedata3[0, :, 0]), '.-')
ax.legend(['decoder %f ms' % (dtime * 1000)], loc=2)
ax.set_xlim([0, finf.num_hei])
#data with code in the middle
data = datas[i].copy()
stime = time()
decodedata1 = decodefft(finf, data)
dtime = time() - stime
ax = fig.add_subplot(nrows, 1, 3)
ax.plot(abs(decodedata1[0, :, 0]), '.-')
ax.legend(['decodefft %f ms' % (dtime * 1000)], loc=2)
ax.set_xlim([0, finf.num_hei])
data = datas[i].copy()
decodedata2 = decodefft(finf, data, dropheights=True)
data = datas[i].copy()
ax = fig.add_subplot(nrows, 1, 4)
ax.plot(abs(decodedata2[0, :, 0]), '.-')
ax.legend(['decodefft droping'], loc=2)
ax.set_xlim([0, finf.num_hei])
ax = fig.add_subplot(nrows, 1, 5)
ax.plot(abs(decodedata1[0, :, 0]) - abs(decodedata3[0, :, 0]), '.-')
ax.legend(['diff. decoder & decodefft'], loc=2)
ax.set_xlim([0, finf.num_hei])
py.draw()
fig.show()
def build_fft(input_signal,
filter_coefficients,
threshold_windows=6,
boundary=0):
"""generate fast transform fourier by windows
Params :
input_signal : the audio signal
filter_coefficients : coefficients of the chirplet bank
threshold_windows : calcul the size of the windows
boundary : manage the bounds of the signal
Returns :
fast Fourier transform applied by windows to the audio signal
"""
num_coeffs = filter_coefficients.size
#print(n,boundary,M)
half_size = num_coeffs // 2
signal_size = input_signal.size
#power of 2 to apply fast fourier transform
windows_size = 2**ceil(log2(num_coeffs * (threshold_windows + 1)))
number_of_windows = floor(signal_size // windows_size)
if number_of_windows == 0:
return fft_based(input_signal, filter_coefficients, boundary)
windowed_fft = empty_like(input_signal)
#pad with 0 to have a size in a power of 2
windows_size = int(windows_size)
zeropadding = np.lib.pad(filter_coefficients,
(0, windows_size - num_coeffs),
'constant',
constant_values=0)
h_fft = fft(zeropadding)
#to browse the whole signal
current_pos = 0
#apply fft to a part of the signal. This part has a size which is a power
#of 2
if boundary == 0: #ZERO PADDING
#window is half padded with since it's focused on the first half
window = input_signal[current_pos:current_pos + windows_size -
half_size]
zeropaddedwindow = np.lib.pad(window, (len(h_fft) - len(window), 0),
'constant',
constant_values=0)
x_fft = fft(zeropaddedwindow)
elif boundary == 1: #SYMMETRIC
window = concatenate([
flipud(input_signal[:half_size]),
input_signal[current_pos:current_pos + windows_size - half_size]
])
x_fft = fft(window)
else:
x_fft = fft(input_signal[:windows_size])
windowed_fft[:windows_size - num_coeffs] = (ifft(
x_fft * h_fft)[num_coeffs - 1:-1]).real
current_pos += windows_size - num_coeffs - half_size
#apply fast fourier transofm to each windows
while current_pos + windows_size - half_size <= signal_size:
x_fft = fft(input_signal[current_pos - half_size:current_pos +
windows_size - half_size])
#Suppress the warning, work on the real/imagina
windowed_fft[current_pos:current_pos + windows_size -
num_coeffs] = (ifft(x_fft * h_fft)[num_coeffs -
1:-1]).real
current_pos += windows_size - num_coeffs
# print(countloop)
#apply fast fourier transform to the rest of the signal
if windows_size - (signal_size - current_pos + half_size) < half_size:
window = input_signal[current_pos - half_size:]
zeropaddedwindow = np.lib.pad(
window,
(0, int(windows_size - (signal_size - current_pos + half_size))),
'constant',
constant_values=0)
x_fft = fft(zeropaddedwindow)
windowed_fft[current_pos:] = roll(ifft(
x_fft * h_fft), half_size)[half_size:half_size +
windowed_fft.size - current_pos].real
windowed_fft[-half_size:] = convolve(input_signal[-num_coeffs:],
filter_coefficients,
'same')[-half_size:]
else:
window = input_signal[current_pos - half_size:]
zeropaddedwindow = np.lib.pad(
window,
(0, int(windows_size - (signal_size - current_pos + half_size))),
'constant',
constant_values=0)
x_fft = fft(zeropaddedwindow)
windowed_fft[current_pos:] = ifft(
x_fft * h_fft)[num_coeffs - 1:num_coeffs + windowed_fft.size -
current_pos - 1].real
return windowed_fft
def rtssmooth(self,Y): ''' RTS smoother Arguments: ---------- Y: list of matrices observation vectors Returns: -------- xb:list of matrices Backward posterior state estimates Pb:list of matrices Backward posterior covariabce matrices xhat:list of matrices Forward posterior state estimates Phat:list of matrices Forward posterior covariabce matrices ''' # initialise P=self.model.P0 xf=self.model.x0 # filter quantities xfStore =[] PfStore=[] #calculate the sigma vector weights Wm_i,Wc_i=self.sigma_vectors_weights() for y in Y: #calculate the sigma points matrix Chi=self.sigma_vectors(xf,P) # update sigma vectors Chi_update=pb.matrix(pb.empty_like(Chi)) for i in range(Chi.shape[1]): Chi_update[:,i]=self.model.state_equation(Chi[:,i]) #calculate forward prior state estimate xf_=pb.sum(pb.multiply(Wm_i,Chi_update),1) #perturbation Chi_perturbation=Chi_update-xf_ #weighting weighted_Chi_perturbation=pb.multiply(Wc_i,Chi_perturbation) #calculate forward prior covariance estimate Pf_=Chi_perturbation*weighted_Chi_perturbation.T+self.model.Sigma_e #measurement update equation Pyy=self.model.C*Pf_*self.model.C.T+self.model.Sigma_varepsilon Pxy=Pf_*self.model.C.T K=Pxy*(Pyy.I) yhat_=self.model.C*xf_ #calculate forward posterior state and covariance estimates xf=xf_+K*(y-yhat_) Pf=(pb.eye(self.model.nx)-K*self.model.C)*Pf_ #store xfStore.append(xf) PfStore.append(Pf) # initialise the smoother T=len(Y) xb = [None]*T Pb = [None]*T xb[-1], Pb[-1] = xfStore[-1], PfStore[-1] ## smoother for t in range(T-2,-1,-1): #calculate the sigma points matrix from filterd states Chi_smooth=self.sigma_vectors(xfStore[t],PfStore[t]) Chi_smooth_update=pb.matrix(pb.empty_like(Chi)) for i in range(Chi_smooth.shape[1]): Chi_smooth_update[:,i]=self.model.state_equation(Chi_smooth[:,i]) #calculate backward prior state estimate xb_=pb.sum(pb.multiply(Wm_i,Chi_smooth_update),1) #perturbation Chi_smooth_perturbation=Chi_smooth-xfStore[t] Chi_smooth_update_perturbation=Chi_smooth_update-xb_ #weighting weighted_Chi_smooth_perturbation=pb.multiply(Wc_i,Chi_smooth_perturbation) weighted_Chi_smooth_update_perturbation=pb.multiply(Wc_i,Chi_smooth_update_perturbation) #calculate backward prior covariance Pb_=Chi_smooth_update_perturbation*weighted_Chi_smooth_update_perturbation.T+self.model.Sigma_e #calculate cross-covariance matrix M=weighted_Chi_smooth_perturbation*Chi_smooth_update_perturbation.T #calculate smoother gain S=M*Pb_.I #calculate backward posterior state and covariance estimates xb[t]=xfStore[t]+S*(xb[t+1]-xb_) Pb[t]=PfStore[t]+S*(Pb[t+1]-Pb_)*S.T return xb,Pb,xfStore,PfStore
def test_decodefft():
from time import time
class finf:
pass
finf.num_chan = 1
finf.num_hei = 300
numbauds = 13
finf.subcode = py.array([[1.,1,1,1,1,-1,-1,1,1,-1,1,-1,1],
[-1.,-1,-1,-1,-1,1,1,-1,-1,1,-1,1,-1]])
data1 = py.random([6,finf.num_hei,128])
factor = 5.
data1[0,:numbauds,0] += factor *finf.subcode[0]
data1[0,50:50+numbauds,0] += factor * finf.subcode[0]
data2 = py.random([6,finf.num_hei,128])
data2[0,50:50+numbauds,0] += factor * finf.subcode[0]
datas = (data1,data2)
# prevfs = py.rcParams['font.size']
py.rcParams['font.size'] = 8 #this is just to make label lines close
for i in range(2):
data = datas[i].copy()
fig = py.figure()
nrows = 5
ax = fig.add_subplot(nrows,1,1)
ax.plot(data[0,:,0],'.-');ax.legend(['data'],loc=2)
ax.set_xlim([0,finf.num_hei])
ax = fig.add_subplot(nrows,1,2)
decodedata3 = py.empty_like(data)
stime = time()
# for ch in range(data.shape[0]):
# decodedata3[ch,:,:] = decoder_ht(data[ch,:,:],finf.subcode[0],-1)
decodedata3 = decoder_ht(data,finf.subcode,1)
dtime = time() - stime
ax.plot(abs(decodedata3[0,:,0]),'.-');
ax.legend(['decoder %f ms'%(dtime*1000)],loc=2)
ax.set_xlim([0,finf.num_hei])
#data with code in the middle
data = datas[i].copy()
stime = time()
decodedata1 = decodefft(finf,data)
dtime = time() - stime
ax = fig.add_subplot(nrows,1,3)
ax.plot(abs(decodedata1[0,:,0]),'.-');
ax.legend(['decodefft %f ms'%(dtime*1000)],loc=2)
ax.set_xlim([0,finf.num_hei])
data = datas[i].copy()
decodedata2 = decodefft(finf,data,dropheights = True)
data = datas[i].copy()
ax = fig.add_subplot(nrows,1,4)
ax.plot(abs(decodedata2[0,:,0]),'.-');
ax.legend(['decodefft droping'],loc=2)
ax.set_xlim([0,finf.num_hei])
ax = fig.add_subplot(nrows,1,5)
ax.plot(abs(decodedata1[0,:,0])-abs(decodedata3[0,:,0]),'.-');
ax.legend(['diff. decoder & decodefft'],loc=2)
ax.set_xlim([0,finf.num_hei])
py.draw()
fig.show()
