def __call__(self, model, particle_weights, particle_locations):
## TODO: docstring.
# Allocate new arrays to hold the weights and locations.
new_weights = np.empty(particle_weights.shape)
new_locs = np.empty(particle_locations.shape)
# Loop over clusters, calling the secondary resampler for each.
# The loop should include -1 if noise was found.
for cluster_label, cluster_particles in clustering.particle_clusters(
particle_locations,
particle_weights,
eps=self.eps,
min_particles=self.min_particles,
metric=self.metric,
weighted=self.weighted,
w_pow=self.w_pow,
quiet=self.quiet):
# If we are resampling the NOISE label, we must use the global moments.
if cluster_label == clustering.NOISE:
extra_args = {
"precomputed_mean":
particle_meanfn(particle_weights, particle_locations,
lambda x: x),
"precomputed_cov":
particle_covariance_mtx(particle_weights,
particle_locations)
}
else:
extra_args = {}
# Pass the particles in that cluster to the secondary resampler
# and record the new weights and locations.
cluster_ws, cluster_locs = self.secondary_resampler(
model, particle_weights[cluster_particles],
particle_locations[cluster_particles], **extra_args)
# Renormalize the weights of each resampled particle by the total
# weight of the cluster to which it belongs.
cluster_ws /= np.sum(particle_weights[cluster_particles])
# Store the updated cluster.
new_weights[cluster_particles] = cluster_ws
new_locs[cluster_particles] = cluster_locs
# Assert that we have not introduced any NaNs or Infs by resampling.
assert np.all(
np.logical_not(
np.logical_or(np.isnan(new_locs), np.isinf(new_locs))))
return new_weights, new_locs
def __call__(self, model, particle_weights, particle_locations):
## TODO: docstring.
# Allocate new arrays to hold the weights and locations.
new_weights = np.empty(particle_weights.shape)
new_locs = np.empty(particle_locations.shape)
# Loop over clusters, calling the secondary resampler for each.
# The loop should include -1 if noise was found.
for cluster_label, cluster_particles in clustering.particle_clusters(
particle_locations, particle_weights,
eps=self.eps, min_particles=self.min_particles, metric=self.metric,
weighted=self.weighted, w_pow=self.w_pow,
quiet=self.quiet
):
# If we are resampling the NOISE label, we must use the global moments.
if cluster_label == clustering.NOISE:
extra_args = {
"precomputed_mean": particle_meanfn(particle_weights, particle_locations, lambda x: x),
"precomputed_cov": particle_covariance_mtx(particle_weights, particle_locations)
}
else:
extra_args = {}
# Pass the particles in that cluster to the secondary resampler
# and record the new weights and locations.
cluster_ws, cluster_locs = self.secondary_resampler(model,
particle_weights[cluster_particles],
particle_locations[cluster_particles],
**extra_args
)
# Renormalize the weights of each resampled particle by the total
# weight of the cluster to which it belongs.
cluster_ws /= np.sum(particle_weights[cluster_particles])
# Store the updated cluster.
new_weights[cluster_particles] = cluster_ws
new_locs[cluster_particles] = cluster_locs
# Assert that we have not introduced any NaNs or Infs by resampling.
assert np.all(np.logical_not(np.logical_or(
np.isnan(new_locs), np.isinf(new_locs)
)))
return new_weights, new_locs
def __call__(self, model, particle_weights, particle_locations, precomputed_mean=None, precomputed_cov=None):
"""
Resample the particles according to algorithm given in
[LW01]_.
"""
# Give shorter names to weights and locations.
w, l = particle_weights, particle_locations
# Possibly recompute moments, if not provided.
if precomputed_mean is None:
mean = particle_meanfn(w, l, lambda x: x)
else:
mean = precomputed_mean
if precomputed_cov is None:
cov = particle_covariance_mtx(w, l)
else:
cov = precomputed_cov
# parameters in the Liu and West algorithm
a, h = self._a, self._h
if la.norm(cov, 'fro') == 0:
# The norm of the square root of S is literally zero, such that
# the error estimated in the next step will not make sense.
# We fix that by adding to the covariance a tiny bit of the
# identity.
warnings.warn(
"Covariance has zero norm; adding in small covariance in "
"resampler. Consider increasing n_particles to improve covariance "
"estimates.",
ResamplerWarning
)
cov = self._zero_cov_comp * np.eye(cov.shape[0])
S, S_err = la.sqrtm(cov, disp=False)
if not np.isfinite(S_err):
raise ResamplerError(
"Infinite error in computing the square root of the "
"covariance matrix. Check that n_ess is not too small.")
S = np.real(h * S)
n_ms, n_mp = l.shape
new_locs = np.empty(l.shape)
cumsum_weights = np.cumsum(w)
idxs_to_resample = np.arange(n_ms)
# Preallocate js and mus so that we don't have rapid allocation and
# deallocation.
js = np.empty(idxs_to_resample.shape, dtype=int)
mus = np.empty(l.shape, dtype=l.dtype)
# Loop as long as there are any particles left to resample.
n_iters = 0
# Draw j with probability self.particle_weights[j].
# We do this by drawing random variates uniformly on the interval
# [0, 1], then see where they belong in the CDF.
js[:] = cumsum_weights.searchsorted(
np.random.random((idxs_to_resample.size,)),
side='right'
)
while idxs_to_resample.size and n_iters < self._maxiter:
# Keep track of how many iterations we used.
n_iters += 1
# Set mu_i to a x_j + (1 - a) mu.
mus[...] = a * l[js,:] + (1 - a) * mean
# Draw x_i from N(mu_i, S).
new_locs[idxs_to_resample, :] = mus + np.dot(S, np.random.randn(n_mp, mus.shape[0])).T
# Now we remove from the list any valid models.
# We write it out in a longer form than is strictly necessary so
# that we can validate assertions as we go. This is helpful for
# catching models that may not hold to the expected postconditions.
resample_locs = new_locs[idxs_to_resample, :]
if self._postselect:
valid_mask = model.are_models_valid(resample_locs)
else:
valid_mask = np.ones((resample_locs.shape[0],), dtype=bool)
assert valid_mask.ndim == 1, "are_models_valid returned tensor, expected vector."
n_invalid = np.sum(np.logical_not(valid_mask))
if self._debug and n_invalid > 0:
logger.debug(
"LW resampler found {} invalid particles; repeating.".format(
n_invalid
)
)
assert (
(
len(valid_mask.shape) == 1
or len(valid_mask.shape) == 2 and valid_mask.shape[-1] == 1
) and valid_mask.shape[0] == resample_locs.shape[0]
), (
"are_models_valid returned wrong shape {} "
"for input of shape {}."
).format(valid_mask.shape, resample_locs.shape)
idxs_to_resample = idxs_to_resample[np.nonzero(np.logical_not(
valid_mask
))[0]]
# This may look a little weird, but it should delete the unused
# elements of js, so that we don't need to reallocate.
js = js[np.logical_not(valid_mask)]
mus = mus[:idxs_to_resample.size, :]
if idxs_to_resample.size:
# We failed to force all models to be valid within maxiter attempts.
# This means that we could be propagating out invalid models, and
# so we should warn about that.
warnings.warn((
"Liu-West resampling failed to find valid models for {} "
"particles within {} iterations."
).format(idxs_to_resample.size, self._maxiter), ResamplerWarning)
if self._debug:
logger.debug("LW resampling completed in {} iterations.".format(n_iters))
# Now we reset the weights to be uniform, letting the density of
# particles represent the information that used to be stored in the
# weights. This is done by SMCUpdater, and so we simply need to return
# the new locations here.
return np.ones((w.shape[0],)) / w.shape[0], new_locs
def __call__(self, model, particle_weights, particle_locations, precomputed_mean=None, precomputed_cov=None):
"""
Resample the particles according to algorithm given in
[LW01]_.
"""
# Give shorter names to weights and locations.
w, l = particle_weights, particle_locations
# Possibly recompute moments, if not provided.
if precomputed_mean is None:
mean = particle_meanfn(w, l, lambda x: x)
else:
mean = precomputed_mean
if precomputed_cov is None:
cov = particle_covariance_mtx(w, l)
else:
cov = precomputed_cov
# parameters in the Liu and West algorithm
a, h = self._a, self._h
S, S_err = la.sqrtm(cov, disp=False)
S = np.real(h * S)
n_ms, n_mp = l.shape
new_locs = np.empty(l.shape)
cumsum_weights = np.cumsum(w)
idxs_to_resample = np.arange(n_ms)
# Preallocate js and mus so that we don't have rapid allocation and
# deallocation.
js = np.empty(idxs_to_resample.shape, dtype=int)
mus = np.empty(l.shape, dtype=l.dtype)
# Loop as long as there are any particles left to resample.
n_iters = 0
while idxs_to_resample.size and n_iters < self._maxiter:
# Keep track of how many iterations we used.
n_iters += 1
# Draw j with probability self.particle_weights[j].
# We do this by drawing random variates uniformly on the interval
# [0, 1], then see where they belong in the CDF.
js[:] = cumsum_weights.searchsorted(
np.random.random((idxs_to_resample.size,)),
side='right'
)
# Set mu_i to a x_j + (1 - a) mu.
mus[...] = a * l[js,:] + (1 - a) * mean
# Draw x_i from N(mu_i, S).
new_locs[idxs_to_resample, :] = mus + np.dot(S, np.random.randn(n_mp, mus.shape[0])).T
# Now we remove from the list any valid models.
idxs_to_resample = idxs_to_resample[np.nonzero(np.logical_not(
model.are_models_valid(new_locs[idxs_to_resample, :])
))[0]]
# This may look a little weird, but it should delete the unused
# elements of js, so that we don't need to reallocate.
js = js[:idxs_to_resample.size]
mus = mus[:idxs_to_resample.size, :]
if idxs_to_resample.size:
# We failed to force all models to be valid within maxiter attempts.
# This means that we could be propagating out invalid models, and
# so we should warn about that.
warnings.warn((
"Liu-West resampling failed to find valid models for {} "
"particles within {} iterations."
).format(idxs_to_resample.size, self._maxiter), ResamplerWarning)
# Now we reset the weights to be uniform, letting the density of
# particles represent the information that used to be stored in the
# weights. This is done by SMCUpdater, and so we simply need to return
# the new locations here.
return np.ones((w.shape[0],)) / w.shape[0], new_locs
def __call__(self,
model,
particle_weights,
particle_locations,
precomputed_mean=None,
precomputed_cov=None):
"""
Resample the particles according to algorithm given in
[LW01]_.
"""
# Give shorter names to weights and locations.
w, l = particle_weights, particle_locations
# Possibly recompute moments, if not provided.
if precomputed_mean is None:
mean = particle_meanfn(w, l, lambda x: x)
else:
mean = precomputed_mean
if precomputed_cov is None:
cov = particle_covariance_mtx(w, l)
else:
cov = precomputed_cov
# parameters in the Liu and West algorithm
a, h = self._a, self._h
if la.norm(cov, 'fro') == 0:
# The norm of the square root of S is literally zero, such that
# the error estimated in the next step will not make sense.
# We fix that by adding to the covariance a tiny bit of the
# identity.
warnings.warn(
"Covariance has zero norm; adding in small covariance in "
"resampler. Consider increasing n_particles to improve covariance "
"estimates.", ResamplerWarning)
cov = self._zero_cov_comp * np.eye(cov.shape[0])
S, S_err = la.sqrtm(cov, disp=False)
if not np.isfinite(S_err):
raise ResamplerError(
"Infinite error in computing the square root of the "
"covariance matrix. Check that n_ess is not too small.")
S = np.real(h * S)
n_ms, n_mp = l.shape
new_locs = np.empty(l.shape)
cumsum_weights = np.cumsum(w)
idxs_to_resample = np.arange(n_ms)
# Preallocate js and mus so that we don't have rapid allocation and
# deallocation.
js = np.empty(idxs_to_resample.shape, dtype=int)
mus = np.empty(l.shape, dtype=l.dtype)
# Loop as long as there are any particles left to resample.
n_iters = 0
# Draw j with probability self.particle_weights[j].
# We do this by drawing random variates uniformly on the interval
# [0, 1], then see where they belong in the CDF.
js[:] = cumsum_weights.searchsorted(np.random.random(
(idxs_to_resample.size, )),
side='right')
while idxs_to_resample.size and n_iters < self._maxiter:
# Keep track of how many iterations we used.
n_iters += 1
# Set mu_i to a x_j + (1 - a) mu.
mus[...] = a * l[js, :] + (1 - a) * mean
# Draw x_i from N(mu_i, S).
new_locs[idxs_to_resample, :] = mus + np.dot(
S, self._kernel(n_mp, mus.shape[0])).T
# Now we remove from the list any valid models.
# We write it out in a longer form than is strictly necessary so
# that we can validate assertions as we go. This is helpful for
# catching models that may not hold to the expected postconditions.
resample_locs = new_locs[idxs_to_resample, :]
if self._postselect:
valid_mask = model.are_models_valid(resample_locs)
else:
valid_mask = np.ones((resample_locs.shape[0], ), dtype=bool)
assert valid_mask.ndim == 1, "are_models_valid returned tensor, expected vector."
n_invalid = np.sum(np.logical_not(valid_mask))
if self._debug and n_invalid > 0:
logger.debug(
"LW resampler found {} invalid particles; repeating.".
format(n_invalid))
assert ((len(valid_mask.shape) == 1 or len(valid_mask.shape) == 2
and valid_mask.shape[-1] == 1)
and valid_mask.shape[0] == resample_locs.shape[0]), (
"are_models_valid returned wrong shape {} "
"for input of shape {}.").format(
valid_mask.shape, resample_locs.shape)
idxs_to_resample = idxs_to_resample[np.nonzero(
np.logical_not(valid_mask))[0]]
# This may look a little weird, but it should delete the unused
# elements of js, so that we don't need to reallocate.
js = js[np.logical_not(valid_mask)]
mus = mus[:idxs_to_resample.size, :]
if idxs_to_resample.size:
# We failed to force all models to be valid within maxiter attempts.
# This means that we could be propagating out invalid models, and
# so we should warn about that.
warnings.warn(
("Liu-West resampling failed to find valid models for {} "
"particles within {} iterations.").format(
idxs_to_resample.size, self._maxiter), ResamplerWarning)
if self._debug:
logger.debug(
"LW resampling completed in {} iterations.".format(n_iters))
# Now we reset the weights to be uniform, letting the density of
# particles represent the information that used to be stored in the
# weights. This is done by SMCUpdater, and so we simply need to return
# the new locations here.
return np.ones((w.shape[0], )) / w.shape[0], new_locs
def __call__(self,
model,
particle_weights,
particle_locations,
precomputed_mean=None,
precomputed_cov=None):
"""
Resample the particles according to algorithm given in
[LW01]_.
"""
# Give shorter names to weights and locations.
w, l = particle_weights, particle_locations
# Possibly recompute moments, if not provided.
if precomputed_mean is None:
mean = particle_meanfn(w, l, lambda x: x)
else:
mean = precomputed_mean
if precomputed_cov is None:
cov = particle_covariance_mtx(w, l)
else:
cov = precomputed_cov
# parameters in the Liu and West algorithm
a, h = self._a, self._h
S, S_err = la.sqrtm(cov, disp=False)
S = np.real(h * S)
n_ms, n_mp = l.shape
new_locs = np.empty(l.shape)
cumsum_weights = np.cumsum(w)
idxs_to_resample = np.arange(n_ms)
# Preallocate js and mus so that we don't have rapid allocation and
# deallocation.
js = np.empty(idxs_to_resample.shape, dtype=int)
mus = np.empty(l.shape, dtype=l.dtype)
# Loop as long as there are any particles left to resample.
n_iters = 0
while idxs_to_resample.size and n_iters < self._maxiter:
# Keep track of how many iterations we used.
n_iters += 1
# Draw j with probability self.particle_weights[j].
# We do this by drawing random variates uniformly on the interval
# [0, 1], then see where they belong in the CDF.
js[:] = cumsum_weights.searchsorted(np.random.random(
(idxs_to_resample.size, )),
side='right')
# Set mu_i to a x_j + (1 - a) mu.
mus[...] = a * l[js, :] + (1 - a) * mean
# Draw x_i from N(mu_i, S).
new_locs[idxs_to_resample, :] = mus + np.dot(
S, np.random.randn(n_mp, mus.shape[0])).T
# Now we remove from the list any valid models.
idxs_to_resample = idxs_to_resample[np.nonzero(
np.logical_not(
model.are_models_valid(new_locs[idxs_to_resample, :])))[0]]
# This may look a little weird, but it should delete the unused
# elements of js, so that we don't need to reallocate.
js = js[:idxs_to_resample.size]
mus = mus[:idxs_to_resample.size, :]
if idxs_to_resample.size:
# We failed to force all models to be valid within maxiter attempts.
# This means that we could be propagating out invalid models, and
# so we should warn about that.
warnings.warn(
("Liu-West resampling failed to find valid models for {} "
"particles within {} iterations.").format(
idxs_to_resample.size, self._maxiter), ResamplerWarning)
# Now we reset the weights to be uniform, letting the density of
# particles represent the information that used to be stored in the
# weights. This is done by SMCUpdater, and so we simply need to return
# the new locations here.
return np.ones((w.shape[0], )) / w.shape[0], new_locs
