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