def test_get_idxs_to_balance_class_count_other_highest(self):
self.l[10:60, 1] = 0
self.l[10:30, 1] = 1
bal = Balancer(np.copy(self.l))
counts = bal.get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 20)
assert_equals(counts[CLNAME_OTHER], 70)
assert_equals(counts[CLNAME_OTHER], np.max(counts.values()),
"this test requires class count for %s to be highest!")
tolerance_order = 1
idxs = bal.get_idxs_to_balance_class_count(counts.values())
assert_almost_equal(np.count_nonzero(np.logical_and(idxs >= 0,
idxs < 10)
),
10 + (70 - 10), tolerance_order)
assert_almost_equal(np.count_nonzero(np.logical_and(idxs >= 10,
idxs < 30)
),
20 + (70 - 20), tolerance_order)
assert_equals(np.count_nonzero(idxs >= 30),
70, tolerance_order)
def balance_class_count_hdf5(fpath, keys,
key_label='label',
other_clname=CLNAME_OTHER):
""" Resample keys in an HDF5 to generate a near balanced dataset.
Returns a dictionary with resampled features and ground truth
and indicies from the original label that were sampled.
Not suitable for very large datasets.
fpath -- path to HDF5 file
keys -- keys to resample (e.g. features)
Keyword arguments:
key_label -- key for ground truth data in HDF5
other_clname -- name for negative class (None if non-existent)
"""
h_src = h5py.File(fpath, 'r')
labls = h_src[key_label][:]
bal = Balancer(np.squeeze(labls))
class_count = bal.get_class_count(other_clname=other_clname)
idxs = bal.get_idxs_to_balance_class_count(class_count.values())
np.random.shuffle(idxs) # shuffle the array along the first index of a multi-dimensional array, in-place
dict_balanced = {key_label : labls[idxs]}
for k in keys:
dict_balanced[k] = h_src[k][:][idxs]
return dict_balanced, idxs
def balance_class_count_hdf5(fpath,
keys,
key_label='label',
other_clname=CLNAME_OTHER):
""" Resample keys in an HDF5 to generate a near balanced dataset.
Returns a dictionary with resampled features and ground truth
and indicies from the original label that were sampled.
Not suitable for very large datasets.
fpath -- path to HDF5 file
keys -- keys to resample (e.g. features)
Keyword arguments:
key_label -- key for ground truth data in HDF5
other_clname -- name for negative class (None if non-existent)
"""
h_src = h5py.File(fpath, 'r')
labls = h_src[key_label][:]
bal = Balancer(np.squeeze(labls))
class_count = bal.get_class_count(other_clname=other_clname)
idxs = bal.get_idxs_to_balance_class_count(class_count.values())
np.random.shuffle(
idxs
) # shuffle the array along the first index of a multi-dimensional array, in-place
dict_balanced = {key_label: labls[idxs]}
for k in keys:
dict_balanced[k] = h_src[k][:][idxs]
return dict_balanced, idxs
def test_get_class_count_no_other(self):
counts = Balancer(np.copy(self.l)).get_class_count(other_clname=None)
assert_is_instance(counts, dict, "Unexpected return instance type.")
assert_list_equal(counts.keys(), range(self.l.shape[-1]),
"Expecting a key for each class.")
for key in counts.keys():
assert_equals(counts[key], np.sum(self.l[:, int(key)]),
"Unexpected count for class '%s'" % (key,))
assert_greater(np.sum(counts.values()), 0)
def test_get_class_count_no_other(self):
counts = Balancer(np.copy(self.l)).get_class_count(other_clname=None)
assert_is_instance(counts, dict, "Unexpected return instance type.")
assert_list_equal(counts.keys(), range(self.l.shape[-1]),
"Expecting a key for each class.")
for key in counts.keys():
assert_equals(counts[key], np.sum(self.l[:, int(key)]),
"Unexpected count for class '%s'" % (key, ))
assert_greater(np.sum(counts.values()), 0)
def get_class_count_hdf5(fpath, key_label='label', other_clname=CLNAME_OTHER):
""" Count per-class instances in HDF5 and return a dictionary of class ids
and per-class count
fpath -- path to HDF5 file
Keyword arguments:
key_label -- key for ground truth data in HDF5
other_clname -- name for negative class (None if non-existent)
"""
h = h5py.File(fpath, 'r')
b = Balancer(np.squeeze(h[key_label]))
return b.get_class_count(other_clname=other_clname)
def save_balanced_sampled_class_count_hdf5(fpath,
keys,
fpath_dst,
key_label='label',
other_clname=CLNAME_OTHER,
chunks=None,
target_count=None):
""" Resample keys in an HDF5 to generate a near balanced dataset
and save into a new HDF5.
Returns indicies from the original label that were sampled.
Not suitable for very large datasets.
Classes with count < target_count will sub-sampled without replacement.
Classes with count > target_count will get over-sampled.
Classes with count equal to target_count will be copied.
fpath -- path to source HDF5 file
keys -- keys to resample (e.g. features)
fpath_dst -- path to destination HDF5 file
Keyword arguments:
key_label -- key for ground truth data in HDF5
other_clname -- name for negative class (None if non-existent)
chunks -- forward chunks parameter to use during hdf5 writing
target_count -- per-class count to target when sampling
"""
if os.path.abspath(fpath) == os.path.abspath(fpath_dst):
raise IOError("Cannot read and write to the same file (%s) (%s)" %
(fpath, fpath_dst))
with h5py.File(fpath, 'r') as h_src:
labls = h_src[key_label][:]
bal = Balancer(np.squeeze(labls))
class_count = bal.get_class_count(other_clname=other_clname)
idxs = bal.get_idxs_to_balance_class_count(class_count.values(),
target_count)
np.random.shuffle(
idxs
) # shuffle the array along the first index of a multi-dimensional array, in-place
with h5py.File(fpath_dst, 'w') as h_dst:
h_dst[key_label] = labls[idxs]
for k in keys:
dataset_src = h_src[k]
shape_new = list(dataset_src.shape)
shape_new[0] = len(idxs)
dataset_dst = h_dst.create_dataset(k,
tuple(shape_new),
dataset_src.dtype,
chunks=chunks)
for idx_dst, idx_src in enumerate(idxs):
dataset_dst[idx_dst] = dataset_src[idx_src]
return idxs
def get_class_count_hdf5(fpath,
key_label='label',
other_clname=CLNAME_OTHER):
""" Count per-class instances in HDF5 and return a dictionary of class ids
and per-class count
fpath -- path to HDF5 file
Keyword arguments:
key_label -- key for ground truth data in HDF5
other_clname -- name for negative class (None if non-existent)
"""
h = h5py.File(fpath, 'r')
b = Balancer(np.squeeze(h[key_label]))
return b.get_class_count(other_clname=other_clname)
def save_balanced_sampled_class_count_hdf5(fpath,
keys,
fpath_dst,
key_label='label',
other_clname=CLNAME_OTHER,
chunks=None,
target_count=None
):
""" Resample keys in an HDF5 to generate a near balanced dataset
and save into a new HDF5.
Returns indicies from the original label that were sampled.
Not suitable for very large datasets.
Classes with count < target_count will sub-sampled without replacement.
Classes with count > target_count will get over-sampled.
Classes with count equal to target_count will be copied.
fpath -- path to source HDF5 file
keys -- keys to resample (e.g. features)
fpath_dst -- path to destination HDF5 file
Keyword arguments:
key_label -- key for ground truth data in HDF5
other_clname -- name for negative class (None if non-existent)
chunks -- forward chunks parameter to use during hdf5 writing
target_count -- per-class count to target when sampling
"""
if os.path.abspath(fpath) == os.path.abspath(fpath_dst):
raise IOError("Cannot read and write to the same file (%s) (%s)" %
(fpath, fpath_dst))
with h5py.File(fpath, 'r') as h_src:
labls = h_src[key_label][:]
bal = Balancer(np.squeeze(labls))
class_count = bal.get_class_count(other_clname=other_clname)
idxs = bal.get_idxs_to_balance_class_count(class_count.values(),
target_count)
np.random.shuffle(idxs) # shuffle the array along the first index of a multi-dimensional array, in-place
with h5py.File(fpath_dst, 'w') as h_dst:
h_dst[key_label] = labls[idxs]
for k in keys:
dataset_src = h_src[k]
shape_new = list(dataset_src.shape)
shape_new[0] = len(idxs)
dataset_dst = h_dst.create_dataset(k, tuple(shape_new),
dataset_src.dtype,
chunks=chunks)
for idx_dst, idx_src in enumerate(idxs):
dataset_dst[idx_dst] = dataset_src[idx_src]
return idxs
def test_get_class_count_other_empty(self):
other_clname = 'other_class_bin'
counts = Balancer(np.copy(self.l)).get_class_count(other_clname=other_clname)
assert_is_instance(counts, dict, "Unexpected return instance type.")
assert_equals(len(counts.keys()), self.l.shape[-1] + 1,
"Expecting a key for each class + 1 for 'other'.")
assert_in(other_clname, counts.keys())
for key in counts.keys():
if key == other_clname:
assert_equals(counts[key], 0,
"Unexpected count for 'other' class")
else:
assert_equals(counts[key], np.sum(self.l[:, int(key)]),
"Unexpected count for class '%s'" % (key,))
def test_get_idxs_to_balance_class_count_other_not_highest(self):
bal = Balancer(np.copy(self.l))
counts = bal.get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 50)
assert_equals(counts[CLNAME_OTHER], 40)
tolerance_order = 1
idxs = bal.get_idxs_to_balance_class_count(counts.values())
assert_almost_equal(
np.count_nonzero(np.logical_and(idxs >= 0, idxs < 10)),
10 + (50 - 10), tolerance_order)
assert_equals(np.count_nonzero(np.logical_and(idxs >= 10, idxs < 60)),
50, 1)
assert_almost_equal(np.count_nonzero(idxs >= 60), 40 + (50 - 40),
tolerance_order)
def test_get_class_count_other_empty(self):
other_clname = 'other_class_bin'
counts = Balancer(np.copy(
self.l)).get_class_count(other_clname=other_clname)
assert_is_instance(counts, dict, "Unexpected return instance type.")
assert_equals(len(counts.keys()), self.l.shape[-1] + 1,
"Expecting a key for each class + 1 for 'other'.")
assert_in(other_clname, counts.keys())
for key in counts.keys():
if key == other_clname:
assert_equals(counts[key], 0,
"Unexpected count for 'other' class")
else:
assert_equals(counts[key], np.sum(self.l[:, int(key)]),
"Unexpected count for class '%s'" % (key, ))
def test_get_idxs_to_balance_class_count_other_not_highest(self):
bal = Balancer(np.copy(self.l))
counts = bal.get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 50)
assert_equals(counts[CLNAME_OTHER], 40)
for target_count in [500]:#[10, 20, 500]:
idxs = bal.sample_idxs_to_target_count(counts.values(),
target_count)
assert_equals(idxs.size, (self.num_classes + 1) * target_count)
assert_equals(np.count_nonzero(idxs < 10), target_count)
assert_equals(np.count_nonzero(np.logical_and(idxs >= 10, idxs < 60)),
target_count)
assert_equals(np.count_nonzero(idxs >= 60), target_count)
def test_get_idxs_to_balance_class_count_other_not_highest(self):
bal = Balancer(np.copy(self.l))
counts = bal.get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 50)
assert_equals(counts[CLNAME_OTHER], 40)
for target_count in [500]: #[10, 20, 500]:
idxs = bal.sample_idxs_to_target_count(counts.values(),
target_count)
assert_equals(idxs.size, (self.num_classes + 1) * target_count)
assert_equals(np.count_nonzero(idxs < 10), target_count)
assert_equals(
np.count_nonzero(np.logical_and(idxs >= 10, idxs < 60)),
target_count)
assert_equals(np.count_nonzero(idxs >= 60), target_count)
def test_get_idxs_to_balance_class_count_other_not_highest(self):
bal = Balancer(np.copy(self.l))
counts = bal.get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 50)
assert_equals(counts[CLNAME_OTHER], 40)
tolerance_order = 1
idxs = bal.get_idxs_to_balance_class_count(counts.values())
assert_almost_equal(np.count_nonzero(np.logical_and(idxs >= 0,
idxs < 10)
),
10 + (50 - 10), tolerance_order)
assert_equals(np.count_nonzero(np.logical_and(idxs >= 10,
idxs < 60)
),
50, 1)
assert_almost_equal(np.count_nonzero(idxs >= 60),
40 + (50 - 40), tolerance_order)
def test_get_class_count_other_non_empty(self):
other_clname = 'foo'
n, num_classes = self.l.shape
# append label vector for 'other' class
labls = np.vstack((self.l,
np.zeros((n * 2, num_classes), dtype=self.l.dtype)))
counts = Balancer(labls).get_class_count(other_clname=other_clname)
assert_is_instance(counts, dict, "Unexpected return instance type.")
assert_equals(len(counts.keys()), self.l.shape[-1] + 1,
"Expecting a key for each class + 1 for 'other'.")
assert_in(other_clname, counts.keys())
for key in counts.keys():
if key == other_clname:
assert_equals(counts[key], n * 2,
"Unexpected count for '%s' class" % (other_clname,))
else:
assert_equals(counts[key], np.sum(self.l[:, int(key)]),
"Unexpected count for class '%s'" % (key,))
def test_get_idxs_to_balance_class_count_no_other(self):
new_col = np.zeros((len(self.l), 1))
labls = np.hstack((self.l, new_col))
labls[60:, -1] = 1
bal = Balancer(labls)
counts = bal.get_class_count(other_clname=None)
assert_not_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 50)
assert_equals(counts[2], 40)
tolerance_order = 1
idxs = bal.get_idxs_to_balance_class_count(counts.values())
assert_almost_equal(
np.count_nonzero(np.logical_and(idxs >= 0, idxs < 10)),
10 + (50 - 10), tolerance_order)
assert_equals(np.count_nonzero(np.logical_and(idxs >= 10, idxs < 60)),
50, 1)
assert_almost_equal(np.count_nonzero(idxs >= 60), 40 + (50 - 40),
tolerance_order)
def test_get_idxs_to_balance_class_count_other_highest(self):
self.l[10:60, 1] = 0
self.l[10:30, 1] = 1
bal = Balancer(np.copy(self.l))
counts = bal.get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 20)
assert_equals(counts[CLNAME_OTHER], 70)
assert_equals(counts[CLNAME_OTHER], np.max(counts.values()),
"this test requires class count for %s to be highest!")
tolerance_order = 1
idxs = bal.get_idxs_to_balance_class_count(counts.values())
assert_almost_equal(
np.count_nonzero(np.logical_and(idxs >= 0, idxs < 10)),
10 + (70 - 10), tolerance_order)
assert_almost_equal(
np.count_nonzero(np.logical_and(idxs >= 10, idxs < 30)),
20 + (70 - 20), tolerance_order)
assert_equals(np.count_nonzero(idxs >= 30), 70, tolerance_order)
def test_get_class_count_other_non_empty(self):
other_clname = 'foo'
n, num_classes = self.l.shape
# append label vector for 'other' class
labls = np.vstack(
(self.l, np.zeros((n * 2, num_classes), dtype=self.l.dtype)))
counts = Balancer(labls).get_class_count(other_clname=other_clname)
assert_is_instance(counts, dict, "Unexpected return instance type.")
assert_equals(len(counts.keys()), self.l.shape[-1] + 1,
"Expecting a key for each class + 1 for 'other'.")
assert_in(other_clname, counts.keys())
for key in counts.keys():
if key == other_clname:
assert_equals(
counts[key], n * 2,
"Unexpected count for '%s' class" % (other_clname, ))
else:
assert_equals(counts[key], np.sum(self.l[:, int(key)]),
"Unexpected count for class '%s'" % (key, ))
def test_get_idxs_to_balance_class_count_no_other(self):
new_col = np.zeros((len(self.l), 1))
labls = np.hstack((self.l, new_col))
labls[60:, -1] = 1
bal = Balancer(labls)
counts = bal.get_class_count(other_clname=None)
assert_not_in(CLNAME_OTHER, counts.keys())
assert_equals(counts[0], 10)
assert_equals(counts[1], 50)
assert_equals(counts[2], 40)
tolerance_order = 1
idxs = bal.get_idxs_to_balance_class_count(counts.values())
assert_almost_equal(np.count_nonzero(np.logical_and(idxs >= 0,
idxs < 10)
),
10 + (50 - 10), tolerance_order)
assert_equals(np.count_nonzero(np.logical_and(idxs >= 10,
idxs < 60)
),
50, 1)
assert_almost_equal(np.count_nonzero(idxs >= 60),
40 + (50 - 40), tolerance_order)
# Copyright Pololu Corporation. For more information, see https://www.pololu.com/
from flask import Flask
from flask import render_template
from flask import redirect
from subprocess import call
app = Flask(__name__,
static_folder='server_balboa_resources/static',
template_folder='server_balboa_resources/templates')
app.debug = True
from a_star import AStar
a_star = AStar()
from balance import Balancer
balancer = Balancer()
import json
led0_state = False
led1_state = False
led2_state = False
@app.route("/")
def hello():
return render_template("index.html")
@app.route("/status.json")
def status():
def test_get_class_count_other_default(self):
counts = Balancer(np.copy(self.l)).get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
def test_get_class_count_other_default(self):
counts = Balancer(np.copy(
self.l)).get_class_count(other_clname=CLNAME_OTHER)
assert_in(CLNAME_OTHER, counts.keys())
