def prepare_operations(self):
'''Prepares computational graph for needed operations.'''
self.alphas_placeholder = tf.compat.v1.placeholder(
dtype=tf.float64, shape=self.alphas.shape)
self.means_placeholder = tf.compat.v1.placeholder(
dtype=tf.float64, shape=self.means.shape)
self.icf_placeholder = tf.compat.v1.placeholder(dtype=tf.float64,
shape=self.icf.shape)
with tf.GradientTape(persistent=True) as grad_tape:
grad_tape.watch(self.alphas_placeholder)
grad_tape.watch(self.means_placeholder)
grad_tape.watch(self.icf_placeholder)
self.objective_operation = gmm_objective(self.alphas_placeholder,
self.means_placeholder,
self.icf_placeholder,
self.x,
self.wishart_gamma,
self.wishart_m)
J = grad_tape.gradient(self.objective_operation,
(self.alphas_placeholder,
self.means_placeholder, self.icf_placeholder))
self.gradient_operation = tf.concat([flatten(d) for d in J], 0)
self.feed_dict = {
self.alphas_placeholder: self.alphas,
self.means_placeholder: self.means,
self.icf_placeholder: self.icf
}
def create_operations(self):
'''Creates operations for calculating the part of the objective and its
derivative.'''
with tf.GradientTape(persistent=True) as grad_tape:
grad_tape.watch(self.cam_holder)
grad_tape.watch(self.x_holder)
grad_tape.watch(self.w_holder)
self.w_err_operation = compute_w_err(self.w_holder)
self.r_err_operation = compute_reproj_err(self.cam_holder,
self.x_holder,
self.w_holder,
self.feat_holder)
dc, dx, dw = grad_tape.jacobian(
self.r_err_operation,
(self.cam_holder, self.x_holder, self.w_holder),
experimental_use_pfor=False)
self.r_err_grad_operation = flatten(tf.concat(
(dc, dx, tf.reshape(dw, [2, 1])), axis=1),
column_major=True)
self.w_err_grad_operation = grad_tape.gradient(self.w_err_operation,
self.w_holder)
def prepare_operations(self):
'''Prepares computational graph for needed operations.'''
self.main_params_placeholder = tf.compat.v1.placeholder(
dtype=tf.float64, shape=self.main_params.shape)
self.extra_params_placeholder = tf.compat.v1.placeholder(
dtype=tf.float64, shape=self.extra_params.shape)
with tf.GradientTape(persistent=True) as grad_tape:
grad_tape.watch(self.main_params_placeholder)
grad_tape.watch(self.extra_params_placeholder)
self.objective_operation = lstm_objective(
self.main_params_placeholder, self.extra_params_placeholder,
self.state, self.sequence)
J = grad_tape.gradient(
self.objective_operation,
(self.main_params_placeholder, self.extra_params_placeholder))
self.gradient_operation = tf.concat([flatten(d) for d in J], 0)
self.feed_dict = {
self.main_params_placeholder: self.main_params,
self.extra_params_placeholder: self.extra_params
}
def calculate_objective(self, times):
'''Calculates objective function many times.'''
for _ in range(times):
self.objective = self.objective_function(self.variables,
*self.params)
self.objective = flatten(self.objective)
def calculate_jacobian(self, times):
''' Calculates objective function jacobian many times.'''
for _ in range(times):
# reprojection error processing
reproj_err = []
for j in range(self.p):
camIdx = self.obs[j, 0]
ptIdx = self.obs[j, 1]
with tf.GradientTape(persistent = True) as t:
t.watch(self.cams[camIdx])
t.watch(self.x[ptIdx])
t.watch(self.w[j])
rej = compute_reproj_err(
self.cams[camIdx],
self.x[ptIdx],
self.w[j],
self.feats[j]
)
reproj_err.append(rej)
dc, dx, dw = t.jacobian(
rej,
(self.cams[camIdx], self.x[ptIdx], self.w[j]),
experimental_use_pfor = False
)
J = tf.concat(
( dc, dx, tf.reshape(dw, [2, 1]) ),
axis = 1
)
J = flatten(J, column_major = True).numpy()
self.jacobian.insert_reproj_err_block(j, camIdx, ptIdx, J)
self.reproj_error = tf.concat(reproj_err, 0)
# weight error processing
w_err = []
for j in range(self.p):
with tf.GradientTape(persistent = True) as t:
t.watch(self.w[j])
wj = compute_w_err(self.w[j])
w_err.append(wj)
dwj = t.gradient(wj, self.w[j])
self.jacobian.insert_w_err_block(j, dwj.numpy())
self.w_err = tf.stack(w_err, 0)
def calculate_jacobian(self, times):
'''Calculates objective function jacobian many times.'''
for _ in range(times):
with tf.GradientTape(persistent=True) as t:
t.watch(self.variables)
self.objective = self.objective_function(
self.variables, *self.params)
self.objective = flatten(self.objective)
self.jacobian = t.jacobian(self.objective,
self.variables,
experimental_use_pfor=False)
def calculate_jacobian(self, times):
''' Calculates objective function jacobian many times.'''
for _ in range(times):
with tf.GradientTape(persistent = True) as t:
t.watch(self.main_params)
t.watch(self.extra_params)
self.objective = lstm_objective(
self.main_params,
self.extra_params,
self.state,
self.sequence
)
J = t.gradient(self.objective, (self.main_params, self.extra_params))
self.gradient = tf.concat([ flatten(d) for d in J ], 0)
def prepare_operations(self):
'''Prepares computational graph for needed operations.'''
self.variables_holder = tf.compat.v1.placeholder(
dtype=tf.float64, shape=self.variables.shape)
with tf.GradientTape(persistent=True) as grad_tape:
grad_tape.watch(self.variables_holder)
self.objective_operation = self.objective_function(
self.variables_holder, *self.params)
self.objective_operation = flatten(self.objective_operation)
self.jacobian_operation = grad_tape.jacobian(
self.objective_operation,
self.variables_holder,
experimental_use_pfor=False)
self.feed_dict = {self.variables_holder: self.variables}
def calculate_jacobian(self, times):
'''Calculates objective function jacobian many times.'''
for _ in range(times):
with tf.GradientTape(persistent = True) as t:
t.watch(self.alphas)
t.watch(self.means)
t.watch(self.icf)
self.objective = gmm_objective(
self.alphas,
self.means,
self.icf,
self.x,
self.wishart_gamma,
self.wishart_m
)
J = t.gradient(self.objective, (self.alphas, self.means, self.icf))
self.gradient = tf.concat([ flatten(d) for d in J ], 0)