Пример #1
0
    def __init__(self, isYarpRunning = False, delta=False, context=2, n_mixtures=25, gmm_atts=None, inputImagePort="/visionDriver/image:o", openPorts=True):
    # -------------------------------------------------------------------------------#
        # Call parent class init
        if not isYarpRunningGlobal:
            # if I can't find Yarp, I'll overwrite the given flag
            isYarpRunning = False
        SAMDriver.__init__(self, isYarpRunning)

        # Extra stuff needed for the specific driver
        self.inputImagePort=inputImagePort

        self.delta = delta    
        self.context = context
        self.n_mixtures = n_mixtures
        self.file_suffix=".wav"
        self.verbose_L=0

        if not gmm_atts==None:
            self.gmm_data = gmm_atts
        else:
            self.gmm_data = {}

        self.participant_index = None

        if( isYarpRunning == True and openPorts == True):
            yarp.Network.init()
            self.createPorts()
            self.openPorts()
            self.createImageArrays()
Пример #2
0
    def __init__(self):
        SAMDriver.__init__(self)
        self.data = dict()
        self.jointsList = []
        self.objectsList = []
        self.dataLogList = []
        self.labelsLogList = []
        # self.combinationList = []
        # self.combinationKeys = []
        self.humanStaticLabels = None
        self.featureInds = None
        self.featureSections = None
        self.featureValues = None
        self.numJoints = 9
        self.labelToRemove = []
        self.indsToRemove = []
        self.actionsAllowed = None
        self.contactThreshold = None
        self.seqConf = None
        self.seqPerc = None
        self.joint = 0
        self.action = 1
        self.dataset = 2
        self.start = 3
        self.end = 4

        self.additionalParametersList = ['Yall', 'Lall', 'Ytest', 'Ltest', 'numJoints',
                                         'Ymean', 'Ystd', 'Y_normalized', 'ignoreStationary',
                                         'humanStaticLabels', 'featureSections', 'featureValues',
                                         'dataLogList', 'labelsLogList', 'segTrainConf', 'segTrainPerc',
                                         'segTestConf', 'segTestPerc', 'seqConf', 'seqPerc']
Пример #3
0
    def __init__(self):
        SAMDriver.__init__(self)
        self.data = dict()
        self.jointsList = []
        self.objectsList = []
        self.dataLogList = []
        self.labelsLogList = []
        # self.combinationList = []
        # self.combinationKeys = []
        self.humanStaticLabels = None
        self.featureInds = None
        self.featureSections = None
        self.featureValues = None
        self.numJoints = 9
        self.labelToRemove = []
        self.indsToRemove = []
        self.actionsAllowed = None
        self.contactThreshold = None
        self.seqConf = None
        self.seqPerc = None
        self.joint = 0
        self.action = 1
        self.dataset = 2
        self.start = 3
        self.end = 4

        self.additionalParametersList = [
            'Yall', 'Lall', 'Ytest', 'Ltest', 'numJoints', 'Ymean', 'Ystd',
            'Y_normalized', 'ignoreStationary', 'humanStaticLabels',
            'featureSections', 'featureValues', 'dataLogList', 'labelsLogList',
            'segTrainConf', 'segTrainPerc', 'segTestConf', 'segTestPerc',
            'seqConf', 'seqPerc'
        ]
Пример #4
0
    def __init__(self):
        """
        Initialise class using SAMDriver.__init__ and augment with custom parameters.

        additionalParameterList is a list of extra parameters to preserve between training and interaction.
        """
        SAMDriver.__init__(self)
        self.additionalParametersList = [
            'imgH', 'imgW', 'imgHNew', 'imgWNew', 'image_suffix', 'pose_index',
            'pose_selection'
        ]
Пример #5
0
 def __init__(self):
     SAMDriver.__init__(self)
     self.data = dict()
     self.numJoints = 9
     self.dataLogList = []
     self.labelsLogList = []
     self.itemsPerJoint = None
     self.featureSequence = None
     self.handsCombined = None
     self.data2Labels = None
     self.dataVec = None
     self.allDataDict = None
     self.listOfVectorsToClassify = None
     self.seqTestConf = None
     self.seqTestPerc = None
     self.additionalParametersList = ['listOfVectorsToClassify', 'handsCombined', 'featureSequence', 'itemsPerJoint',
                                      'segTrainConf', 'segTrainPerc', 'segTestConf', 'segTestPerc', 'seqTestConf',
                                      'seqTestPerc']
    def prepareData(self, model='mrd', Ntr = 50, pose_selection = 0):    
        #""--- Now Y has 4 dimensions: 
        #1. Pixels
        #2. Images
        #3. Person
        #4. Movement (Static. up/down. left / right)     
        #
        #We can prepare the face data using different scenarios about what to be perceived.
        #In each scenario, a different LFM is used. We have:
        #- gp scenario, where we regress from images to labels (inputs are images, outputs are labels)
        #- bgplvm scenario, where we are only perceiving images as outputs (no inputs, no labels)
        #- mrd scenario, where we have no inputs, but images and labels form two different views of the output space.
        #
        #The store module of the LFM automatically sees the structure of the assumed perceived data and 
        #decides on the LFM backbone to be used.
        #
        #! Important: The global variable Y is changed in this section. From the multi-dim. matrix of all
        #modalities, it turns into the training matrix of image data and then again it turns into the 
        #dictionary used for the LFM.
        #---""" 

    	# Take all poses if pose selection ==-1
        if pose_selection == -1:
            ttt=numpy.transpose(self.Y,(0,1,3,2))
            ttt=ttt.reshape((ttt.shape[0],ttt.shape[1]*ttt.shape[2],ttt.shape[3])) 
        else:
    		ttt=self.Y[:,:,:,pose_selection]
        ttt=numpy.transpose(ttt,(0,2,1))
        self.Y=ttt.reshape(ttt.shape[0],ttt.shape[2]*ttt.shape[1]) 
        self.Y=self.Y.T
        #N=self.Y.shape[0]

        if pose_selection == -1:
            ttt=numpy.transpose(self.L,(0,1,3,2))
            ttt=ttt.reshape((ttt.shape[0],ttt.shape[1]*ttt.shape[2],ttt.shape[3]))
        else:
    		ttt=self.L[:,:,:,pose_selection]
        ttt=numpy.transpose(ttt,(0,2,1))
        self.L=ttt.reshape(ttt.shape[0],ttt.shape[2]*ttt.shape[1]) 
        self.L=self.L.T
        self.L=self.L[:,:1]

        SAMDriver.prepareData(self, model, Ntr)
    def __init__(self, isYarpRunning = False, imgH = 200, imgW = 200, imgHNew = 200, imgWNew = 200, inputImagePort="/visionDriver/image:o"):
        # Call parent class init
        SAMDriver.__init__(self, isYarpRunning)

        # Extra stuff needed for the specific driver
        self.inputImagePort=inputImagePort
            
        self.imgHeight = imgH
        self.imgWidth = imgW
        self.imgHeightNew = imgHNew
        self.imgWidthNew = imgWNew
        self.image_suffix=".ppm"

        self.participant_index = None

        if( isYarpRunning == True ):
            yarp.Network.init()
            self.createPorts()
            self.openPorts()
            self.createImageArrays()
Пример #8
0
 def __init__(self):
     SAMDriver.__init__(self)
     self.data = dict()
     self.numJoints = 9
     self.dataLogList = []
     self.labelsLogList = []
     self.itemsPerJoint = None
     self.featureSequence = None
     self.handsCombined = None
     self.data2Labels = None
     self.dataVec = None
     self.allDataDict = None
     self.listOfVectorsToClassify = None
     self.seqTestConf = None
     self.seqTestPerc = None
     self.additionalParametersList = [
         'listOfVectorsToClassify', 'handsCombined', 'featureSequence',
         'itemsPerJoint', 'segTrainConf', 'segTrainPerc', 'segTestConf',
         'segTestPerc', 'seqTestConf', 'seqTestPerc'
     ]
Пример #9
0
    def __init__(self):
        """
        Initialise class using SAMDriver.__init__ and augment with custom parameters.

        additionalParameterList is a list of extra parameters to preserve between training and interaction.
        """
        SAMDriver.__init__(self)
        self.data = dict()
        self.numJoints = 9
        self.dataLogList = []
        self.labelsLogList = []
        self.itemsPerJoint = None
        self.featureSequence = None
        self.handsCombined = None
        self.data2Labels = None
        self.dataVec = None
        self.allDataDict = None
        self.listOfVectorsToClassify = None
        self.seqTestConf = None
        self.seqTestPerc = None
        self.additionalParametersList = ['listOfVectorsToClassify', 'handsCombined', 'featureSequence', 'itemsPerJoint',
                                         'segTrainConf', 'segTrainPerc', 'segTestConf', 'segTestPerc', 'seqTestConf',
                                         'seqTestPerc']
Пример #10
0
    def __init__(self, isYarpRunning = False, imgH = 200, imgW = 200, imgHNew = 200, imgWNew = 200, inputImagePort="/visionDriver/image:o", openPorts=True):
        # Call parent class init
        if not isYarpRunningGlobal:
            # if I can't find Yarp, I'll overwrite the given flag
            isYarpRunning = False
        SAMDriver.__init__(self, isYarpRunning)

        # Extra stuff needed for the specific driver
        self.inputImagePort=inputImagePort
            
        self.imgHeight = imgH
        self.imgWidth = imgW
        self.imgHeightNew = imgHNew
        self.imgWidthNew = imgWNew
        self.image_suffix=".ppm"

        self.participant_index = None

        if( isYarpRunning == True and openPorts == True):
            yarp.Network.init()
            self.createPorts()
            self.openPorts()
            self.createImageArrays()
Пример #11
0
    def __init__(self, isYarpRunning = False, imgH = 200, imgW = 200, imgHNew = 200, imgWNew = 200, inputImagePort="/visionDriver/image:o", openPorts=True):
        # Call parent class init
        if not isYarpRunningGlobal:
            # if I can't find Yarp, I'll overwrite the given flag
            isYarpRunning = False
        SAMDriver.__init__(self, isYarpRunning)

        # Extra stuff needed for the specific driver
        self.inputImagePort=inputImagePort
            
        self.imgHeight = imgH
        self.imgWidth = imgW
        self.imgHeightNew = imgHNew
        self.imgWidthNew = imgWNew
        self.image_suffix=".ppm"

        self.participant_index = None

        if( isYarpRunning == True and openPorts == True):
            yarp.Network.init()
            self.createPorts()
            self.openPorts()
            self.createImageArrays()
Пример #12
0
    def __init__(self,
                 isYarpRunning=False,
                 delta=False,
                 context=2,
                 n_mixtures=25,
                 gmm_atts=None,
                 inputImagePort="/visionDriver/image:o",
                 openPorts=True):
        # -------------------------------------------------------------------------------#
        # Call parent class init
        if not isYarpRunningGlobal:
            # if I can't find Yarp, I'll overwrite the given flag
            isYarpRunning = False
        SAMDriver.__init__(self, isYarpRunning)

        # Extra stuff needed for the specific driver
        self.inputImagePort = inputImagePort

        self.delta = delta
        self.context = context
        self.n_mixtures = n_mixtures
        self.file_suffix = ".wav"
        self.verbose_L = 0

        if not gmm_atts == None:
            self.gmm_data = gmm_atts
        else:
            self.gmm_data = {}

        self.participant_index = None

        if (isYarpRunning == True and openPorts == True):
            yarp.Network.init()
            self.createPorts()
            self.openPorts()
            self.createImageArrays()
Пример #13
0
    def prepareData(self, model='mrd', Ntr=50, pose_selection=0, randSeed=0):
        #""--- Now Y has 4 dimensions:
        #1. Pixels
        #2. Images
        #3. Person
        #4. Movement (Static. up/down. left / right)
        #
        #We can prepare the face data using different scenarios about what to be perceived.
        #In each scenario, a different LFM is used. We have:
        #- gp scenario, where we regress from images to labels (inputs are images, outputs are labels)
        #- bgplvm scenario, where we are only perceiving images as outputs (no inputs, no labels)
        #- mrd scenario, where we have no inputs, but images and labels form two different views of the output space.
        #
        #The store module of the LFM automatically sees the structure of the assumed perceived data and
        #decides on the LFM backbone to be used.
        #
        #! Important: The global variable Y is changed in this section. From the multi-dim. matrix of all
        #modalities, it turns into the training matrix of image data and then again it turns into the
        #dictionary used for the LFM.
        #---"""
        # -------------------------------------Change------------------------------------------#

        # Take all poses if pose selection ==-1
        if pose_selection == -1:
            ttt = numpy.transpose(self.Y, (0, 1, 3, 2))
            ttt = ttt.reshape(
                (ttt.shape[0], ttt.shape[1] * ttt.shape[2], ttt.shape[3]))
        else:
            ttt = self.Y[:, :, :, pose_selection]
        ttt = numpy.transpose(ttt, (0, 2, 1))
        self.Y = ttt.reshape(ttt.shape[0], ttt.shape[2] * ttt.shape[1])
        self.Y = self.Y.T
        #N=self.Y.shape[0]

        if pose_selection == -1:
            ttt = numpy.transpose(self.L, (0, 1, 3, 2))
            ttt = ttt.reshape(
                (ttt.shape[0], ttt.shape[1] * ttt.shape[2], ttt.shape[3]))
        else:
            ttt = self.L[:, :, :, pose_selection]
        ttt = numpy.transpose(ttt, (0, 2, 1))
        self.L = ttt.reshape(ttt.shape[0], ttt.shape[2] * ttt.shape[1])
        self.L = self.L.T
        self.L = self.L[:, :1]

        ret = SAMDriver.prepareData(self, model, Ntr, randSeed=randSeed)
        return ret
Пример #14
0
def initialiseModels(argv, update, initMode='training'):
    # argv[1] = dataPath
    # argv[2] = modelPath
    # argv[3] = driverName
    # update = 'update' or 'new'

    from SAM.SAM_Core import SAMDriver as Driver
    dataPath = argv[0]
    modelPath = argv[1]
    driverName = argv[2]

    logging.info(argv)
    stringCommand = 'from SAM.SAM_Drivers import ' + driverName + ' as Driver'
    logging.info(stringCommand)
    exec stringCommand

    mySAMpy = Driver()
    mode = update
    trainName = dataPath.split('/')[-1]

    # participantList is extracted from number of subdirectories of dataPath
    participantList = [
        f for f in listdir(dataPath) if isdir(join(dataPath, f))
    ]

    off = 17
    logging.info('-------------------')
    logging.info('Training Settings:')
    logging.info('')
    logging.info('Init mode: '.ljust(off) + str(initMode))
    logging.info('Data Path: '.ljust(off) + str(dataPath))
    logging.info('Model Path: '.ljust(off) + str(modelPath))
    logging.info('Participants: '.ljust(off) + str(participantList))
    logging.info('Model Root Name: '.ljust(off) + str(trainName))
    logging.info('Training Mode:'.ljust(off) + str(mode))
    logging.info('Driver:'.ljust(off) + str(driverName))
    logging.info('-------------------')
    logging.info('Loading Parameters...')
    logging.info('')
    temporalFlag = False
    modeConfig = ''
    found = ''
    try:
        parser = SafeConfigParser()
        found = parser.read(dataPath + "/config.ini")

        if parser.has_option(trainName, 'update_mode'):
            modeConfig = parser.get(trainName, 'update_mode')
        else:
            modeConfig = 'update'
        logging.info(modeConfig)
    except IOError:
        pass

    defaultParamsList = [
        'experiment_number', 'model_type', 'model_num_inducing',
        'model_num_iterations', 'model_init_iterations', 'verbose', 'Quser',
        'kernelString', 'ratioData', 'update_mode', 'model_mode',
        'temporalModelWindowSize', 'optimiseRecall', 'classificationDict',
        'useMaxDistance', 'calibrateUnknown'
    ]

    mySAMpy.experiment_number = None
    mySAMpy.model_type = None
    mySAMpy.kernelString = None
    mySAMpy.fname = None
    mySAMpy.ratioData = None

    if initMode == 'training' and (mode == 'new' or modeConfig == 'new'
                                   or 'exp' not in modelPath):
        logging.info('Loading training parameters from:' + str(dataPath) +
                     "/config.ini")
        try:
            default = False
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            mySAMpy.experiment_number = 'exp'
            # load parameters from config file
            # if parser.has_option(trainName, 'experiment_number'):
            #     mySAMpy.experiment_number = int(parser.get(trainName, 'experiment_number'))
            # elif '.pickle' in modelPath:
            #     mySAMpy.experiment_number = int(modelPath.split('__')[-2].replace('exp', '')) + 1
            # else:

            if parser.has_option(trainName, 'model_type'):
                mySAMpy.model_type = parser.get(trainName, 'model_type')
            else:
                default = True
                mySAMpy.model_type = 'mrd'

            if parser.has_option(trainName, 'model_num_inducing'):
                mySAMpy.model_num_inducing = int(
                    parser.get(trainName, 'model_num_inducing'))
            else:
                default = True
                mySAMpy.model_num_inducing = 30

            if parser.has_option(trainName, 'model_num_iterations'):
                mySAMpy.model_num_iterations = int(
                    parser.get(trainName, 'model_num_iterations'))
            else:
                default = True
                mySAMpy.model_num_iterations = 700

            if parser.has_option(trainName, 'model_init_iterations'):
                mySAMpy.model_init_iterations = int(
                    parser.get(trainName, 'model_init_iterations'))
            else:
                default = True
                mySAMpy.model_init_iterations = 2000

            if parser.has_option(trainName, 'verbose'):
                mySAMpy.verbose = parser.get(trainName, 'verbose') == 'True'
            else:
                default = True
                mySAMpy.verbose = False

            if parser.has_option(trainName, 'optimiseRecall'):
                mySAMpy.optimiseRecall = int(
                    parser.get(trainName, 'optimiseRecall'))
            else:
                default = True
                mySAMpy.optimiseRecall = 200

            if parser.has_option(trainName, 'useMaxDistance'):
                mySAMpy.useMaxDistance = parser.get(trainName,
                                                    'useMaxDistance') == 'True'
            else:
                mySAMpy.useMaxDistance = False

            if parser.has_option(trainName, 'calibrateUnknown'):
                mySAMpy.calibrateUnknown = parser.get(
                    trainName, 'calibrateUnknown') == 'True'
            else:
                mySAMpy.calibrateUnknown = False

            if parser.has_option(trainName, 'model_mode'):
                mySAMpy.model_mode = parser.get(trainName, 'model_mode')
                if mySAMpy.model_mode == 'temporal' and parser.has_option(
                        trainName, 'temporalModelWindowSize'):
                    mySAMpy.temporalWindowSize = int(
                        parser.get(trainName, 'temporalModelWindowSize'))
                else:
                    temporalFlag = True
            else:
                default = True
                mySAMpy.model_mode = 'single'

            if parser.has_option(trainName, 'Quser'):
                mySAMpy.Quser = int(parser.get(trainName, 'Quser'))
            else:
                default = True
                mySAMpy.Quser = 2

            if parser.has_option(trainName, 'kernelString'):
                mySAMpy.kernelString = parser.get(trainName, 'kernelString')
            else:
                default = True
                mySAMpy.kernelString = "GPy.kern.RBF(Q, ARD=False) + GPy.kern.Bias(Q) + GPy.kern.White(Q)"

            if parser.has_option(trainName, 'ratioData'):
                mySAMpy.ratioData = int(parser.get(trainName, 'ratioData'))
            else:
                default = True
                mySAMpy.ratioData = 50

            if default:
                logging.info('Default settings applied')

            mySAMpy.paramsDict = dict()
            mySAMpy.loadParameters(parser, trainName)

        except IOError:
            logging.warning('IO Exception reading ', found)
            pass
    else:
        logging.info('Loading parameters from: \n \t' + str(modelPath))
        try:
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            # load parameters from config file
            mySAMpy.experiment_number = modelPath.split('__')[-1]

            modelPickle = pickle.load(open(modelPath + '.pickle', 'rb'))
            mySAMpy.paramsDict = dict()
            for j in parser.options(trainName):
                if j not in defaultParamsList:
                    logging.info(str(j))
                    mySAMpy.paramsDict[j] = modelPickle[j]

            mySAMpy.ratioData = modelPickle['ratioData']
            mySAMpy.model_type = modelPickle['model_type']
            mySAMpy.model_mode = modelPickle['model_mode']
            if mySAMpy.model_mode == 'temporal':
                mySAMpy.temporalModelWindowSize = modelPickle[
                    'temporalModelWindowSize']
                mySAMpy.model_type = 'mrd'
            mySAMpy.model_num_inducing = modelPickle['model_num_inducing']
            mySAMpy.model_num_iterations = modelPickle['model_num_iterations']
            mySAMpy.model_init_iterations = modelPickle[
                'model_init_iterations']
            mySAMpy.verbose = modelPickle['verbose']
            mySAMpy.Quser = modelPickle['Quser']
            mySAMpy.optimiseRecall = modelPickle['optimiseRecall']
            mySAMpy.kernelString = modelPickle['kernelString']
            mySAMpy.calibrated = modelPickle['calibrated']

            # try loading classification parameters for multiple model implementation
            try:
                mySAMpy.useMaxDistance = modelPickle['useMaxDistance']
            except:
                logging.warning(
                    'Failed to load useMaxDistace. Possible reasons: '
                    'Not saved or multiple model implementation')
            mySAMpy.calibrateUnknown = modelPickle['calibrateUnknown']
            if mySAMpy.calibrateUnknown:
                mySAMpy.classificationDict = modelPickle['classificationDict']

            # try:
            #     mySAMpy.listOfModels = modelPickle['listOfModels']
            #     mySAMpy.classifiers = modelPickle['classifiers']
            #     mySAMpy.classif_thresh = modelPickle['classif_thresh']
            #     mulClassLoadFail = False
            #     logging.info('Successfully loaded multiple model classifiers')
            # except:
            #     mulClassLoadFail = True
            #     logging.info('Failed to load multiple model classifiers')
            #     pass
            #
            # # try loading classification parameters for single model implementation
            # try:
            #     mySAMpy.varianceDirection = modelPickle['varianceDirection']
            #     mySAMpy.varianceThreshold = modelPickle['varianceThreshold']
            #     mySAMpy.bestDistanceIDX = modelPickle['bestDistanceIDX']
            #     logging.info('Successfully loaded single model classifiers')
            #     singClassLoadFail = False
            # except:
            #     singClassLoadFail = True
            #     logging.info('Failed to load single model classifiers')
            #     pass

            # if mulClassLoadFail and singClassLoadFail:
            #     raise ValueError('Failed to load model classifiers')

        except IOError:
            logging.warning('IO Exception reading ', found)
            pass

    if 'exp' in modelPath or 'best' in modelPath or 'backup' in modelPath:
        fnameProto = '/'.join(modelPath.split('/')[:-1]) + '/' + dataPath.split('/')[-1] + '__' + driverName + \
                            '__' + mySAMpy.model_type + '__' + str(mySAMpy.experiment_number)
    else:
        fnameProto = modelPath + dataPath.split('/')[-1] + '__' + driverName + '__' + mySAMpy.model_type + \
                             '__' + str(mySAMpy.experiment_number)

    logging.info('Full model name: ' + str(fnameProto))
    logging.info('-------------------')
    logging.info('')

    mySAMpy.save_model = False
    mySAMpy.economy_save = True
    mySAMpy.visualise_output = False
    # test_mode = True

    mySAMpy.readData(dataPath, participantList)
    # at this point, all the data that will be eventually used for training is contained in mySAMpy.Y
    # and mySAMpy.L contains all labels if any (depending on mrd model or bgplvm model)
    # mySAMpy.L is a list of labels while mySAMpy.Y is a numpy array of data
    # mySAMpy.Y should have 2 dimensions, length of dimension 0 = number of instances
    # length of dimension 1 = length of feature vector

    if mySAMpy.model_mode != 'temporal':
        # get list of labels
        mySAMpy.textLabels = list(set(mySAMpy.L))

        # convert L from list of strings to array of indices
        mySAMpy.L = np.asarray(
            [mySAMpy.textLabels.index(i) for i in mySAMpy.L])[:, None]
        mySAMpy.textLabels = mySAMpy.textLabels
    else:
        mySAMpy.X, mySAMpy.Y = transformTimeSeriesToSeq(
            mySAMpy.Y1, mySAMpy.temporalModelWindowSize)
        mySAMpy.L, mySAMpy.tmp = transformTimeSeriesToSeq(
            mySAMpy.U1, mySAMpy.temporalModelWindowSize)

    mm = [mySAMpy]
    # mm.append(mySAMpy)
    # mm[0] contains root model
    # this is the only model in the case of a single model
    # or contains all info for the rest of the models in case of multiple models
    #

    if mySAMpy.model_mode == 'single' or mySAMpy.model_mode == 'temporal':
        mm[0].participantList = ['all']
    else:
        mm[0].participantList = ['root'] + mySAMpy.textLabels

    for k in range(len(mm[0].participantList)):
        if mm[0].participantList[k] == 'all':
            normaliseData = True
            minData = len(mm[k].L)
            mm[0].fname = fnameProto
            mm[0].model_type = mySAMpy.model_type
            Ntr = int(mySAMpy.ratioData * minData / 100)
        else:
            if k > 0:
                mm.append(Driver())
                # extract subset of data corresponding to this model
                inds = [
                    i for i in range(len(mm[0].Y['L']))
                    if mm[0].Y['L'][i] == k - 1
                ]
                mm[k].Y = mm[0].Y['Y'][inds]
                mm[k].L = mm[0].Y['L'][inds]
                mm[k].Quser = mm[0].Quser
                mm[k].verbose = mm[0].verbose
                logging.info('Object class: ' + str(mm[0].participantList[k]))
                minData = len(inds)
                mm[k].fname = fnameProto + '__L' + str(k - 1)
                mm[0].listOfModels.append(mm[k].fname)
                mm[k].model_type = 'bgplvm'
                Ntr = int(mySAMpy.ratioData * minData / 100)
                normaliseData = True
            else:
                normaliseData = False
                mm[0].listOfModels = []
                mm[0].fname = fnameProto
                mm[0].SAMObject.kernelString = ''
                minData = len(mm[0].L)
                Ntr = int(mySAMpy.ratioData * minData / 100)
            mm[k].modelLabel = mm[0].participantList[k]

        if mm[0].model_mode != 'temporal':

            [Yall, Lall, YtestAll,
             LtestAll] = mm[k].prepareData(mm[k].model_type,
                                           Ntr,
                                           randSeed=0,
                                           normalise=normaliseData)
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll
        elif mm[0].model_mode == 'temporal':
            [Xall, Yall, Lall, XtestAll, YtestAll,
             LtestAll] = mm[k].prepareData(mm[k].model_type,
                                           Ntr,
                                           randSeed=0,
                                           normalise=normaliseData)
            mm[k].Xall = Xall
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].XtestAll = XtestAll
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll

        logging.info('minData = ' + str(minData))
        logging.info('ratioData = ' + str(mySAMpy.ratioData))
    logging.info(
        '-------------------------------------------------------------------------------------------------'
    )
    if initMode == 'training':
        samOptimiser.deleteModel(modelPath, 'exp')
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':

                logging.info("Training with " + str(mm[0].model_num_inducing) +
                             ' inducing points for ' +
                             str(mm[0].model_init_iterations) + '|' +
                             str(mm[0].model_num_iterations))
                logging.info("Fname:" + str(mm[k].fname))

                mm[k].training(mm[0].model_num_inducing,
                               mm[0].model_num_iterations,
                               mm[0].model_init_iterations,
                               mm[k].fname,
                               mm[0].save_model,
                               mm[0].economy_save,
                               keepIfPresent=False,
                               kernelStr=mm[0].kernelString)

                if mm[0].visualise_output:
                    ax = mm[k].SAMObject.visualise()
                    visualiseInfo = dict()
                    visualiseInfo['ax'] = ax
                else:
                    visualiseInfo = None
    else:
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':
                logging.info("Training with " + str(mm[0].model_num_inducing) +
                             ' inducing points for ' +
                             str(mm[0].model_init_iterations) + '|' +
                             str(mm[0].model_num_iterations))

                mm[k].training(mm[0].model_num_inducing,
                               mm[0].model_num_iterations,
                               mm[0].model_init_iterations,
                               mm[k].fname,
                               mm[0].save_model,
                               mm[0].economy_save,
                               keepIfPresent=True,
                               kernelStr=mm[0].kernelString)

    return mm
Пример #15
0
 def saveParameters(self):
     """
         Executes SAMDriver.saveParameters to save default parameters.
     """
     SAMDriver.saveParameters(self)
Пример #16
0
 def __init__(self):
     SAMDriver.__init__(self)
     self.additionalParametersList = ['imgH', 'imgW', 'imgHNew', 'imgWNew',
                                      'image_suffix', 'pose_index', 'pose_selection']
Пример #17
0
def initialiseModels(argv, update, initMode='training'):
    # argv[1] = dataPath
    # argv[2] = modelPath
    # argv[3] = driverName
    # update = 'update' or 'new'

    from SAM.SAM_Core import SAMDriver as Driver
    dataPath = argv[0]
    modelPath = argv[1]
    driverName = argv[2]

    logging.info(argv)
    stringCommand = 'from SAM.SAM_Drivers import ' + driverName + ' as Driver'
    logging.info(stringCommand)
    exec stringCommand

    mySAMpy = Driver()
    mode = update
    trainName = dataPath.split('/')[-1]

    # participantList is extracted from number of subdirectories of dataPath
    participantList = [f for f in listdir(dataPath) if isdir(join(dataPath, f))]

    off = 17
    logging.info('-------------------')
    logging.info('Training Settings:')
    logging.info('')
    logging.info('Init mode: '.ljust(off) + str(initMode))
    logging.info('Data Path: '.ljust(off) + str(dataPath))
    logging.info('Model Path: '.ljust(off) + str(modelPath))
    logging.info('Participants: '.ljust(off) + str(participantList))
    logging.info('Model Root Name: '.ljust(off) + str(trainName))
    logging.info('Training Mode:'.ljust(off) + str(mode))
    logging.info('Driver:'.ljust(off) + str(driverName))
    logging.info('-------------------')
    logging.info('Loading Parameters...')
    logging.info('')
    temporalFlag = False
    modeConfig = ''
    found = ''
    try:
        parser = SafeConfigParser()
        found = parser.read(dataPath + "/config.ini")

        if parser.has_option(trainName, 'update_mode'):
            modeConfig = parser.get(trainName, 'update_mode')
        else:
            modeConfig = 'update'
        logging.info(modeConfig)
    except IOError:
        pass

    defaultParamsList = ['experiment_number', 'model_type', 'model_num_inducing',
                         'model_num_iterations', 'model_init_iterations', 'verbose',
                         'Quser', 'kernelString', 'ratioData', 'update_mode', 'model_mode',
                         'temporalModelWindowSize', 'optimiseRecall', 'classificationDict',
                         'useMaxDistance', 'calibrateUnknown']

    mySAMpy.experiment_number = None
    mySAMpy.model_type = None
    mySAMpy.kernelString = None
    mySAMpy.fname = None
    mySAMpy.ratioData = None

    if initMode == 'training' and (mode == 'new' or modeConfig == 'new' or 'exp' not in modelPath):
        logging.info('Loading training parameters from:' + str(dataPath) + "/config.ini")
        try:
            default = False
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            mySAMpy.experiment_number = 'exp'
            # load parameters from config file
            # if parser.has_option(trainName, 'experiment_number'):
            #     mySAMpy.experiment_number = int(parser.get(trainName, 'experiment_number'))
            # elif '.pickle' in modelPath:
            #     mySAMpy.experiment_number = int(modelPath.split('__')[-2].replace('exp', '')) + 1
            # else:

            if parser.has_option(trainName, 'model_type'):
                mySAMpy.model_type = parser.get(trainName, 'model_type')
            else:
                default = True
                mySAMpy.model_type = 'mrd'

            if parser.has_option(trainName, 'model_num_inducing'):
                mySAMpy.model_num_inducing = int(parser.get(trainName, 'model_num_inducing'))
            else:
                default = True
                mySAMpy.model_num_inducing = 30

            if parser.has_option(trainName, 'model_num_iterations'):
                mySAMpy.model_num_iterations = int(parser.get(trainName, 'model_num_iterations'))
            else:
                default = True
                mySAMpy.model_num_iterations = 700

            if parser.has_option(trainName, 'model_init_iterations'):
                mySAMpy.model_init_iterations = int(parser.get(trainName, 'model_init_iterations'))
            else:
                default = True
                mySAMpy.model_init_iterations = 2000

            if parser.has_option(trainName, 'verbose'):
                mySAMpy.verbose = parser.get(trainName, 'verbose') == 'True'
            else:
                default = True
                mySAMpy.verbose = False

            if parser.has_option(trainName, 'optimiseRecall'):
                mySAMpy.optimiseRecall = int(parser.get(trainName, 'optimiseRecall'))
            else:
                default = True
                mySAMpy.optimiseRecall = 200

            if parser.has_option(trainName, 'useMaxDistance'):
                mySAMpy.useMaxDistance = parser.get(trainName, 'useMaxDistance') == 'True'
            else:
                mySAMpy.useMaxDistance = False

            if parser.has_option(trainName, 'calibrateUnknown'):
                mySAMpy.calibrateUnknown = parser.get(trainName, 'calibrateUnknown') == 'True'
            else:
                mySAMpy.calibrateUnknown = False

            if parser.has_option(trainName, 'model_mode'):
                mySAMpy.model_mode = parser.get(trainName, 'model_mode')
                if mySAMpy.model_mode == 'temporal' and parser.has_option(trainName, 'temporalModelWindowSize'):
                        mySAMpy.temporalWindowSize = int(parser.get(trainName, 'temporalModelWindowSize'))
                else:
                    temporalFlag = True
            else:
                default = True
                mySAMpy.model_mode = 'single'

            if parser.has_option(trainName, 'Quser'):
                mySAMpy.Quser = int(parser.get(trainName, 'Quser'))
            else:
                default = True
                mySAMpy.Quser = 2

            if parser.has_option(trainName, 'kernelString'):
                mySAMpy.kernelString = parser.get(trainName, 'kernelString')
            else:
                default = True
                mySAMpy.kernelString = "GPy.kern.RBF(Q, ARD=False) + GPy.kern.Bias(Q) + GPy.kern.White(Q)"

            if parser.has_option(trainName, 'ratioData'):
                mySAMpy.ratioData = int(parser.get(trainName, 'ratioData'))
            else:
                default = True
                mySAMpy.ratioData = 50

            if default:
                logging.info('Default settings applied')

            mySAMpy.paramsDict = dict()
            mySAMpy.loadParameters(parser, trainName)

        except IOError:
            logging.warning('IO Exception reading ', found)
            pass
    else:
        logging.info('Loading parameters from: \n \t' + str(modelPath))
        try:
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            # load parameters from config file
            mySAMpy.experiment_number = modelPath.split('__')[-1]

            modelPickle = pickle.load(open(modelPath+'.pickle', 'rb'))
            mySAMpy.paramsDict = dict()
            for j in parser.options(trainName):
                if j not in defaultParamsList:
                    logging.info(str(j))
                    mySAMpy.paramsDict[j] = modelPickle[j]

            mySAMpy.ratioData = modelPickle['ratioData']
            mySAMpy.model_type = modelPickle['model_type']
            mySAMpy.model_mode = modelPickle['model_mode']
            if mySAMpy.model_mode == 'temporal':
                mySAMpy.temporalModelWindowSize = modelPickle['temporalModelWindowSize']
                mySAMpy.model_type = 'mrd'
            mySAMpy.model_num_inducing = modelPickle['model_num_inducing']
            mySAMpy.model_num_iterations = modelPickle['model_num_iterations']
            mySAMpy.model_init_iterations = modelPickle['model_init_iterations']
            mySAMpy.verbose = modelPickle['verbose']
            mySAMpy.Quser = modelPickle['Quser']
            mySAMpy.optimiseRecall = modelPickle['optimiseRecall']
            mySAMpy.kernelString = modelPickle['kernelString']
            mySAMpy.calibrated = modelPickle['calibrated']

            # try loading classification parameters for multiple model implementation
            try:
                mySAMpy.useMaxDistance = modelPickle['useMaxDistance']
            except:
                logging.warning('Failed to load useMaxDistace. Possible reasons: '
                                'Not saved or multiple model implementation')
            mySAMpy.calibrateUnknown = modelPickle['calibrateUnknown']
            if mySAMpy.calibrateUnknown:
                mySAMpy.classificationDict = modelPickle['classificationDict']

            # try:
            #     mySAMpy.listOfModels = modelPickle['listOfModels']
            #     mySAMpy.classifiers = modelPickle['classifiers']
            #     mySAMpy.classif_thresh = modelPickle['classif_thresh']
            #     mulClassLoadFail = False
            #     logging.info('Successfully loaded multiple model classifiers')
            # except:
            #     mulClassLoadFail = True
            #     logging.info('Failed to load multiple model classifiers')
            #     pass
            #
            # # try loading classification parameters for single model implementation
            # try:
            #     mySAMpy.varianceDirection = modelPickle['varianceDirection']
            #     mySAMpy.varianceThreshold = modelPickle['varianceThreshold']
            #     mySAMpy.bestDistanceIDX = modelPickle['bestDistanceIDX']
            #     logging.info('Successfully loaded single model classifiers')
            #     singClassLoadFail = False
            # except:
            #     singClassLoadFail = True
            #     logging.info('Failed to load single model classifiers')
            #     pass

            # if mulClassLoadFail and singClassLoadFail:
            #     raise ValueError('Failed to load model classifiers')

        except IOError:
            logging.warning('IO Exception reading ', found)
            pass

    if 'exp' in modelPath or 'best' in modelPath or 'backup' in modelPath:
         fnameProto = '/'.join(modelPath.split('/')[:-1]) + '/' + dataPath.split('/')[-1] + '__' + driverName + \
                             '__' + mySAMpy.model_type + '__' + str(mySAMpy.experiment_number)
    else:
        fnameProto = modelPath + dataPath.split('/')[-1] + '__' + driverName + '__' + mySAMpy.model_type + \
                             '__' + str(mySAMpy.experiment_number)

    logging.info('Full model name: ' + str(fnameProto))
    logging.info('-------------------')
    logging.info('')

    mySAMpy.save_model = False
    mySAMpy.economy_save = True
    mySAMpy.visualise_output = False
    # test_mode = True

    mySAMpy.readData(dataPath, participantList)
    # at this point, all the data that will be eventually used for training is contained in mySAMpy.Y
    # and mySAMpy.L contains all labels if any (depending on mrd model or bgplvm model)
    # mySAMpy.L is a list of labels while mySAMpy.Y is a numpy array of data
    # mySAMpy.Y should have 2 dimensions, length of dimension 0 = number of instances
    # length of dimension 1 = length of feature vector

    if mySAMpy.model_mode != 'temporal':
        # get list of labels
        mySAMpy.textLabels = list(set(mySAMpy.L))

        # convert L from list of strings to array of indices
        mySAMpy.L = np.asarray([mySAMpy.textLabels.index(i) for i in mySAMpy.L])[:, None]
        mySAMpy.textLabels = mySAMpy.textLabels
    else:
        mySAMpy.X, mySAMpy.Y = transformTimeSeriesToSeq(mySAMpy.Y1, mySAMpy.temporalModelWindowSize)
        mySAMpy.L, mySAMpy.tmp = transformTimeSeriesToSeq(mySAMpy.U1, mySAMpy.temporalModelWindowSize)

    mm = [mySAMpy]
    # mm.append(mySAMpy)
    # mm[0] contains root model
    # this is the only model in the case of a single model
    # or contains all info for the rest of the models in case of multiple models
    #

    if mySAMpy.model_mode == 'single' or mySAMpy.model_mode == 'temporal':
        mm[0].participantList = ['all']
    else:
        mm[0].participantList = ['root'] + mySAMpy.textLabels

    for k in range(len(mm[0].participantList)):
        if mm[0].participantList[k] == 'all':
            normaliseData = True
            minData = len(mm[k].L)
            mm[0].fname = fnameProto
            mm[0].model_type = mySAMpy.model_type
            Ntr = int(mySAMpy.ratioData * minData / 100)
        else:
            if k > 0:
                mm.append(Driver())
                # extract subset of data corresponding to this model
                inds = [i for i in range(len(mm[0].Y['L'])) if mm[0].Y['L'][i] == k - 1]
                mm[k].Y = mm[0].Y['Y'][inds]
                mm[k].L = mm[0].Y['L'][inds]
                mm[k].Quser = mm[0].Quser
                mm[k].verbose = mm[0].verbose
                logging.info('Object class: ' + str(mm[0].participantList[k]))
                minData = len(inds)
                mm[k].fname = fnameProto + '__L' + str(k - 1)
                mm[0].listOfModels.append(mm[k].fname)
                mm[k].model_type = 'bgplvm'
                Ntr = int(mySAMpy.ratioData * minData / 100)
                normaliseData = True
            else:
                normaliseData = False
                mm[0].listOfModels = []
                mm[0].fname = fnameProto
                mm[0].SAMObject.kernelString = ''
                minData = len(mm[0].L)
                Ntr = int(mySAMpy.ratioData * minData / 100)
            mm[k].modelLabel = mm[0].participantList[k]

        if mm[0].model_mode != 'temporal':

            [Yall, Lall, YtestAll, LtestAll] = mm[k].prepareData(mm[k].model_type, Ntr,
                                                                 randSeed=0,
                                                                 normalise=normaliseData)
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll
        elif mm[0].model_mode == 'temporal':
            [Xall, Yall, Lall, XtestAll, YtestAll, LtestAll] = mm[k].prepareData(mm[k].model_type, Ntr,
                                                                                 randSeed=0,
                                                                                 normalise=normaliseData)
            mm[k].Xall = Xall
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].XtestAll = XtestAll
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll

        logging.info('minData = ' + str(minData))
        logging.info('ratioData = ' + str(mySAMpy.ratioData))
    logging.info('-------------------------------------------------------------------------------------------------')
    if initMode == 'training':
        samOptimiser.deleteModel(modelPath, 'exp')
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':

                logging.info("Training with " + str(mm[0].model_num_inducing) + ' inducing points for ' +
                             str(mm[0].model_init_iterations) + '|' + str(mm[0].model_num_iterations))
                logging.info("Fname:" + str(mm[k].fname))

                mm[k].training(mm[0].model_num_inducing, mm[0].model_num_iterations,
                               mm[0].model_init_iterations, mm[k].fname, mm[0].save_model,
                               mm[0].economy_save, keepIfPresent=False, kernelStr=mm[0].kernelString)

                if mm[0].visualise_output:
                    ax = mm[k].SAMObject.visualise()
                    visualiseInfo = dict()
                    visualiseInfo['ax'] = ax
                else:
                    visualiseInfo = None
    else:
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':
                logging.info("Training with " + str(mm[0].model_num_inducing) + ' inducing points for ' +
                             str(mm[0].model_init_iterations) + '|' + str(mm[0].model_num_iterations))

                mm[k].training(mm[0].model_num_inducing, mm[0].model_num_iterations,
                               mm[0].model_init_iterations, mm[k].fname, mm[0].save_model,
                               mm[0].economy_save, keepIfPresent=True, kernelStr=mm[0].kernelString)

    return mm
Пример #18
0
def initialiseModels(argv, update, initMode='training'):
    # argv[1] = dataPath
    # argv[2] = modelPath
    # argv[3] = driverName
    # update = 'update' or 'new'

    from SAM.SAM_Core import SAMDriver as Driver
    dataPath = argv[0]
    modelPath = argv[1]
    driverName = argv[2]

    print argv
    stringCommand = 'from SAM.SAM_Drivers import ' + driverName + ' as Driver'
    print stringCommand
    exec stringCommand

    mySAMpy = Driver()
    mode = update
    trainName = dataPath.split('/')[-1]

    # participantList is extracted from number of subdirectories of dataPath
    participantList = [
        f for f in listdir(dataPath) if isdir(join(dataPath, f))
    ]

    off = 17
    print '-------------------'
    print 'Training Settings:'
    print
    print 'Data Path: '.ljust(off), dataPath
    print 'Model Path: '.ljust(off), modelPath
    print 'Participants: '.ljust(off), participantList
    print 'Model Root Name: '.ljust(off), trainName
    print 'Training Mode:'.ljust(off), mode
    print 'Driver:'.ljust(off), driverName
    print '-------------------'
    print 'Loading Parameters...'
    print
    temporalFlag = False
    modeConfig = ''
    found = ''
    try:
        parser = SafeConfigParser()
        found = parser.read(dataPath + "/config.ini")

        if parser.has_option(trainName, 'update_mode'):
            modeConfig = parser.get(trainName, 'update_mode')
        else:
            modeConfig = 'update'
        print modeConfig
    except IOError:
        pass

    defaultParamsList = [
        'experiment_number', 'model_type', 'model_num_inducing',
        'model_num_iterations', 'model_init_iterations', 'verbose', 'Quser',
        'kernelString', 'ratioData', 'update_mode', 'model_mode', 'windowSize'
    ]

    mySAMpy.experiment_number = None
    mySAMpy.model_type = None
    mySAMpy.kernelString = None
    mySAMpy.fname = None
    mySAMpy.ratioData = None

    if initMode == 'training' and (mode == 'new' or modeConfig == 'new'
                                   or 'exp' not in modelPath):
        print 'Loading training parameters from: \n ', '\t' + dataPath + "/config.ini"
        try:
            default = False
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            # load parameters from config file
            if parser.has_option(trainName, 'experiment_number'):
                mySAMpy.experiment_number = int(
                    parser.get(trainName, 'experiment_number'))
            elif '.pickle' in modelPath:
                mySAMpy.experiment_number = int(
                    modelPath.split('__')[-2].replace('exp', '')) + 1
            else:
                fail = True
                print 'No experiment_number found'

            if parser.has_option(trainName, 'model_type'):
                mySAMpy.model_type = parser.get(trainName, 'model_type')
            else:
                default = True
                mySAMpy.model_type = 'mrd'

            if parser.has_option(trainName, 'model_num_inducing'):
                mySAMpy.model_num_inducing = int(
                    parser.get(trainName, 'model_num_inducing'))
            else:
                default = True
                mySAMpy.model_num_inducing = 30

            if parser.has_option(trainName, 'model_num_iterations'):
                mySAMpy.model_num_iterations = int(
                    parser.get(trainName, 'model_num_iterations'))
            else:
                default = True
                mySAMpy.model_num_iterations = 700

            if parser.has_option(trainName, 'model_init_iterations'):
                mySAMpy.model_init_iterations = int(
                    parser.get(trainName, 'model_init_iterations'))
            else:
                default = True
                mySAMpy.model_init_iterations = 2000

            if parser.has_option(trainName, 'verbose'):
                mySAMpy.verbose = parser.get(trainName, 'verbose') == 'True'
            else:
                default = True
                mySAMpy.verbose = False

            if parser.has_option(trainName, 'model_mode'):
                mySAMpy.model_mode = parser.get(trainName, 'model_mode')
                if mySAMpy.model_mode == 'temporal' and parser.has_option(
                        trainName, 'windowSize'):
                    mySAMpy.windowSize = int(
                        parser.get(trainName, 'windowSize'))
                else:
                    temporalFlag = True
            else:
                default = True
                mySAMpy.model_mode = 'single'

            if parser.has_option(trainName, 'Quser'):
                mySAMpy.Quser = int(parser.get(trainName, 'Quser'))
            else:
                default = True
                mySAMpy.Quser = 2

            if parser.has_option(trainName, 'kernelString'):
                mySAMpy.kernelString = parser.get(trainName, 'kernelString')
            else:
                default = True
                mySAMpy.kernelString = "GPy.kern.RBF(Q, ARD=False) + GPy.kern.Bias(Q) + GPy.kern.White(Q)"

            if parser.has_option(trainName, 'ratioData'):
                mySAMpy.ratioData = int(parser.get(trainName, 'ratioData'))
            else:
                default = True
                mySAMpy.ratioData = 50

            if default:
                print 'Default settings applied'

            mySAMpy.paramsDict = dict()
            mySAMpy.loadParameters(parser, trainName)

        except IOError:
            print 'IO Exception reading ', found
            pass
    else:
        print 'Loading parameters from: \n ', '\t' + modelPath
        try:
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            # load parameters from config file
            if parser.has_option(trainName, 'experiment_number'):
                mySAMpy.experiment_number = int(
                    parser.get(trainName, 'experiment_number'))
            else:
                mySAMpy.experiment_number = int(
                    modelPath.split('__')[-2].replace('exp', ''))

            modelPickle = pickle.load(open(modelPath + '.pickle', 'rb'))
            mySAMpy.paramsDict = dict()
            for j in parser.options(trainName):
                if j not in defaultParamsList:
                    print j
                    mySAMpy.paramsDict[j] = modelPickle[j]

            mySAMpy.ratioData = modelPickle['ratioData']
            mySAMpy.model_type = modelPickle['model_type']
            mySAMpy.model_mode = modelPickle['model_mode']
            if mySAMpy.model_mode == 'temporal':
                mySAMpy.windowSize = modelPickle['windowSize']
                mySAMpy.model_type = 'mrd'
            mySAMpy.model_num_inducing = modelPickle['model_num_inducing']
            mySAMpy.model_num_iterations = modelPickle['model_num_iterations']
            mySAMpy.model_init_iterations = modelPickle[
                'model_init_iterations']
            mySAMpy.verbose = modelPickle['verbose']
            mySAMpy.Quser = modelPickle['Quser']
            mySAMpy.kernelString = modelPickle['kernelString']
            try:
                mySAMpy.listOfModels = modelPickle['listOfModels']
                mySAMpy.classifiers = modelPickle['classifiers']
                mySAMpy.classif_thresh = modelPickle['classif_thresh']
            except:
                pass

        except IOError:
            print 'IO Exception reading ', found
            pass

    if 'exp' in modelPath:
        fnameProto = '/'.join(modelPath.split('/')[:-1]) + '/' + dataPath.split('/')[-1] + '__' + driverName + \
                             '__' + mySAMpy.model_type + '__exp' + str(mySAMpy.experiment_number)
    else:
        fnameProto = modelPath + dataPath.split('/')[-1] + '__' + driverName + '__' + mySAMpy.model_type + \
                             '__exp' + str(mySAMpy.experiment_number)

    print 'Full model name: \n', '\t' + fnameProto
    print '-------------------'
    print

    mySAMpy.save_model = False
    mySAMpy.economy_save = True
    mySAMpy.visualise_output = False
    # test_mode = True

    mySAMpy.readData(dataPath, participantList)
    # at this point, all the data that will be eventually used for training is contained in mySAMpy.Y
    # and mySAMpy.L contains all labels if any (depending on mrd model or bgplvm model)
    # mySAMpy.L is a list of labels while mySAMpy.Y is a numpy array of data
    # mySAMpy.Y should have 2 dimensions, length of dimension 0 = number of instances
    # length of dimension 1 = length of feature vector

    if mySAMpy.model_mode != 'temporal':
        # get list of labels
        mySAMpy.textLabels = list(set(mySAMpy.L))

        # convert L from list of strings to array of indices
        mySAMpy.L = np.asarray(
            [mySAMpy.textLabels.index(i) for i in mySAMpy.L])[:, None]
        mySAMpy.textLabels = mySAMpy.textLabels
    else:
        mySAMpy.X, mySAMpy.Y = transformTimeSeriesToSeq(
            mySAMpy.Y1, mySAMpy.windowSize)
        mySAMpy.L, mySAMpy.tmp = transformTimeSeriesToSeq(
            mySAMpy.U1, mySAMpy.windowSize)

    mm = [mySAMpy]
    # mm.append(mySAMpy)
    # mm[0] contains root model
    # this is the only model in the case of a single model
    # or contains all info for the rest of the models in case of multiple models
    #

    if mySAMpy.model_mode == 'single' or mySAMpy.model_mode == 'temporal':
        mm[0].participantList = ['all']
    else:
        mm[0].participantList = ['root'] + mySAMpy.textLabels

    for k in range(len(mm[0].participantList)):
        if mm[0].participantList[k] == 'all':
            minData = len(mm[k].L)
            mm[0].fname = fnameProto
            mm[0].model_type = mySAMpy.model_type
            Ntr = int(mySAMpy.ratioData * minData / 100)
        else:
            if k > 0:
                mm.append(Driver())
                # extract subset of data corresponding to this model
                inds = [
                    i for i in range(len(mm[0].Y['L']))
                    if mm[0].Y['L'][i] == k - 1
                ]
                mm[k].Y = mm[0].Y['Y'][inds]
                mm[k].L = mm[0].Y['L'][inds]
                mm[k].Quser = mm[0].Quser
                mm[k].verbose = mm[0].verbose
                print 'Object class: ', mm[0].participantList[k]
                minData = len(inds)
                mm[k].fname = fnameProto + '__L' + str(k - 1)
                mm[0].listOfModels.append(mm[k].fname)
                mm[k].model_type = 'bgplvm'
                Ntr = int(mySAMpy.ratioData * minData / 100)
            else:
                mm[0].listOfModels = []
                mm[0].fname = fnameProto
                mm[0].SAMObject.kernelString = ''
                minData = len(mm[0].L)
                Ntr = int(mySAMpy.ratioData * minData / 100)
            mm[k].modelLabel = mm[0].participantList[k]

        if mm[0].model_mode != 'temporal':
            [Yall, Lall, YtestAll,
             LtestAll] = mm[k].prepareData(mm[k].model_type,
                                           Ntr,
                                           randSeed=mm[0].experiment_number)
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll
        elif mm[0].model_mode == 'temporal':
            [Xall, Yall, Lall, XtestAll, YtestAll,
             LtestAll] = mm[k].prepareData(mm[k].model_type,
                                           Ntr,
                                           randSeed=mm[0].experiment_number)
            mm[k].Xall = Xall
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].XtestAll = XtestAll
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll

        print 'minData = ' + str(minData)
        print 'ratioData = ' + str(mySAMpy.ratioData)

    if initMode == 'training':
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':

                print "Training with ", mm[0].model_num_inducing, 'inducing points for ', \
                    mm[0].model_init_iterations, '|', mm[0].model_num_iterations

                mm[k].training(mm[0].model_num_inducing,
                               mm[0].model_num_iterations,
                               mm[0].model_init_iterations,
                               mm[k].fname,
                               mm[0].save_model,
                               mm[0].economy_save,
                               keepIfPresent=False,
                               kernelStr=mm[0].kernelString)

                if mm[0].visualise_output:
                    ax = mm[k].SAMObject.visualise()
                    visualiseInfo = dict()
                    visualiseInfo['ax'] = ax
                else:
                    visualiseInfo = None
    else:
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':
                print "Training with ", mm[0].model_num_inducing, 'inducing points for ', \
                    mm[0].model_init_iterations, '|', mm[0].model_num_iterations

                mm[k].training(mm[0].model_num_inducing,
                               mm[0].model_num_iterations,
                               mm[0].model_init_iterations,
                               mm[k].fname,
                               mm[0].save_model,
                               mm[0].economy_save,
                               keepIfPresent=True,
                               kernelStr=mm[0].kernelString)

    return mm
Пример #19
0
 def __init__(self):
     SAMDriver.__init__(self)
     self.additionalParametersList = [
         'imgH', 'imgW', 'imgHNew', 'imgWNew', 'image_suffix', 'pose_index',
         'pose_selection'
     ]
Пример #20
0
 def saveParameters(self):
     SAMDriver.saveParameters(self)
Пример #21
0
 def __init__(self):
     SAMDriver.__init__(self)
     self.additionalParametersList = []
Пример #22
0
 def __init__(self, isYarpRunning = False):
     SAMDriver.__init__(self, isYarpRunning)
Пример #23
0
 def __init__(self):
     SAMDriver.__init__(self)
     self.additionalParametersList = []
Пример #24
0
 def saveParameters(self):
     SAMDriver.saveParameters(self)
Пример #25
0
def initialiseModels(argv, update, initMode='training'):
    """Initialise SAM Model data structure, training parameters and user parameters.

        This method starts by initialising the required Driver from the driver name in argv[3] if it exists
        in SAM_Drivers folder. The standard model parameters and the specific user parameters are then initialised
        and the data is read in by the SAMDriver.readData method to complete the model data structure. This method
        then replicates the model data structure for training with multiple models if it is required in the config
        file loaded by the Driver.

        Args:
            argv_0: dataPath containing the data that is to be trained on.
            argv_1: modelPath containing the path of where the model is to be stored.
            argv_2: driverName containing the name of the driver class that is to be loaded from SAM_Drivers folder.
            update: String having either a value of 'update' or 'new'. 'new' will load the parameters as set in the
                    config file of the driver being loaded present in the dataPath directory. This is used to train a
                     new model from scratch. 'update' will check for an existing model in the modelPath directory and
                     load the parameters from this model if it exists. This is used for retraining a model when new
                     data becomes available.
            initMode: String having either a value of 'training' or 'interaction'. 'training' takes into consideration
                      the value of update in loading the parameters. (Used by trainSAMModel.py) 'interaction' loads
                      the parameters directly from the model if the model exists. (Used by interactionSAMModel.py)

        Returns:
            The output is a list of SAMDriver models. The list is of length 1 when the config file requests a single
            model or a list of length n+1 for a config file requesting multiple models where n is the number of
            requested models. The number of models either depends on the number of directories present in the dataPath
            or from the length of textLabels returned from the SAMDriver.readData method.
    """

    from SAM.SAM_Core import SAMDriver as Driver
    dataPath = argv[0]
    modelPath = argv[1]
    driverName = argv[2]

    logging.info(argv)
    stringCommand = 'from SAM.SAM_Drivers import ' + driverName + ' as Driver'
    logging.info(stringCommand)
    exec stringCommand

    mySAMpy = Driver()
    mode = update
    trainName = dataPath.split('/')[-1]

    # participantList is extracted from number of subdirectories of dataPath
    participantList = [
        f for f in listdir(dataPath) if isdir(join(dataPath, f))
    ]

    off = 17
    logging.info('-------------------')
    logging.info('Training Settings:')
    logging.info('')
    logging.info('Init mode: '.ljust(off) + str(initMode))
    logging.info('Data Path: '.ljust(off) + str(dataPath))
    logging.info('Model Path: '.ljust(off) + str(modelPath))
    logging.info('Participants: '.ljust(off) + str(participantList))
    logging.info('Model Root Name: '.ljust(off) + str(trainName))
    logging.info('Training Mode:'.ljust(off) + str(mode))
    logging.info('Driver:'.ljust(off) + str(driverName))
    logging.info('-------------------')
    logging.info('Loading Parameters...')
    logging.info('')
    modeConfig = ''
    found = ''
    try:
        parser = SafeConfigParser()
        found = parser.read(dataPath + "/config.ini")

        if parser.has_option(trainName, 'update_mode'):
            modeConfig = parser.get(trainName, 'update_mode')
        else:
            modeConfig = 'update'
        logging.info(modeConfig)
    except IOError:
        pass

    defaultParamsList = [
        'experiment_number', 'model_type', 'model_num_inducing',
        'model_num_iterations', 'model_init_iterations', 'verbose', 'Quser',
        'kernelString', 'ratioData', 'update_mode', 'model_mode',
        'temporalModelWindowSize', 'optimiseRecall', 'classificationDict',
        'useMaxDistance', 'calibrateUnknown'
    ]

    mySAMpy.experiment_number = None
    mySAMpy.model_type = None
    mySAMpy.kernelString = None
    mySAMpy.fname = None
    mySAMpy.ratioData = None

    if initMode == 'training' and (mode == 'new' or modeConfig == 'new'
                                   or 'exp' not in modelPath):
        logging.info('Loading training parameters from:' + str(dataPath) +
                     "/config.ini")
        try:
            default = False
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            mySAMpy.experiment_number = 'exp'

            if parser.has_option(trainName, 'model_type'):
                mySAMpy.model_type = parser.get(trainName, 'model_type')
            else:
                default = True
                mySAMpy.model_type = 'mrd'

            if parser.has_option(trainName, 'model_num_inducing'):
                mySAMpy.model_num_inducing = int(
                    parser.get(trainName, 'model_num_inducing'))
            else:
                default = True
                mySAMpy.model_num_inducing = 30

            if parser.has_option(trainName, 'model_num_iterations'):
                mySAMpy.model_num_iterations = int(
                    parser.get(trainName, 'model_num_iterations'))
            else:
                default = True
                mySAMpy.model_num_iterations = 700

            if parser.has_option(trainName, 'model_init_iterations'):
                mySAMpy.model_init_iterations = int(
                    parser.get(trainName, 'model_init_iterations'))
            else:
                default = True
                mySAMpy.model_init_iterations = 2000

            if parser.has_option(trainName, 'verbose'):
                mySAMpy.verbose = parser.get(trainName, 'verbose') == 'True'
            else:
                default = True
                mySAMpy.verbose = False

            if parser.has_option(trainName, 'optimiseRecall'):
                mySAMpy.optimiseRecall = int(
                    parser.get(trainName, 'optimiseRecall'))
            else:
                default = True
                mySAMpy.optimiseRecall = 200

            if parser.has_option(trainName, 'useMaxDistance'):
                mySAMpy.useMaxDistance = parser.get(trainName,
                                                    'useMaxDistance') == 'True'
            else:
                mySAMpy.useMaxDistance = False

            if parser.has_option(trainName, 'calibrateUnknown'):
                mySAMpy.calibrateUnknown = parser.get(
                    trainName, 'calibrateUnknown') == 'True'
            else:
                mySAMpy.calibrateUnknown = False

            if parser.has_option(trainName, 'model_mode'):
                mySAMpy.model_mode = parser.get(trainName, 'model_mode')
                if mySAMpy.model_mode == 'temporal' and parser.has_option(
                        trainName, 'temporalModelWindowSize'):
                    mySAMpy.temporalWindowSize = int(
                        parser.get(trainName, 'temporalModelWindowSize'))
                else:
                    temporalFlag = True
            else:
                default = True
                mySAMpy.model_mode = 'single'

            if parser.has_option(trainName, 'Quser'):
                mySAMpy.Quser = int(parser.get(trainName, 'Quser'))
            else:
                default = True
                mySAMpy.Quser = 2

            if parser.has_option(trainName, 'kernelString'):
                mySAMpy.kernelString = parser.get(trainName, 'kernelString')
            else:
                default = True
                mySAMpy.kernelString = "GPy.kern.RBF(Q, ARD=False) + GPy.kern.Bias(Q) + GPy.kern.White(Q)"

            if parser.has_option(trainName, 'ratioData'):
                mySAMpy.ratioData = int(parser.get(trainName, 'ratioData'))
            else:
                default = True
                mySAMpy.ratioData = 50

            if default:
                logging.info('Default settings applied')

            mySAMpy.paramsDict = dict()
            mySAMpy.loadParameters(parser, trainName)

        except IOError:
            logging.warning('IO Exception reading ', found)
            pass
    else:
        logging.info('Loading parameters from: \n \t' + str(modelPath))
        try:
            parser = SafeConfigParser()
            parser.optionxform = str
            found = parser.read(dataPath + "/config.ini")

            # load parameters from config file
            mySAMpy.experiment_number = modelPath.split('__')[-1]

            modelPickle = pickle.load(open(modelPath + '.pickle', 'rb'))
            mySAMpy.paramsDict = dict()
            for j in parser.options(trainName):
                if j not in defaultParamsList:
                    logging.info(str(j))
                    mySAMpy.paramsDict[j] = modelPickle[j]

            mySAMpy.ratioData = modelPickle['ratioData']
            mySAMpy.model_type = modelPickle['model_type']
            mySAMpy.model_mode = modelPickle['model_mode']
            if mySAMpy.model_mode == 'temporal':
                mySAMpy.temporalModelWindowSize = modelPickle[
                    'temporalModelWindowSize']
                mySAMpy.model_type = 'mrd'
            mySAMpy.model_num_inducing = modelPickle['model_num_inducing']
            mySAMpy.model_num_iterations = modelPickle['model_num_iterations']
            mySAMpy.model_init_iterations = modelPickle[
                'model_init_iterations']
            mySAMpy.verbose = modelPickle['verbose']
            mySAMpy.Quser = modelPickle['Quser']
            mySAMpy.optimiseRecall = modelPickle['optimiseRecall']
            mySAMpy.kernelString = modelPickle['kernelString']
            mySAMpy.calibrated = modelPickle['calibrated']

            # try loading classification parameters for multiple model implementation
            try:
                mySAMpy.useMaxDistance = modelPickle['useMaxDistance']
            except:
                logging.warning(
                    'Failed to load useMaxDistace. Possible reasons: '
                    'Not saved or multiple model implementation')
            mySAMpy.calibrateUnknown = modelPickle['calibrateUnknown']
            if mySAMpy.calibrateUnknown:
                mySAMpy.classificationDict = modelPickle['classificationDict']

        except IOError:
            logging.warning('IO Exception reading ', found)
            pass

    if 'exp' in modelPath or 'best' in modelPath or 'backup' in modelPath:
        fnameProto = '/'.join(modelPath.split('/')[:-1]) + '/' + dataPath.split('/')[-1] + '__' + driverName + \
                            '__' + mySAMpy.model_type + '__' + str(mySAMpy.experiment_number)
    else:
        fnameProto = modelPath + dataPath.split('/')[-1] + '__' + driverName + '__' + mySAMpy.model_type + \
                             '__' + str(mySAMpy.experiment_number)

    logging.info('Full model name: ' + str(fnameProto))
    logging.info('-------------------')
    logging.info('')

    mySAMpy.save_model = False
    mySAMpy.economy_save = True
    mySAMpy.visualise_output = False
    # test_mode = True

    mySAMpy.readData(dataPath, participantList)

    if mySAMpy.model_mode != 'temporal':
        # get list of labels
        mySAMpy.textLabels = list(set(mySAMpy.L))

        # convert L from list of strings to array of indices
        mySAMpy.L = np.asarray(
            [mySAMpy.textLabels.index(i) for i in mySAMpy.L])[:, None]
        mySAMpy.textLabels = mySAMpy.textLabels
    else:
        mySAMpy.X, mySAMpy.Y = transformTimeSeriesToSeq(
            mySAMpy.Y1, mySAMpy.temporalModelWindowSize)
        mySAMpy.L, mySAMpy.tmp = transformTimeSeriesToSeq(
            mySAMpy.U1, mySAMpy.temporalModelWindowSize)

    mm = [mySAMpy]
    # mm.append(mySAMpy)
    # mm[0] contains root model
    # this is the only model in the case of a single model
    # or contains all info for the rest of the models in case of multiple models
    #

    if mySAMpy.model_mode == 'single' or mySAMpy.model_mode == 'temporal':
        mm[0].participantList = ['all']
    else:
        mm[0].participantList = ['root'] + mySAMpy.textLabels

    for k in range(len(mm[0].participantList)):
        if mm[0].participantList[k] == 'all':
            normaliseData = True
            minData = len(mm[k].L)
            mm[0].fname = fnameProto
            mm[0].model_type = mySAMpy.model_type
            Ntr = int(mySAMpy.ratioData * minData / 100)
        else:
            if k > 0:
                mm.append(Driver())
                # extract subset of data corresponding to this model
                inds = [
                    i for i in range(len(mm[0].Y['L']))
                    if mm[0].Y['L'][i] == k - 1
                ]
                mm[k].Y = mm[0].Y['Y'][inds]
                mm[k].L = mm[0].Y['L'][inds]
                mm[k].Quser = mm[0].Quser
                mm[k].verbose = mm[0].verbose
                logging.info('Object class: ' + str(mm[0].participantList[k]))
                minData = len(inds)
                mm[k].fname = fnameProto + '__L' + str(k - 1)
                mm[0].listOfModels.append(mm[k].fname)
                mm[k].model_type = 'bgplvm'
                Ntr = int(mySAMpy.ratioData * minData / 100)
                normaliseData = True
            else:
                normaliseData = False
                mm[0].listOfModels = []
                mm[0].fname = fnameProto
                mm[0].SAMObject.kernelString = ''
                minData = len(mm[0].L)
                Ntr = int(mySAMpy.ratioData * minData / 100)
            mm[k].modelLabel = mm[0].participantList[k]

        if mm[0].model_mode != 'temporal':

            [Yall, Lall, YtestAll,
             LtestAll] = mm[k].prepareData(mm[k].model_type,
                                           Ntr,
                                           randSeed=0,
                                           normalise=normaliseData)
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll
        elif mm[0].model_mode == 'temporal':
            [Xall, Yall, Lall, XtestAll, YtestAll,
             LtestAll] = mm[k].prepareData(mm[k].model_type,
                                           Ntr,
                                           randSeed=0,
                                           normalise=normaliseData)
            mm[k].Xall = Xall
            mm[k].Yall = Yall
            mm[k].Lall = Lall
            mm[k].XtestAll = XtestAll
            mm[k].YtestAll = YtestAll
            mm[k].LtestAll = LtestAll

        logging.info('minData = ' + str(minData))
        logging.info('ratioData = ' + str(mySAMpy.ratioData))
    logging.info(
        '-------------------------------------------------------------------------------------------------'
    )
    if initMode == 'training':
        samOptimiser.deleteModel(modelPath, 'exp')
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':

                logging.info("Training with " + str(mm[0].model_num_inducing) +
                             ' inducing points for ' +
                             str(mm[0].model_init_iterations) + '|' +
                             str(mm[0].model_num_iterations))
                logging.info("Fname:" + str(mm[k].fname))

                mm[k].training(mm[0].model_num_inducing,
                               mm[0].model_num_iterations,
                               mm[0].model_init_iterations,
                               mm[k].fname,
                               mm[0].save_model,
                               mm[0].economy_save,
                               keepIfPresent=False,
                               kernelStr=mm[0].kernelString)

                if mm[0].visualise_output:
                    ax = mm[k].SAMObject.visualise()
                    visualiseInfo = dict()
                    visualiseInfo['ax'] = ax
                else:
                    visualiseInfo = None
    else:
        for k in range(len(mm[0].participantList)):
            # for k = 0 check if multiple model or not
            if mm[0].participantList[k] != 'root':
                logging.info("Training with " + str(mm[0].model_num_inducing) +
                             ' inducing points for ' +
                             str(mm[0].model_init_iterations) + '|' +
                             str(mm[0].model_num_iterations))

                mm[k].training(mm[0].model_num_inducing,
                               mm[0].model_num_iterations,
                               mm[0].model_init_iterations,
                               mm[k].fname,
                               mm[0].save_model,
                               mm[0].economy_save,
                               keepIfPresent=True,
                               kernelStr=mm[0].kernelString)

    return mm