def main(data_path_head, data_path_tail, args):
### ********** LOAD DATA ********** ###
data = load_raw_data(data_path_tail, data_path_head)
### ********** PREPROCESS DATA ********** ###
data[:, :3] = PcaRotation(data[:, :3])
data[:, :3] = ScaleData(data[:, :3])
### ********** THREE BEST CONFIGURATIONS FROM REPORT "GRID SEARCH" ******** ###
rpca_testing_windows = [[225, 225], [225, 225], [125, 125]]
rpca_testing_windows_types = ['rectangle', 'ellipse', 'rectangle']
rpca_testing_overlaps = [0.5, 0.8, 0.75]
rpca_testing_confidence = [1.5, 2, 2.5]
### ********** PERFROM RPCA ON NEW DATASET WITH DEFINED CONFIGURATIONS ********* ###
for window, window_type, overlap, confidence in zip(
rpca_testing_windows, rpca_testing_windows_types,
rpca_testing_overlaps, rpca_testing_confidence):
# Define Naming Strings
save_path = args.save_path + "/RPCA_generalization_voting"
string_overlap = "{:.2f}".format(overlap).replace(".", "")
classifier_name = "RPCA_{}_{}x{}_ol{}".format(window_type, window[0],
window[1],
string_overlap)
# Perfrom rpca and save it
rpca = RobustPCAGrid(window,
max_iter=2000,
overlap=overlap,
window_type=window_type,
predict_method='voting',
confidence=confidence,
name=classifier_name)
rpca, rpca_prediction, rpca_score, rpca_err, rpca_confusion_matrix = classify(
rpca,
train_data=data[:, :3],
train_lbls=data[:, -1],
test_data=data[:, :3],
test_lbls=data[:, -1],
stats=args.stats,
save=True,
save_dir=save_path)
# Create results matrix and print to stdout
conf_mat = matrix_string(rpca_confusion_matrix)
print("*** {} ***".format(classifier_name))
print("\trpca Score: %.6f \n %s" % (rpca_score, conf_mat))
def main(head, tail, classification_path):
### ********** LOAD DATA ********** ###
data = load_raw_data(tail, head)
### ********** PREPROCESS DATA ********** ###
data[:, :3] = PcaRotation(data[:, :3])
data[:, :3] = ScaleData(data[:, :3])
# Open specified file
test_prediction = np.loadtxt(classification_path)
filt_data = np.delete(data[:, :3],
np.argwhere(test_prediction == 1)[:, 0],
axis=0)
reconstr = surface_reconstruction(filt_data, resolution=[500, 200])
ScatterPlot3D(reconstr,
labels=np.zeros(len(reconstr)),
title="RPCA: Surface Estimation")
if sys.flags.interactive != 1:
vispy.app.run()
def main(data_path_head, data_path_tail, args):
### ********** LOAD DATA ********** ###
print("-- Loading Data --\n")
data = load_raw_data(data_path_tail, data_path_head)
print("Noise Ratio in data %f" %
(np.count_nonzero(data[-1]) / data.shape[0]))
### ********** PREPROCESS DATA ********** ###
print("\n-- Preprocessing Data --\n")
# preprocess true coordinates
data[:, :3] = PcaRotation(data[:, :3])
data[:, :3] = ScaleData(data[:, :3])
# preproess features
data[:, 3:-2] = ScaleFeatures(data[:, 3:-2])
### ********** CREATE FEATURES ********** ###
# dist = 1
# dtp_feature = dist_to_plane(data[:,:3],dist)
# k=[3,6,9,12,15]
# kmean_dist_feature = knn_mean_dist(data[:,:3],[3,6,9,12,15])
# kmean_z_dist_feature = knn_mean_z_dist(data[:,:3],[3,6,9,12,15])
# kmaxd_feature= knn_max_dist(data[:,:3],k)
# radius = [0.1 0.2 0.4 0.8 1]
# #n_in_sphere_feature = samples_within_sphere(data[:,:3],radius)
# #cent_z_sum_sphere_feature = centered_z_summation_within_sphere(data[:,0:3],radius)
# # Write code to incorporate features in the dataset
# data = data ### !!!
### ********** TRAIN TEST SPLIT ********** ###
chosen_features = np.array([1, 2, 3])
features_incl_lbls = np.append(chosen_features, -1)
train_data, train_lbls, test_data, test_lbls = split_data(
data[:, features_incl_lbls], test_size=0.25)
### ********** Nearest Neighbors Classifier ********** ###
if args.knn is True:
print("-- Performing kNN --")
k_neighbors = 1
knn = KNearestNeighbors(k=k_neighbors)
knn, knn_prediction, knn_score, knn_err, knn_confusion_matrix = classify(
knn,
train_data,
train_lbls,
test_data,
test_lbls,
stats=args.stats)
conf_mat = matrix_string(knn_confusion_matrix)
print("\tkNN k=%d Score: %.6f \n %s" %
(k_neighbors, knn_score, conf_mat))
### ********** Naive Bayes Classifier********** ###
if args.nb is True:
print("-- Performing Naive Bayes --")
nb = NaiveBayes()
nb, nb_prediction, nb_score, nb_err, nb_confusion_matrix = classify(
nb,
train_data,
train_lbls,
test_data,
test_lbls,
save=True,
stats=args.stats)
conf_mat = matrix_string(nb_confusion_matrix)
print("\tnb Score: %.6f \n %s" % (nb_score, conf_mat))
### ********** Linear/Non-linear SVM Classifier********** ###
if args.svm is True:
print("-- Performing Linear SVM --")
lin_svm = SupportVectorMachine(max_iter=200)
lin_svm, lin_svm_pred, lin_svm_score, lin_svm_err, lin_confusion_matrix = classify(
lin_svm,
train_data,
train_lbls,
test_data,
test_lbls,
stats=args.stats)
conf_mat = matrix_string(lin_confusion_matrix)
print("\tLinear SVM Score: %.6f \n %s" % (lin_svm_score, conf_mat))
print("-- Performing Kernel SVM --")
kern_svm = SupportVectorMachine(kernel='rbf',
max_iter=1000,
gamma='auto',
C=0.1,
tol=1e-3)
kern_svm, kern_svm_pred, kern_svm_score, kern_svm_err, kern_confusion_matrix = classify(
kern_svm,
train_data,
train_lbls,
test_data,
test_lbls,
stats=args.stats)
conf_mat = matrix_string(kern_confusion_matrix)
print("\tKernel SVM Score: %.6f \n %s" % (kern_svm_score, conf_mat))
### ********** Robust PCA ********** ###
if args.rpca is True:
print("-- Performing Robust PCA --")
rpca = RobustPCAGrid([101, 101],
max_iter=2000,
overlap=0,
window_type='rectangle',
predict_method='voting')
rpca, rpca_prediction, rpca_score, rpca_err, rpca_confusion_matrix = classify(
rpca,
train_data=data[:, :3],
train_lbls=data[:, -1],
test_data=data[:, :3],
test_lbls=data[:, -1],
stats=args.stats,
save=False)
conf_mat = '\t[' + ']\n\t['.join('\t'.join('%0.3f' % x for x in y)
for y in rpca_confusion_matrix) + ']'
print("\trpca Score: %.6f \n %s" % (rpca_score, conf_mat))
if args.figsshow:
ScatterPlot3D(data,
labels=rpca_prediction,
x_feat=0,
y_feat=1,
z_feat=2,
title="RPCA: Predictions")
filt_data = np.delete(data,
np.argwhere(rpca_prediction == 1)[:, 0],
axis=0)
ScatterPlot3D(filt_data,
labels=np.zeros(len(filt_data)),
title="RPCA: Noise Filtered")
#reconstr = surface_reconstruction(filt_data, resolution=[500,500])
#ScatterPlot3D(reconstr,labels=np.zeros(len(reconstr)), title="RPCA: Surface Estimation")
### ********** PLOTTING DATA ********** ####
"""ScatterPlot3D(data, labels=training_labels, x_feat=0, y_feat=1, z_feat=2, label_feat=-1, title="Scatterplot")"""
def main(data_path_head, data_path_tail, args):
### ********** LOAD DATA ********** ###
print("-- Loading Data --\n")
data = load_raw_data(data_path_tail, data_path_head)
### ********** PREPROCESS DATA ********** ###
print("\n-- Preprocessing Data --\n")
data[:, :3] = PcaRotation(data[:, :3])
data[:, :3] = ScaleData(data[:, :3])
rpca_testing_windows = [[25, 25], [75, 75], [125, 125], [175, 175],
[225, 225]]
rpca_testing_rect_overlaps = [0, 0.25, 0.5, 0.75]
rpca_testing_ellip_overlaps = [0.5, 0.6, 0.7, 0.8]
rpca_testing_sigmas = [1.5, 2, 2.5]
### ********** Perfrom Grid search of defined parameters with Robust PCA ********** ###
for sigma in rpca_testing_sigmas:
save_path = args.save_path + "_std{}".format(sigma).replace(".", "")
for window in rpca_testing_windows:
for overlap in rpca_testing_rect_overlaps:
save_path_rectangle = save_path + "/RPCA_Rect_voting"
string_overlap = "{:.2f}".format(overlap).replace(".", "")
classifier_name = "RPCA_Rect_{}x{}_ol{}".format(
window[0], window[1], string_overlap)
rpca = RobustPCAGrid(window,
max_iter=2000,
overlap=overlap,
window_type='rectangle',
predict_method='voting',
name=classifier_name)
rpca, rpca_prediction, rpca_score, rpca_err, rpca_confusion_matrix = classify(
rpca,
train_data=data[:, :3],
train_lbls=data[:, -1],
test_data=data[:, :3],
test_lbls=data[:, -1],
stats=args.stats,
save=True,
save_dir=save_path_rectangle)
conf_mat = matrix_string(rpca_confusion_matrix)
print("*** {} ***".format(classifier_name))
print("\trpca Score: %.6f \n %s" % (rpca_score, conf_mat))
for overlap in rpca_testing_ellip_overlaps:
save_path_ellipse = save_path + "/RPCA_Ellipse_voting"
string_overlap = "{:.2f}".format(overlap).replace(".", "")
classifier_name = "RPCA_Ellipse_{}x{}_ol{}".format(
window[0], window[1], string_overlap)
rpca = RobustPCAGrid(window,
max_iter=2000,
overlap=overlap,
window_type='ellipse',
predict_method='voting',
name=classifier_name)
rpca, rpca_prediction, rpca_score, rpca_err, rpca_confusion_matrix = classify(
rpca,
train_data=data[:, :3],
train_lbls=data[:, -1],
test_data=data[:, :3],
test_lbls=data[:, -1],
stats=args.stats,
save=True,
save_dir=save_path_ellipse)
conf_mat = matrix_string(rpca_confusion_matrix)
print("*** {} ***".format(classifier_name))
print("\trpca Score: %.6f \n %s" % (rpca_score, conf_mat))
def main(data_path_head,data_path_tail,args):
### ********** LOAD DATA ********** ###
print("-- Loading Data --\n")
data = load_raw_data(data_path_tail, data_path_head)
### ********** PREPROCESS DATA ********** ###
print("\n-- Preprocessing Data --\n")
# preprocess true coordinates
data[:,:3] = PcaRotation(data[:,:3])
data[:,:3] = ScaleData(data[:,:3])
# preproess features
data[:,3:-1] = ScaleFeatures(data[:,3:-1])
### ********** TRAIN TEST SPLIT ********** ###
eiva_feature_names = ["x",
"y",
"z",
"Dist_to_neighbour",
"Dist_to_avg_surf_r80cm" ,
"Neighbours_in_sphere_r80cm" ,
"Z_sum_in_circ_r80cm" ,
"kNN_mean_Z_dist_n8" ,
"kNN_mean_dist_k8"]
for feature,feature_name in enumerate(eiva_feature_names[3:]):
feature=feature+3 # offset dont count x,y,z
feature_incl_labels = np.append(feature,-1)
train_data, train_lbls, test_data, test_lbls = split_data(data[:,feature_incl_labels],test_size=0.25)
### ********** Nearest Neighbors Classifier ********** ###
if args.knn is True:
print("-- Performing kNN --")
for k_neighbors in 2**np.arange(9):
save_path = args.save_path + "/kNN"
classifier_name = "kNN_k{}_".format(k_neighbors)+"Feature{}={}".format(feature,feature_name)
knn = KNearestNeighbors(k=k_neighbors,name=classifier_name)
knn, knn_prediction, knn_score, knn_err, knn_confusion_matrix = classify(knn, train_data, train_lbls, test_data, test_lbls, stats=args.stats, save=True, save_dir=save_path)
conf_mat = matrix_string(knn_confusion_matrix)
print("\tkNN k=%d Score: %.6f \n %s" %(k_neighbors,knn_score,conf_mat))
### ********** Naive Bayes Classifier********** ###
if args.nb is True:
print("-- Performing Naive Bayes --")
save_path = args.save_path + "/NB"
classifier_name ="NB_"+"Feature{}={}_".format(feature,feature_name)
nb = NaiveBayes(name=classifier_name)
nb, nb_prediction, nb_score, nb_err, nb_confusion_matrix = classify(nb, train_data, train_lbls, test_data, test_lbls, stats=args.stats, save=True, save_dir=save_path)
conf_mat = matrix_string(nb_confusion_matrix)
print("\tnb Score: %.6f \n %s" %(nb_score,conf_mat))
### ********** Linear/Non-linear SVM Classifier********** ###
if args.svm is True:
for C in (2.**np.arange(-5,16,10)).tolist():
print(C)
for tol in (10.**np.arange( -5, 0, 2 )).tolist():
print("-- Performing Linear SVM --")
save_path = args.save_path + "/linSVM"
classifier_name = "LinSVM_C{}_tol{}_".format(C,tol)+"Feature{}={}_".format(feature,feature_name)
lin_svm = SupportVectorMachine(max_iter=200,C=C,tol=tol,name=classifier_name)
lin_svm, lin_svm_pred, lin_svm_score, lin_svm_err, lin_confusion_matrix = classify(lin_svm, train_data, train_lbls, test_data, test_lbls, stats=args.stats, save=True, save_dir=save_path)
conf_mat = matrix_string(lin_confusion_matrix)
print("\tLinear SVM Score: %.6f \n %s" %(lin_svm_score,conf_mat))
for gamma in (2.**np.arange(-10,0,3)).tolist():
print("-- Performing Kernel SVM --")
save_path = args.save_path + "/RbfSVm"
classifier_name = "RbfSVM_C{}_tol{}_gamme{}".format(C,tol,gamma)+"Feature{}={}_".format(feature,feature_name)
kern_svm = SupportVectorMachine(kernel='rbf', max_iter=200,gamma=gamma, C=C, tol=tol,name=classifier_name)
kern_svm, kern_svm_pred, kern_svm_score, kern_svm_err, kern_confusion_matrix = classify(kern_svm, train_data, train_lbls, test_data, test_lbls, stats=args.stats, save=True, save_dir=save_path)
conf_mat = matrix_string(kern_confusion_matrix)
print("\tKernel SVM Score: %.6f \n %s" %(kern_svm_score,conf_mat))
# Parse Arguments
args = parser.parse_args()
# Path is a data file
if os.path.exists(args.path):
print("Test")
# Get file name and path from argument
head, tail = os.path.split(args.path)
# Read data from file
data = load_raw_data(tail, head)[:, :]
### ********** PREPROCESS DATA ********** ###
print("\n-- Preprocessing Data --\n")
# preprocess true coordinates
data[:, :3] = PcaRotation(data[:, :3])
data[:, :3] = ScaleData(data[:, :3])
# Grid RPCA
rpca = RobustPCAGrid([101, 101],
max_iter=1000,
overlap=0.5,
window_type='rectangle',
predict_method='voting') #50,50
rpca.fit(data[:, :3])
labels = rpca.predict(None)
ScatterPlot3D(data[:, :3], labels=labels, title="Predicted labels")
ScatterPlot3D(rpca.S, labels=data[:, -1], title="S With True labels")
print(len(rpca.S_list))
#ScatterPlot3D(rpca.S_list[20],labels=data[rpca.sample_list[20],-1], title="S1 With True labels")
#ScatterPlot3D(rpca.S_list[1900],labels=data[rpca.sample_list[1900],-1], title="S2 With True labels")