def similarityMatrixForExpandingCirclesLowDim(): print "Reading data..." bar = progressbar.ProgressBar(maxval=12, widgets=[progressbar.Bar('=', '[', ']'), ' ', progressbar.Percentage()]) bar.start(); progress = 0 data0a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius0cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data5a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius5cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data10a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius10cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data15a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius15cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data20a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius20cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data25a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius25cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data0b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius0cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data5b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius5cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data10b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius10cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data15b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius15cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data20b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius20cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data25b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius25cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) bar.finish() print "Calculating segments..." bar = progressbar.ProgressBar(maxval=12, widgets=[progressbar.Bar('=', '[', ']'), ' ', progressbar.Percentage()]) bar.start(); progress = 0 (segs0a,wa0)=m.getLowDimensionalSegments(data0a,n_components=2); progress += 1; bar.update(progress) (segs5a,wa5)=m.getLowDimensionalSegments(data5a,n_components=2); progress += 1; bar.update(progress) (segs10a,wa10)=m.getLowDimensionalSegments(data10a,n_components=2); progress += 1; bar.update(progress) (segs15a,wa15)=m.getLowDimensionalSegments(data15a,n_components=2); progress += 1; bar.update(progress) (segs20a,wa20)=m.getLowDimensionalSegments(data20a,n_components=2); progress += 1; bar.update(progress) (segs25a,wa25)=m.getLowDimensionalSegments(data25a,n_components=2); progress += 1; bar.update(progress) (segs0b,wb0)=m.getLowDimensionalSegments(data0b,n_components=2); progress += 1; bar.update(progress) (segs5b,wb5)=m.getLowDimensionalSegments(data5b,n_components=2); progress += 1; bar.update(progress) (segs10b,wb10)=m.getLowDimensionalSegments(data10b,n_components=2); progress += 1; bar.update(progress) (segs15b,wb15)=m.getLowDimensionalSegments(data15b,n_components=2); progress += 1; bar.update(progress) (segs20b,wb20)=m.getLowDimensionalSegments(data20b,n_components=2); progress += 1; bar.update(progress) (segs25b,wb25)=m.getLowDimensionalSegments(data25b,n_components=2); progress += 1; bar.update(progress) segs20a=segs20a[:-1] segs25a=segs25a[1:] segs0b=segs0b[1:-1] segs5b=segs5b[1:] segs10b=segs10b[:-1] segs15b=segs15b[1:-1] segs20b=segs20b[1:-1] segs25b=segs25b[1:-1] names = ["0a"]*len(segs0a)+["5a"]*len(segs5a)+["10a"]*len(segs10a)+["15a"]*len(segs15a)+["20a"]*len(segs20a)+["25a"]*len(segs25a)+["0c"]*len(segs0b)+["5c"]*len(segs5b)+["10c"]*len(segs10b)+["15c"]*len(segs15b)+["20c"]*len(segs20b)+["25c"]*len(segs25b) weights = [float(sum(t))/float(len(t)) for t in zip(wa0,wa5,wa10,wa15,wa20,wa25,wb0,wb5,wb10,wb15,wb20,wb25)] bar.finish() print "Calculating similarities..." m.similarityMatrix(segs0a+segs5a+segs10a+segs15a+segs20a+segs25a+segs0b+segs5b+segs10b+segs15b+segs20b+segs25b,names,weights,"Similarity Matrix using two principal components",savePlot=True)
def similarityMatrixForExpandingCirclesHighDim(): print "Reading data..." bar = progressbar.ProgressBar(maxval=12, widgets=[progressbar.Bar('=', '[', ']'), ' ', progressbar.Percentage()]) bar.start(); progress = 0 data0a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius0cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data5a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius5cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data10a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius10cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data15a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius15cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data20a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius20cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data25a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius25cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data0b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius0cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data5b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius5cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data10b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius10cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data15b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius15cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data20b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius20cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) data25b=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius25cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) bar.finish() print "Calculating segments..." bar = progressbar.ProgressBar(maxval=12, widgets=[progressbar.Bar('=', '[', ']'), ' ', progressbar.Percentage()]) bar.start(); progress = 0 segs0a=m.getHighDimensionalSegments(data0a); progress += 1; bar.update(progress) segs5a=m.getHighDimensionalSegments(data5a); progress += 1; bar.update(progress) segs10a=m.getHighDimensionalSegments(data10a); progress += 1; bar.update(progress) segs15a=m.getHighDimensionalSegments(data15a); progress += 1; bar.update(progress) segs20a=m.getHighDimensionalSegments(data20a)[:-1]; progress += 1; bar.update(progress) segs25a=m.getHighDimensionalSegments(data25a)[1:]; progress += 1; bar.update(progress) segs0b=m.getHighDimensionalSegments(data0b)[1:-1]; progress += 1; bar.update(progress) segs5b=m.getHighDimensionalSegments(data5b)[1:]; progress += 1; bar.update(progress) segs10b=m.getHighDimensionalSegments(data10b)[:-1]; progress += 1; bar.update(progress) segs15b=m.getHighDimensionalSegments(data15b)[1:-1]; progress += 1; bar.update(progress) segs20b=m.getHighDimensionalSegments(data20b)[1:-1]; progress += 1; bar.update(progress) segs25b=m.getHighDimensionalSegments(data25b)[1:-1]; progress += 1; bar.update(progress) bar.finish() names = ["0a"]*len(segs0a)+["5a"]*len(segs5a)+["10a"]*len(segs10a)+["15a"]*len(segs15a)+["20a"]*len(segs20a)+["25a"]*len(segs25a)+["0c"]*len(segs0b)+["5c"]*len(segs5b)+["10c"]*len(segs10b)+["15c"]*len(segs15b)+["20c"]*len(segs20b)+["25c"]*len(segs25b) #names = ["0a"]*len(segs0a)+["0c"]*len(segs0b)+["5a"]*len(segs5a)+["5c"]*len(segs5b)+["10a"]*len(segs10a)+["10c"]*len(segs10b)+["15a"]*len(segs15a)+["15c"]*len(segs15b)+["20a"]*len(segs20a)+["20c"]*len(segs20b)+["25a"]*len(segs25a)+["25c"]*len(segs25b) weights = [1]*np.shape((segs0a+segs0b+segs5a+segs5b+segs10a+segs10b+segs15a+segs15b+segs20a+segs20b+segs25a+segs25b)[0])[1] #names = [0]*len(segs0a)+[10]*len(segs10a)+[20]*len(segs20a) #weights = [1]*np.shape((segs0a+segs10a+segs20a)[0])[1] print "Calculating similarities..." m.similarityMatrix(segs0a+segs5a+segs10a+segs15a+segs20a+segs25a+segs0b+segs5b+segs10b+segs15b+segs20b+segs25b,names,weights,"Similarity Matrix using high dimensional raw sensor data",savePlot=True)
def __init__(self, split=0.5): print "Initialising reference data..." bar = progressbar.ProgressBar(maxval=14, widgets=[progressbar.Bar('=', '[', ']'), ' ', progressbar.Percentage()]) bar.start(); progress = 0 self.data0a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius0cmHorizontal.txt")[26:,4:] self.data5a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius5cmHorizontal.txt")[26:,4:] self.data10a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius10cmHorizontal.txt")[26:,4:] self.data15a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius15cmHorizontal.txt")[26:,4:] self.data20a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius20cmHorizontal.txt")[26:,4:] self.data25a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius25cmHorizontal.txt")[26:,4:] self.data0c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius0cmHorizontal.txt")[26:,4:] self.data5c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius5cmHorizontal.txt")[26:,4:] self.data10c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius10cmHorizontal.txt")[26:,4:] self.data15c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius15cmHorizontal.txt")[26:,4:] self.data20c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius20cmHorizontal.txt")[26:,4:] self.data25c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius25cmHorizontal.txt")[26:,4:] progress += 1; bar.update(progress) (self.HDsegs0a,self.LDsegs0a,self.w0a) = m.getHighAndLowDimSegments(self.data0a, n_components=9); progress += 1; bar.update(progress) (self.HDsegs5a,self.LDsegs5a,self.w5a) = m.getHighAndLowDimSegments(self.data5a, n_components=9); progress += 1; bar.update(progress) (self.HDsegs10a,self.LDsegs10a,self.w10a) = m.getHighAndLowDimSegments(self.data10a, n_components=9); progress += 1; bar.update(progress) (self.HDsegs15a,self.LDsegs15a,self.w15a) = m.getHighAndLowDimSegments(self.data15a, n_components=9); progress += 1; bar.update(progress) (self.HDsegs20a,self.LDsegs20a,self.w20a) = m.getHighAndLowDimSegments(self.data20a, n_components=9); progress += 1; bar.update(progress) (self.HDsegs25a,self.LDsegs25a,self.w25a) = m.getHighAndLowDimSegments(self.data25a, n_components=9); progress += 1; bar.update(progress) (self.HDsegs0c,self.LDsegs0c,self.w0c) = m.getHighAndLowDimSegments(self.data0c, n_components=9); progress += 1; bar.update(progress) (self.HDsegs5c,self.LDsegs5c,self.w5c) = m.getHighAndLowDimSegments(self.data5c, n_components=9); progress += 1; bar.update(progress) (self.HDsegs10c,self.LDsegs10c,self.w10c) = m.getHighAndLowDimSegments(self.data10c, n_components=9); progress += 1; bar.update(progress) (self.HDsegs15c,self.LDsegs15c,self.w15c) = m.getHighAndLowDimSegments(self.data15c, n_components=9); progress += 1; bar.update(progress) (self.HDsegs20c,self.LDsegs20c,self.w20c) = m.getHighAndLowDimSegments(self.data20c, n_components=9); progress += 1; bar.update(progress) (self.HDsegs25c,self.LDsegs25c,self.w25c) = m.getHighAndLowDimSegments(self.data25c, n_components=9); progress += 1; bar.update(progress) self.averageWeights = [float(sum(t))/float(len(t)) for t in zip(self.w0a,self.w5a,self.w10a,self.w15a,self.w20a,self.w25a,self.w0c,self.w5c,self.w10c,self.w15c,self.w20c,self.w25c)] self.HDsegs20a=self.HDsegs20a[:-1] self.HDsegs25a=self.HDsegs25a[1:] self.HDsegs0c=self.HDsegs0c[1:-1] self.HDsegs5c=self.HDsegs5c[1:] self.HDsegs10c=self.HDsegs10c[:-1] self.HDsegs15c=self.HDsegs15c[1:-1] self.HDsegs20c=self.HDsegs20c[1:-1] self.HDsegs25c=self.HDsegs25c[1:-1] self.LDsegs20a=self.LDsegs20a[:-1] self.LDsegs25a=self.LDsegs25a[1:] self.LDsegs0c=self.LDsegs0c[1:-1] self.LDsegs5c=self.LDsegs5c[1:] self.LDsegs10c=self.LDsegs10c[:-1] self.LDsegs15c=self.LDsegs15c[1:-1] self.LDsegs20c=self.LDsegs20c[1:-1] self.LDsegs25c=self.LDsegs25c[1:-1] self.HDtraining = {'Anticlockwise radius=0cm':self.HDsegs0a[:(int(len(self.HDsegs0a)*split))], 'Anticlockwise radius=5cm':self.HDsegs5a[:(int(len(self.HDsegs5a)*split))], 'Anticlockwise radius=10cm':self.HDsegs10a[:(int(len(self.HDsegs10a)*split))], 'Anticlockwise radius=15cm':self.HDsegs15a[:(int(len(self.HDsegs15a)*split))], 'Anticlockwise radius=20cm':self.HDsegs20a[:(int(len(self.HDsegs20a)*split))], 'Anticlockwise radius=25cm':self.HDsegs25a[:(int(len(self.HDsegs25a)*split))], 'Anticlockwise radius=0cm':self.HDsegs0a[:(int(len(self.HDsegs0a)*split))], 'Clockwise radius=5cm':self.HDsegs5c[:(int(len(self.HDsegs5c)*split))], 'Clockwise radius=10cm':self.HDsegs10c[:(int(len(self.HDsegs10c)*split))], 'Clockwise radius=15cm':self.HDsegs15c[:(int(len(self.HDsegs15c)*split))], 'Clockwise radius=20cm':self.HDsegs20c[:(int(len(self.HDsegs20c)*split))], 'Clockwise radius=25cm':self.HDsegs25c[:(int(len(self.HDsegs25c)*split))]} self.LDtraining = {'Anticlockwise radius=0cm':self.LDsegs0a[:(int(len(self.LDsegs0a)*split))], 'Anticlockwise radius=5cm':self.LDsegs5a[:(int(len(self.LDsegs5a)*split))], 'Anticlockwise radius=10cm':self.LDsegs10a[:(int(len(self.LDsegs10a)*split))], 'Anticlockwise radius=15cm':self.LDsegs15a[:(int(len(self.LDsegs15a)*split))], 'Anticlockwise radius=20cm':self.LDsegs20a[:(int(len(self.LDsegs20a)*split))], 'Anticlockwise radius=25cm':self.LDsegs25a[:(int(len(self.LDsegs25a)*split))], 'Anticlockwise radius=0cm':self.LDsegs0a[:(int(len(self.LDsegs0a)*split))], 'Clockwise radius=5cm':self.LDsegs5c[:(int(len(self.LDsegs5c)*split))], 'Clockwise radius=10cm':self.LDsegs10c[:(int(len(self.LDsegs10c)*split))], 'Clockwise radius=15cm':self.LDsegs15c[:(int(len(self.LDsegs15c)*split))], 'Clockwise radius=20cm':self.LDsegs20c[:(int(len(self.LDsegs20c)*split))], 'Clockwise radius=25cm':self.LDsegs25c[:(int(len(self.LDsegs25c)*split))]} self.HDtest = {'Anticlockwise radius=0cm':self.HDsegs0a[(int(len(self.HDsegs0a)*split)):], 'Anticlockwise radius=5cm':self.HDsegs5a[(int(len(self.HDsegs5a)*split)):], 'Anticlockwise radius=10cm':self.HDsegs10a[(int(len(self.HDsegs10a)*split)):], 'Anticlockwise radius=15cm':self.HDsegs15a[(int(len(self.HDsegs15a)*split)):], 'Anticlockwise radius=20cm':self.HDsegs20a[(int(len(self.HDsegs20a)*split)):], 'Anticlockwise radius=25cm':self.HDsegs25a[(int(len(self.HDsegs25a)*split)):], 'Anticlockwise radius=0cm':self.HDsegs0a[(int(len(self.HDsegs0a)*split)):], 'Clockwise radius=5cm':self.HDsegs5c[(int(len(self.HDsegs5c)*split)):], 'Clockwise radius=10cm':self.HDsegs10c[(int(len(self.HDsegs10c)*split)):], 'Clockwise radius=15cm':self.HDsegs15c[(int(len(self.HDsegs15c)*split)):], 'Clockwise radius=20cm':self.HDsegs20c[(int(len(self.HDsegs20c)*split)):], 'Clockwise radius=25cm':self.HDsegs25c[(int(len(self.HDsegs25c)*split)):]} self.LDtest = {'Anticlockwise radius=0cm':self.LDsegs0a[(int(len(self.LDsegs0a)*split)):], 'Anticlockwise radius=5cm':self.LDsegs5a[(int(len(self.LDsegs5a)*split)):], 'Anticlockwise radius=10cm':self.LDsegs10a[(int(len(self.LDsegs10a)*split)):], 'Anticlockwise radius=15cm':self.LDsegs15a[(int(len(self.LDsegs15a)*split)):], 'Anticlockwise radius=20cm':self.LDsegs20a[(int(len(self.LDsegs20a)*split)):], 'Anticlockwise radius=25cm':self.LDsegs25a[(int(len(self.LDsegs25a)*split)):], 'Anticlockwise radius=0cm':self.LDsegs0a[(int(len(self.LDsegs0a)*split)):], 'Clockwise radius=5cm':self.LDsegs5c[(int(len(self.LDsegs5c)*split)):], 'Clockwise radius=10cm':self.LDsegs10c[(int(len(self.LDsegs10c)*split)):], 'Clockwise radius=15cm':self.LDsegs15c[(int(len(self.LDsegs15c)*split)):], 'Clockwise radius=20cm':self.LDsegs20c[(int(len(self.LDsegs20c)*split)):], 'Clockwise radius=25cm':self.LDsegs25c[(int(len(self.LDsegs25c)*split)):]} progress += 1; bar.update(progress) bar.finish()
import pylab import master as m import pca import segment data0a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius0cmHorizontal.txt")[26:,4:] data5a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius5cmHorizontal.txt")[26:,4:] data10a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius10cmHorizontal.txt")[26:,4:] data15a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius15cmHorizontal.txt")[26:,4:] data20a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius20cmHorizontal.txt")[26:,4:] data25a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius25cmHorizontal.txt")[26:,4:] data0c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius0cmHorizontal.txt")[26:,4:] data5c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius5cmHorizontal.txt")[26:,4:] data10c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius10cmHorizontal.txt")[26:,4:] data15c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius15cmHorizontal.txt")[26:,4:] data20c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius20cmHorizontal.txt")[26:,4:] data25c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius25cmHorizontal.txt")[26:,4:] pylab.matplotlib.rcParams.update({'font.size': 26}) data=[data0a,data5a,data10a,data15a,data20a,data25a,data0c,data5c,data10c,data15c,data20c,data25c] rawNames =["raw0a","raw5a","raw10a","raw15a","raw20a","raw25a","raw0c","raw5c","raw10c","raw15c","raw20c","raw25c"] pcaNames =["pca0a","pca5a","pca10a","pca15a","pca20a","pca25a","pca0c","pca5c","pca10c","pca15c","pca20c","pca25c"] segsNames =["segs0a","segs5a","segs10a","segs15a","segs20a","segs25a","segs0c","segs5c","segs10c","segs15c","segs20c","segs25c"] for d,n in zip(data,rawNames): pylab.close() pylab.figure(figsize=(12,9)) pylab.plot(d) pylab.xlabel('Time (frames)')
def __init__ (self, computeSegments=False): print "Reading data..." dan10r=m.readRaw("captures/armExercise/Up/Dan Berbec/10r.txt")[26:,4:] dan10l=m.readRaw("captures/armExercise/Up/Dan Berbec/10l.txt")[26:,4:] dan20r=m.readRaw("captures/armExercise/Up/Dan Berbec/20r.txt")[26:,4:] dan20l=m.readRaw("captures/armExercise/Up/Dan Berbec/20l.txt")[26:,4:] dan30r=m.readRaw("captures/armExercise/Up/Dan Berbec/30r.txt")[26:,4:] dan30l=m.readRaw("captures/armExercise/Up/Dan Berbec/30l.txt")[26:,4:] dan40r=m.readRaw("captures/armExercise/Up/Dan Berbec/40r.txt")[26:,4:] dan40l=m.readRaw("captures/armExercise/Up/Dan Berbec/40l.txt")[26:,4:] dan50r=m.readRaw("captures/armExercise/Up/Dan Berbec/50r.txt")[26:,4:] dan50l=m.readRaw("captures/armExercise/Up/Dan Berbec/50l.txt")[26:,4:] dan60r=m.readRaw("captures/armExercise/Up/Dan Berbec/60r.txt")[26:,4:] dan60l=m.readRaw("captures/armExercise/Up/Dan Berbec/60l.txt")[26:,4:] dan70r=m.readRaw("captures/armExercise/Up/Dan Berbec/70r.txt")[26:,4:] dan70l=m.readRaw("captures/armExercise/Up/Dan Berbec/70l.txt")[26:,4:] dan80r=m.readRaw("captures/armExercise/Up/Dan Berbec/80r.txt")[26:,4:] dan80l=m.readRaw("captures/armExercise/Up/Dan Berbec/80l.txt")[26:,4:] dan90r=m.readRaw("captures/armExercise/Up/Dan Berbec/90r.txt")[26:,4:] dan90l=m.readRaw("captures/armExercise/Up/Dan Berbec/90l.txt")[26:,4:] robert10r=m.readRaw("captures/armExercise/Up/Robert Evans/10r.txt")[26:,4:] robert10l=m.readRaw("captures/armExercise/Up/Robert Evans/10l.txt")[66:,4:] robert20r=m.readRaw("captures/armExercise/Up/Robert Evans/20r.txt")[26:,4:] robert20l=m.readRaw("captures/armExercise/Up/Robert Evans/20l.txt")[26:,4:] robert30r=m.readRaw("captures/armExercise/Up/Robert Evans/30r.txt")[26:,4:] robert30l=m.readRaw("captures/armExercise/Up/Robert Evans/30l.txt")[26:,4:] robert40r=m.readRaw("captures/armExercise/Up/Robert Evans/40r.txt")[26:,4:] robert40l=m.readRaw("captures/armExercise/Up/Robert Evans/40l.txt")[26:,4:] robert50r=m.readRaw("captures/armExercise/Up/Robert Evans/50r.txt")[26:,4:] robert50l=m.readRaw("captures/armExercise/Up/Robert Evans/50l.txt")[26:,4:] robert60r=m.readRaw("captures/armExercise/Up/Robert Evans/60r.txt")[26:,4:] robert60l=m.readRaw("captures/armExercise/Up/Robert Evans/60l.txt")[26:,4:] robert70r=m.readRaw("captures/armExercise/Up/Robert Evans/70r.txt")[26:,4:] robert70l=m.readRaw("captures/armExercise/Up/Robert Evans/70l.txt")[26:,4:] robert80r=m.readRaw("captures/armExercise/Up/Robert Evans/80r.txt")[26:,4:] robert80l=m.readRaw("captures/armExercise/Up/Robert Evans/80l.txt")[26:,4:] robert90r=m.readRaw("captures/armExercise/Up/Robert Evans/90r.txt")[26:,4:] robert90l=m.readRaw("captures/armExercise/Up/Robert Evans/90l.txt")[26:,4:] laura10r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura10r.txt")[26:,4:] laura10l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura10l.txt")[26:,4:] laura20r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura20r.txt")[26:,4:] laura20l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura20l.txt")[26:,4:] laura30r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura30r.txt")[26:,4:] laura30l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura30l.txt")[26:,4:] laura40r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura40r.txt")[26:,4:] laura40l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura40l.txt")[26:,4:] laura50r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura50r.txt")[26:,4:] laura50l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura50l.txt")[26:,4:] laura60r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura60r.txt")[26:,4:] laura60l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura60l.txt")[26:,4:] laura70r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura70r.txt")[26:,4:] laura70l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura70l.txt")[26:,4:] laura80r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura80r.txt")[26:,4:] laura80l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura80l.txt")[26:,4:] laura90r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura90r.txt")[26:,4:] laura90l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura90l.txt")[26:,4:] self.data = {'10l':[dan10l,robert10l,laura10l],'20l':[dan20l,robert20l,laura20l],'30l':[dan30l,robert30l,laura30l],'40l':[dan40l,robert40l,laura40l],'50l':[dan50l,robert50l,laura50l],'60l':[dan60l,robert60l,laura60l],'70l':[dan70l,robert70l,laura70l],'80l':[dan80l,robert80l,laura80l],'90l':[dan90l,robert90l,laura90l], '10r':[dan10r,robert10r,laura10r],'20r':[dan20r,robert20r,laura20r],'30r':[dan30r,robert30r,laura30r],'40r':[dan40r,robert40r,laura40r],'50r':[dan50r,robert50r,laura50r],'60r':[dan60r,robert60r,laura60r],'70r':[dan70r,robert70r,laura70r],'80r':[dan80r,robert80r,laura80r],'90r':[dan90r,robert90r,laura90r]} print "Computing dimensionality reduction..." PCAdan10r=p.pca(dan10r,n_components=9) PCAdan10l=p.pca(dan10l,n_components=9) PCAdan20r=p.pca(dan20r,n_components=9) PCAdan20l=p.pca(dan20l,n_components=9) PCAdan30r=p.pca(dan30r,n_components=9) PCAdan30l=p.pca(dan30l,n_components=9) PCAdan40r=p.pca(dan40r,n_components=9) PCAdan40l=p.pca(dan40l,n_components=9) PCAdan50r=p.pca(dan50r,n_components=9) PCAdan50l=p.pca(dan50l,n_components=9) PCAdan60r=p.pca(dan60r,n_components=9) PCAdan60l=p.pca(dan60l,n_components=9) PCAdan70r=p.pca(dan70r,n_components=9) PCAdan70l=p.pca(dan70l,n_components=9) PCAdan80r=p.pca(dan80r,n_components=9) PCAdan80l=p.pca(dan80l,n_components=9) PCAdan90r=p.pca(dan90r,n_components=9) PCAdan90l=p.pca(dan90l,n_components=9) PCArobert10r=p.pca(robert10r,n_components=9) PCArobert10l=p.pca(robert10l,n_components=9) PCArobert20r=p.pca(robert20r,n_components=9) PCArobert20l=p.pca(robert20l,n_components=9) PCArobert30r=p.pca(robert30r,n_components=9) PCArobert30l=p.pca(robert30l,n_components=9) PCArobert40r=p.pca(robert40r,n_components=9) PCArobert40l=p.pca(robert40l,n_components=9) PCArobert50r=p.pca(robert50r,n_components=9) PCArobert50l=p.pca(robert50l,n_components=9) PCArobert60r=p.pca(robert60r,n_components=9) PCArobert60l=p.pca(robert60l,n_components=9) PCArobert70r=p.pca(robert70r,n_components=9) PCArobert70l=p.pca(robert70l,n_components=9) PCArobert80r=p.pca(robert80r,n_components=9) PCArobert80l=p.pca(robert80l,n_components=9) PCArobert90r=p.pca(robert90r,n_components=9) PCArobert90l=p.pca(robert90l,n_components=9) PCAlaura10r=p.pca(laura10r,n_components=9) PCAlaura10l=p.pca(laura10l,n_components=9) PCAlaura20r=p.pca(laura20r,n_components=9) PCAlaura20l=p.pca(laura20l,n_components=9) PCAlaura30r=p.pca(laura30r,n_components=9) PCAlaura30l=p.pca(laura30l,n_components=9) PCAlaura40r=p.pca(laura40r,n_components=9) PCAlaura40l=p.pca(laura40l,n_components=9) PCAlaura50r=p.pca(laura50r,n_components=9) PCAlaura50l=p.pca(laura50l,n_components=9) PCAlaura60r=p.pca(laura60r,n_components=9) PCAlaura60l=p.pca(laura60l,n_components=9) PCAlaura70r=p.pca(laura70r,n_components=9) PCAlaura70l=p.pca(laura70l,n_components=9) PCAlaura80r=p.pca(laura80r,n_components=9) PCAlaura80l=p.pca(laura80l,n_components=9) PCAlaura90r=p.pca(laura90r,n_components=9) PCAlaura90l=p.pca(laura90l,n_components=9) self.pca = {'10l':[PCAdan10l,PCArobert10l,PCAlaura10l],'20l':[PCAdan20l,PCArobert20l,PCAlaura20l],'30l':[PCAdan30l,PCArobert30l,PCAlaura30l],'40l':[PCAdan40l,PCArobert40l,PCAlaura40l],'50l':[PCAdan50l,PCArobert50l,PCAlaura50l],'60l':[PCAdan60l,PCArobert60l,PCAlaura60l],'70l':[PCAdan70l,PCArobert70l,PCAlaura70l],'80l':[PCAdan80l,PCArobert80l,PCAlaura80l],'90l':[PCAdan90l,PCArobert90l,PCAlaura90l], '10r':[PCAdan10r,PCArobert10r,PCAlaura10r],'20r':[PCAdan20r,PCArobert20r,PCAlaura20r],'30r':[PCAdan30r,PCArobert30r,PCAlaura30r],'40r':[PCAdan40r,PCArobert40r,PCAlaura40r],'50r':[PCAdan50r,PCArobert50r,PCAlaura50r],'60r':[PCAdan60r,PCArobert60r,PCAlaura60r],'70r':[PCAdan70r,PCArobert70r,PCAlaura70r],'80r':[PCAdan80r,PCArobert80r,PCAlaura80r],'90r':[PCAdan90r,PCArobert90r,PCAlaura90r]} self.pcaDataOnly = {key:[tuple[0] for tuple in value] for key,value in self.pca.iteritems()} self.explainedVariances = {key:[tuple[1] for tuple in value] for key,value in self.pca.iteritems()} self.averageExplainedVariance = [float(sum(t))/len(t) for t in zip(*[[float(sum(t))/len(t) for t in zip(*l)] for l in self.explainedVariances.values()])] if computeSegments: self.computeSegments() print "Database ready"
def __init__ (self): print "Gathering data..." bar = progressbar.ProgressBar(maxval=14, widgets=[progressbar.Bar('=', '[', ']'), ' ', progressbar.Percentage()]) bar.start(); progress = 0 data0a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius0cmHorizontal.txt")[26:,4:] data5a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius5cmHorizontal.txt")[26:,4:] data10a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius10cmHorizontal.txt")[26:,4:] data15a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius15cmHorizontal.txt")[26:,4:] data20a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius20cmHorizontal.txt")[26:,4:] data25a=m.readRaw("captures/mechanicalArm/ArmLength60cm/Anticlockwise/radius25cmHorizontal.txt")[26:,4:] data0c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius0cmHorizontal.txt")[26:,4:] data5c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius5cmHorizontal.txt")[26:,4:] data10c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius10cmHorizontal.txt")[26:,4:] data15c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius15cmHorizontal.txt")[26:,4:] data20c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius20cmHorizontal.txt")[26:,4:] data25c=m.readRaw("captures/mechanicalArm/ArmLength60cm/Clockwise/radius25cmHorizontal.txt")[26:,4:]; progress += 1; bar.update(progress) (HDsegs0a,LDsegs0a,w0a) = m.getHighAndLowDimSegments(data0a, n_components=9); progress += 1; bar.update(progress) (HDsegs5a,LDsegs5a,w5a) = m.getHighAndLowDimSegments(data5a, n_components=9); progress += 1; bar.update(progress) (HDsegs10a,LDsegs10a,w10a) = m.getHighAndLowDimSegments(data10a, n_components=9); progress += 1; bar.update(progress) (HDsegs15a,LDsegs15a,w15a) = m.getHighAndLowDimSegments(data15a, n_components=9); progress += 1; bar.update(progress) (HDsegs20a,LDsegs20a,w20a) = m.getHighAndLowDimSegments(data20a, n_components=9); progress += 1; bar.update(progress) (HDsegs25a,LDsegs25a,w25a) = m.getHighAndLowDimSegments(data25a, n_components=9); progress += 1; bar.update(progress) (HDsegs0c,LDsegs0c,w0c) = m.getHighAndLowDimSegments(data0c, n_components=9); progress += 1; bar.update(progress) (HDsegs5c,LDsegs5c,w5c) = m.getHighAndLowDimSegments(data5c, n_components=9); progress += 1; bar.update(progress) (HDsegs10c,LDsegs10c,w10c) = m.getHighAndLowDimSegments(data10c, n_components=9); progress += 1; bar.update(progress) (HDsegs15c,LDsegs15c,w15c) = m.getHighAndLowDimSegments(data15c, n_components=9); progress += 1; bar.update(progress) (HDsegs20c,LDsegs20c,w20c) = m.getHighAndLowDimSegments(data20c, n_components=9); progress += 1; bar.update(progress) (HDsegs25c,LDsegs25c,w25c) = m.getHighAndLowDimSegments(data25c, n_components=9); progress += 1; bar.update(progress) HDsegs20a=HDsegs20a[:-1] HDsegs25a=HDsegs25a[1:] HDsegs0c=HDsegs0c[1:-1] HDsegs5c=HDsegs5c[1:] HDsegs10c=HDsegs10c[:-1] HDsegs15c=HDsegs15c[1:-1] HDsegs20c=HDsegs20c[1:-1] HDsegs25c=HDsegs25c[1:-1] LDsegs20a=LDsegs20a[:-1] LDsegs25a=LDsegs25a[1:] LDsegs0c=LDsegs0c[1:-1] LDsegs5c=LDsegs5c[1:] LDsegs10c=LDsegs10c[:-1] LDsegs15c=LDsegs15c[1:-1] LDsegs20c=LDsegs20c[1:-1] LDsegs25c=LDsegs25c[1:-1] self.data = {'clockwise0cm':data0a,'anticlockwise5cm':data5a, 'anticlockwise10cm':data10a, 'anticlockwise15cm':data15a, 'anticlockwise20cm':data20a, 'anticlockwise25cm':data25a, 'clockwise0cm':data0c,'clockwise5cm':data5c, 'clockwise10cm':data10c, 'clockwise15cm':data15c, 'clockwise20cm':data20c, 'clockwise25cm':data25c} self.HDsegments = {'anticlockwise0cm':HDsegs0a,'anticlockwise5cm':HDsegs5a, 'anticlockwise10cm':HDsegs10a, 'anticlockwise15cm':HDsegs15a, 'anticlockwise20cm':HDsegs20a, 'anticlockwise25cm':HDsegs25a, 'clockwise0cm':HDsegs0c,'clockwise5cm':HDsegs5c, 'clockwise10cm':HDsegs10c, 'clockwise15cm':HDsegs15c, 'clockwise20cm':HDsegs20c, 'clockwise25cm':HDsegs25c} self.LDsegments = {'anticlockwise0cm':LDsegs0a,'anticlockwise5cm':LDsegs5a, 'anticlockwise10cm':LDsegs10a, 'anticlockwise15cm':LDsegs15a, 'anticlockwise20cm':LDsegs20a, 'anticlockwise25cm':LDsegs25a, 'clockwise0cm':LDsegs0c,'clockwise5cm':LDsegs5c, 'clockwise10cm':LDsegs10c, 'clockwise15cm':LDsegs15c, 'clockwise20cm':LDsegs20c, 'clockwise25cm':LDsegs25c} progress += 1; bar.update(progress) bar.finish()
def __init__ (self, computeSegments=False): print "Reading data..." dan10r=m.readRaw("captures/armExercise/Up/Dan Berbec/10r.txt")[26:,4:] dan10l=m.readRaw("captures/armExercise/Up/Dan Berbec/10l.txt")[26:,4:] dan20r=m.readRaw("captures/armExercise/Up/Dan Berbec/20r.txt")[26:,4:] dan20l=m.readRaw("captures/armExercise/Up/Dan Berbec/20l.txt")[26:,4:] dan30r=m.readRaw("captures/armExercise/Up/Dan Berbec/30r.txt")[26:,4:] dan30l=m.readRaw("captures/armExercise/Up/Dan Berbec/30l.txt")[26:,4:] dan40r=m.readRaw("captures/armExercise/Up/Dan Berbec/40r.txt")[26:,4:] dan40l=m.readRaw("captures/armExercise/Up/Dan Berbec/40l.txt")[26:,4:] dan50r=m.readRaw("captures/armExercise/Up/Dan Berbec/50r.txt")[26:,4:] dan50l=m.readRaw("captures/armExercise/Up/Dan Berbec/50l.txt")[26:,4:] dan60r=m.readRaw("captures/armExercise/Up/Dan Berbec/60r.txt")[26:,4:] dan60l=m.readRaw("captures/armExercise/Up/Dan Berbec/60l.txt")[26:,4:] dan70r=m.readRaw("captures/armExercise/Up/Dan Berbec/70r.txt")[26:,4:] dan70l=m.readRaw("captures/armExercise/Up/Dan Berbec/70l.txt")[26:,4:] dan80r=m.readRaw("captures/armExercise/Up/Dan Berbec/80r.txt")[26:,4:] dan80l=m.readRaw("captures/armExercise/Up/Dan Berbec/80l.txt")[26:,4:] dan90r=m.readRaw("captures/armExercise/Up/Dan Berbec/90r.txt")[26:,4:] dan90l=m.readRaw("captures/armExercise/Up/Dan Berbec/90l.txt")[26:,4:] robert10r=m.readRaw("captures/armExercise/Up/Robert Evans/10r.txt")[26:,4:] robert10l=m.readRaw("captures/armExercise/Up/Robert Evans/10l.txt")[66:,4:] robert20r=m.readRaw("captures/armExercise/Up/Robert Evans/20r.txt")[26:,4:] robert20l=m.readRaw("captures/armExercise/Up/Robert Evans/20l.txt")[26:,4:] robert30r=m.readRaw("captures/armExercise/Up/Robert Evans/30r.txt")[26:,4:] robert30l=m.readRaw("captures/armExercise/Up/Robert Evans/30l.txt")[26:,4:] robert40r=m.readRaw("captures/armExercise/Up/Robert Evans/40r.txt")[26:,4:] robert40l=m.readRaw("captures/armExercise/Up/Robert Evans/40l.txt")[26:,4:] robert50r=m.readRaw("captures/armExercise/Up/Robert Evans/50r.txt")[26:,4:] robert50l=m.readRaw("captures/armExercise/Up/Robert Evans/50l.txt")[26:,4:] robert60r=m.readRaw("captures/armExercise/Up/Robert Evans/60r.txt")[26:,4:] robert60l=m.readRaw("captures/armExercise/Up/Robert Evans/60l.txt")[26:,4:] robert70r=m.readRaw("captures/armExercise/Up/Robert Evans/70r.txt")[26:,4:] robert70l=m.readRaw("captures/armExercise/Up/Robert Evans/70l.txt")[26:,4:] robert80r=m.readRaw("captures/armExercise/Up/Robert Evans/80r.txt")[26:,4:] robert80l=m.readRaw("captures/armExercise/Up/Robert Evans/80l.txt")[26:,4:] robert90r=m.readRaw("captures/armExercise/Up/Robert Evans/90r.txt")[26:,4:] robert90l=m.readRaw("captures/armExercise/Up/Robert Evans/90l.txt")[26:,4:] laura10r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura10r.txt")[26:,4:] laura10l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura10l.txt")[26:,4:] laura20r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura20r.txt")[26:,4:] laura20l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura20l.txt")[26:,4:] laura30r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura30r.txt")[26:,4:] laura30l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura30l.txt")[26:,4:] laura40r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura40r.txt")[26:,4:] laura40l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura40l.txt")[26:,4:] laura50r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura50r.txt")[26:,4:] laura50l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura50l.txt")[26:,4:] laura60r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura60r.txt")[26:,4:] laura60l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura60l.txt")[26:,4:] laura70r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura70r.txt")[26:,4:] laura70l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura70l.txt")[26:,4:] laura80r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura80r.txt")[26:,4:] laura80l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura80l.txt")[26:,4:] laura90r=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura90r.txt")[26:,4:] laura90l=m.readRaw("captures/armExercise/Up/Laura Ionescu/laura90l.txt")[26:,4:] self.data = {'10l':[dan10l,robert10l,laura10l],'20l':[dan20l,robert20l,laura20l],'30l':[dan30l,robert30l,laura30l],'40l':[dan40l,robert40l,laura40l],'50l':[dan50l,robert50l,laura50l],'60l':[dan60l,robert60l,laura60l],'70l':[dan70l,robert70l,laura70l],'80l':[dan80l,robert80l,laura80l],'90l':[dan90l,robert90l,laura90l], '10r':[dan10r,robert10r,laura10r],'20r':[dan20r,robert20r,laura20r],'30r':[dan30r,robert30r,laura30r],'40r':[dan40r,robert40r,laura40r],'50r':[dan50r,robert50r,laura50r],'60r':[dan60r,robert60r,laura60r],'70r':[dan70r,robert70r,laura70r],'80r':[dan80r,robert80r,laura80r],'90r':[dan90r,robert90r,laura90r]} self.accelData = {k:[a[:,0:3] for a in v] for k,v in self.data.iteritems()} self.gyroData = {k:[a[:,3:6] for a in v] for k,v in self.data.iteritems()} self.magData = {k:[a[:,6:9] for a in v] for k,v in self.data.iteritems()} self.accelWithGyroData = {k:[a[:,0:6] for a in v] for k,v in self.data.iteritems()} self.accelWithMagData = {k:[concatenate((a[:,0:3],a[:,6:9]),axis=1) for a in v] for k,v in self.data.iteritems()} self.gyroWithMagData = {k:[a[:,3:9] for a in v] for k,v in self.data.iteritems()} print "Computing dimensionality reduction..." self.pca = {k:[p.pca(a,n_components=9) for a in v] for k,v in self.data.iteritems()} self.accelData_pca = {k:[p.pca(a,n_components=3) for a in v] for k,v in self.accelData.iteritems()} self.gyroData_pca = {k:[p.pca(a,n_components=3) for a in v] for k,v in self.gyroData.iteritems()} self.magData_pca = {k:[p.pca(a,n_components=3) for a in v] for k,v in self.magData.iteritems()} self.accelWithGyroData_pca = {k:[p.pca(a,n_components=6) for a in v] for k,v in self.accelWithGyroData.iteritems()} self.accelWithMagData_pca = {k:[p.pca(a,n_components=6) for a in v] for k,v in self.accelWithMagData.iteritems()} self.gyroWithMagData_pca = {k:[p.pca(a,n_components=6) for a in v] for k,v in self.gyroWithMagData.iteritems()} self.pcaDataOnly = {key:[tuple[0] for tuple in value] for key,value in self.pca.iteritems()} self.explainedVariances = {key:[tuple[1] for tuple in value] for key,value in self.pca.iteritems()} self.averageExplainedVariance = [float(sum(t))/len(t) for t in zip(*[[float(sum(t))/len(t) for t in zip(*l)] for l in self.explainedVariances.values()])] if computeSegments: self.computeSegments() print "Database ready"