VectorDouble TimeseriesBuffer::update(const VectorDouble &x){
#ifdef GRT_SAFE_CHECKING
if( !initialized ){
errorLog << "update(const VectorDouble &x) - Not Initialized!" << endl;
return VectorDouble();
}
if( x.size() != numInputDimensions ){
errorLog << "update(const VectorDouble &x)- The Number Of Input Dimensions (" << numInputDimensions << ") does not match the size of the input vector (" << x.size() << ")!" << endl;
return VectorDouble();
}
#endif
//Add the new data to the buffer
dataBuffer.push_back( x );
//Search the buffer for the zero crossing features
UINT colIndex = 0;
for(UINT j=0; j<numInputDimensions; j++){
for(UINT i=0; i<dataBuffer.getSize(); i++){
featureVector[ colIndex++ ] = dataBuffer[i][j];
}
}
//Flag that the feature data has been computed
if( dataBuffer.getBufferFilled() ){
featureDataReady = true;
}else featureDataReady = false;
return featureVector;
}
VectorDouble HighPassFilter::filter(const VectorDouble &x){
#ifdef GRT_SAFE_CHECKING
if( !initialized ){
errorLog << "filter(const VectorDouble &x) - Not Initialized!" << endl;
return VectorDouble();
}
if( x.size() != numInputDimensions ){
errorLog << "filter(const VectorDouble &x) - The Number Of Input Dimensions (" << numInputDimensions << ") does not match the size of the input vector (" << x.size() << ")!" << endl;
return VectorDouble();
}
#endif
for(UINT n=0; n<numInputDimensions; n++){
//Compute the new output
processedData[n] = filterFactor * (yy[n] + x[n] - xx[n]) * gain;
//Store the current input
xx[n] = x[n];
//Store the current output
yy[n] = processedData[n];
}
return processedData;
}
VectorDouble MovingAverageFilter::filter(const VectorDouble &x){
//If the filter has not been initialised then return 0, otherwise filter x and return y
if( !initialized ){
errorLog << "filter(const VectorDouble &x) - The filter has not been initialized!" << endl;
return VectorDouble();
}
if( x.size() != numInputDimensions ){
errorLog << "filter(const VectorDouble &x) - The size of the input vector (" << x.size() << ") does not match that of the number of dimensions of the filter (" << numInputDimensions << ")!" << endl;
return VectorDouble();
}
if( ++inputSampleCounter > filterSize ) inputSampleCounter = filterSize;
//Add the new value to the buffer
dataBuffer.push_back( x );
for(unsigned int j=0; j<numInputDimensions; j++){
processedData[j] = 0;
for(unsigned int i=0; i<inputSampleCounter; i++) {
processedData[j] += dataBuffer[i][j];
}
processedData[j] /= double(inputSampleCounter);
}
return processedData;
}
VectorDouble MatrixDouble::multiple(const VectorDouble &b) const{
const unsigned int M = rows;
const unsigned int N = cols;
const unsigned int K = (unsigned int)b.size();
if( N != K ){
warningLog << "multiple(vector b) - The size of b (" << b.size() << ") does not match the number of columns in this matrix (" << N << ")" << std::endl;
return VectorDouble();
}
VectorDouble c(M);
const double *pb = &b[0];
double *pc = &c[0];
unsigned int i,j = 0;
for(i=0; i<rows; i++){
pc[i] = 0;
for(j=0; j<cols; j++){
pc[i] += dataPtr[i*cols+j]*pb[j];
}
}
return c;
}
bool MovingAverageFilter::init(UINT filterSize,UINT numDimensions){
//Cleanup the old memory
initialized = false;
inputSampleCounter = 0;
if( filterSize == 0 ){
errorLog << "init(UINT filterSize,UINT numDimensions) - Filter size can not be zero!" << endl;
return false;
}
if( numDimensions == 0 ){
errorLog << "init(UINT filterSize,UINT numDimensions) - The number of dimensions must be greater than zero!" << endl;
return false;
}
//Resize the filter
this->filterSize = filterSize;
this->numInputDimensions = numDimensions;
this->numOutputDimensions = numDimensions;
processedData.clear();
processedData.resize(numDimensions,0);
initialized = dataBuffer.resize( filterSize, VectorDouble(numInputDimensions,0) );
if( !initialized ){
errorLog << "init(UINT filterSize,UINT numDimensions) - Failed to resize dataBuffer!" << endl;
}
return initialized;
}
VectorDouble RandomForests::getFeatureWeights( const bool normWeights ) const{
if( !trained ) return VectorDouble();
VectorDouble weights( numInputDimensions, 0 );
for(UINT i=0; i<forestSize; i++){
if( !forest[i]->computeFeatureWeights( weights ) ){
warningLog << "getFeatureWeights( const bool normWeights ) - Failed to compute weights for tree: " << i << endl;
}
}
//Normalize the weights
if( normWeights ){
double sum = Util::sum( weights );
if( sum > 0.0 ){
const double norm = 1.0 / sum;
for(UINT j=0; j<numInputDimensions; j++){
weights[j] *= norm;
}
}
}
return weights;
}
bool TimeseriesBuffer::init(UINT bufferSize,UINT numDimensions){
initialized = false;
featureDataReady = false;
if( bufferSize == 0 ){
errorLog << "init(UINT bufferSize,UINT numDimensions) - The bufferSize must be greater than zero!" << endl;
return false;
}
if( numDimensions == 0 ){
errorLog << "init(UINT bufferSize,UINT numDimensions) - The numDimensions must be greater than zero!" << endl;
return false;
}
//Setup the databuffer
numInputDimensions = numDimensions;
numOutputDimensions = bufferSize * numInputDimensions;
this->bufferSize = bufferSize;
dataBuffer.resize( bufferSize, VectorDouble(numInputDimensions,0) );
featureVector.resize(numOutputDimensions,0);
//Flag that the timeseries buffer has been initialized
initialized = true;
return true;
}
bool ThresholdDetection::init(UINT bufferLength,UINT numDimensions,double alpha,double beta){
initialized = false;
this->bufferLength = bufferLength;
this->numInputDimensions = numDimensions;
this->alpha = alpha;
this->beta = beta;
this->inNoise = true;
featureDataReady = false;
//Set the number of output dimensions
numOutputDimensions = 5 * numInputDimensions + 1;
//Resize the feature vector
featureVector.resize(numOutputDimensions);
//Resize the raw data buffer
dataBuffer.resize( bufferLength, VectorDouble(numInputDimensions,0) );
//Flag that the time domain features has been initialized
initialized = true;
return true;
}
VectorDouble stddev(VectorDouble v) {
double sum = std::accumulate(v.begin(), v.end(), 0.0);
double mean = sum / v.size();
double sq_sum = std::inner_product(v.begin(), v.end(), v.begin(), 0.0);
double stdev = std::sqrt(sq_sum / v.size() - mean * mean);
return VectorDouble(1, stdev);
}
VectorDouble LowPassFilter::filter(const VectorDouble &x){
if( !initialized ){
errorLog << "filter(const VectorDouble &x) - Not Initialized!" << endl;
return VectorDouble();
}
if( x.size() != numInputDimensions ){
errorLog << "filter(const VectorDouble &x) - The Number Of Input Dimensions (" << numInputDimensions << ") does not match the size of the input vector (" << x.size() << ")!" << endl;
return VectorDouble();
}
for(UINT n=0; n<numInputDimensions; n++){
processedData[n] = (x[n] * filterFactor) + (yy[n] * (1.0 - filterFactor)) * gain;
yy[n] = processedData[n];
}
return processedData;
}
bool TimeDomainFeatures::init(UINT bufferLength,UINT numFrames,UINT numDimensions,bool offsetInput,bool useMean,bool useStdDev,bool useEuclideanNorm,bool useRMS){
initialized = false;
if( numFrames > bufferLength ){
errorLog << "init(...) - The number of numFrames parameter can not be larger than the buffer length parameter!" << endl;
return false;
}
if( bufferLength % numFrames != 0 ){
errorLog << "init(...) - The buffer length parameter must be divisible with no remainders by the number of numFrames parameter!" << endl;
return false;
}
this->bufferLength = bufferLength;
this->numFrames = numFrames;
this->numInputDimensions = numDimensions;
this->offsetInput = offsetInput;
this->useMean = useMean;
this->useStdDev = useStdDev;
this->useEuclideanNorm = useEuclideanNorm;
this->useRMS = useRMS;
featureDataReady = false;
//Set the number of output dimensions
numOutputDimensions = 0;
if( useMean ){
numOutputDimensions += numInputDimensions*numFrames;
}
if( useStdDev ){
numOutputDimensions += numInputDimensions*numFrames;
}
if( useEuclideanNorm ){
numOutputDimensions += numInputDimensions*numFrames;
}
if( useRMS ){
numOutputDimensions += numInputDimensions*numFrames;
}
if( numOutputDimensions == 0 ){
errorLog << "init(...) - The numOutputDimensions is zero!" << endl;
return false;
}
//Resize the feature vector
featureVector.resize(numOutputDimensions);
//Resize the raw data buffer
dataBuffer.resize( bufferLength, VectorDouble(numInputDimensions,0) );
//Flag that the time domain features has been initialized
initialized = true;
return true;
}
double MovingAverageFilter::filter(const double x){
//If the filter has not been initialised then return 0, otherwise filter x and return y
if( !initialized ){
errorLog << "filter(const double x) - The filter has not been initialized!" << endl;
return 0;
}
VectorDouble y = filter(VectorDouble(1,x));
if( y.size() == 0 ) return 0;
return y[0];
}
double Derivative::computeDerivative(const double x){
if( numInputDimensions != 1 ){
errorLog << "computeDerivative(const double x) - The Number Of Input Dimensions is not 1! NumInputDimensions: " << numInputDimensions << endl;
return 0;
}
VectorDouble y = computeDerivative( VectorDouble(1,x) );
if( y.size() == 0 ) return 0 ;
return y[0];
}
double LeakyIntegrator::update(const double x){
if( numInputDimensions != 1 ){
errorLog << "update(const double x) - The Number Of Input Dimensions is not 1! NumInputDimensions: " << numInputDimensions << endl;
return 0;
}
y = update( VectorDouble(1,x) );
if( y.size() == 0 ) return 0 ;
return y[0];
}
double Derivative::computeDerivative(const double x){
#ifdef GRT_SAFE_CHECKING
if( numInputDimensions != 1 ){
errorLog << "computeDerivative(const double x) - The Number Of Input Dimensions is not 1! NumInputDimensions: " << numInputDimensions << endl;
return 0;
}
#endif
vector< double > y = computeDerivative( VectorDouble(1,x) );
if( y.size() == 0 ) return 0 ;
return y[0];
}
double LowPassFilter::filter(double x){
#ifdef GRT_SAFE_CHECKING
//If the filter has not been initialised then return 0, otherwise filter x and return y
if( !initialized ){
errorLog << "filter(double x) - The filter has not been initialized!" << endl;
return 0;
}
#endif
VectorDouble y = filter(VectorDouble(1,x));
if( y.size() == 0 ) return 0;
return y[0];
}
VectorDouble Derivative::getDerivatives(UINT derivativeOrder){
switch( derivativeOrder ){
case 0:
return processedData;
break;
case( FIRST_DERIVATIVE ):
return yy;
break;
case( SECOND_DERIVATIVE ):
return yyy;
break;
default:
warningLog << "getDerivative(UINT derivativeOrder) - Unkown derivativeOrder: " << derivativeOrder << endl;
break;
}
return VectorDouble();
}
VectorDouble Classifier::getNullRejectionThresholds() const{
if( trained ) return nullRejectionThresholds;
return VectorDouble();
}
VectorDouble TimeDomainFeatures::update(double x){
return update(VectorDouble(1,x));
}
VectorDouble TimeseriesBuffer::update(double x){
return update(VectorDouble(1,x));
}
UINT KMeansQuantizer::quantize(double inputValue){
return quantize( VectorDouble(1,inputValue) );
}
VectorDouble ANBC::getNullRejectionThresholds() const{
if( !trained ) return VectorDouble();
return nullRejectionThresholds;
}
UINT RBMQuantizer::quantize(const double inputValue){
return quantize( VectorDouble(1,inputValue) );
}
VectorDouble Regressifier::getRegressionData() const{
if( trained ){
return regressionData;
}
return VectorDouble();
}
VectorDouble MovementTrajectoryFeatures::update(double x){
return update(VectorDouble(1,x));
}
VectorDouble Classifier::getClassLikelihoods() const{
if( trained ) return classLikelihoods;
return VectorDouble();
}
VectorDouble Classifier::getClassDistances() const{
if( trained ) return classDistances;
return VectorDouble();
}
VectorDouble ThresholdDetection::update(double x){
return update(VectorDouble(1,x));
}
bool MovementTrajectoryFeatures::init(UINT trajectoryLength,UINT numCentroids,UINT featureMode,UINT numHistogramBins,UINT numDimensions,bool useTrajStartAndEndValues,bool useWeightedMagnitudeValues){
initialized = false;
if( numCentroids > trajectoryLength ){
errorLog << "init(...) - The number of centroids parameter can not be larger than the trajectory length parameter!" << endl;
return false;
}
if( trajectoryLength % numCentroids != 0 ){
errorLog << "init(...) - The trajectory length parameter must be divisible with no remainders by the number of centroids parameter!" << endl;
return false;
}
if( featureMode == CENTROID_ANGLE_2D && numDimensions % 2 != 0 ){
errorLog << "init(...) - If the featureMode is CENTROID_ANGLE_2D then the numberOfDimensions should be divisble by 2 (as each pair of points should represent {x,y})!" << endl;
return false;
}
if( numHistogramBins == 0 && featureMode == CENTROID_ANGLE_2D ){
errorLog << "init(...) - If the featureMode is CENTROID_ANGLE_2D then the numHistogramBins parameter must greater than 0!" << endl;
return false;
}
//Setup the search variables
this->trajectoryLength = trajectoryLength;
this->numCentroids = numCentroids;
this->featureMode = featureMode;
this->numHistogramBins = numHistogramBins;
this->numInputDimensions = numDimensions;
this->useTrajStartAndEndValues = useTrajStartAndEndValues;
this->useWeightedMagnitudeValues = useWeightedMagnitudeValues;
featureDataReady = false;
//Set the number of output dimensions
numOutputDimensions = 0;
switch( featureMode ){
case CENTROID_VALUE:
//In the centroid value mode the useTrajStartAndEndValues is ignored (as the start and end centroids are used by default)
numOutputDimensions = numInputDimensions*numCentroids;
break;
case NORMALIZED_CENTROID_VALUE:
numOutputDimensions = numInputDimensions*numCentroids;
if( useTrajStartAndEndValues ){
numOutputDimensions += numInputDimensions*2;
}
break;
case CENTROID_DERIVATIVE:
numOutputDimensions = numInputDimensions*(numCentroids-1);
if( useTrajStartAndEndValues ){
numOutputDimensions += numInputDimensions*2;
}
break;
case CENTROID_ANGLE_2D:
numOutputDimensions = numHistogramBins*(numDimensions/2);
break;
default:
errorLog << "init(...)- Unknown featureMode!" << endl;
return false;
break;
}
if( numOutputDimensions == 0 ){
errorLog << "init(...) - The numOutputDimensions is zero!" << endl;
return false;
}
//Resize the feature vector
featureVector.resize(numOutputDimensions);
//Resize the raw trajectory data buffer
trajectoryDataBuffer.resize( trajectoryLength, VectorDouble(numInputDimensions,0) );
//Resize the centroids buffer
centroids.resize(numCentroids,numInputDimensions);
//Flag that the zero crossing counter has been initialized
initialized = true;
return true;
}