/** Function for computing the potentials of the nodes and the edges in
* the graph.
*/
void computePotentials()
{
// Method steps:
// 1. Compute node potentials
// 2. Compute edge potentials
//
// 1. Node potentials
//
std::vector<CNodePtr>::iterator it;
//cout << "NODE POTENTIALS" << endl;
for ( it = m_nodes.begin(); it != m_nodes.end(); it++ )
{
CNodePtr nodePtr = *it;
if ( !nodePtr->finalPotentials() )
{
// Get the node type
//size_t type = nodePtr->getType()->getID();
// Compute the node potentials according to the node type and its
// extracted features
Eigen::VectorXd potentials = nodePtr->getType()->computePotentials( nodePtr->getFeatures() );
// Apply the node class multipliers
potentials = potentials.cwiseProduct( nodePtr->getClassMultipliers() );
/*Eigen::VectorXd fixed = nodePtr->getFixed();
potentials = potentials.cwiseProduct( fixed );*/
nodePtr->setPotentials( potentials );
}
}
//
// 2. Edge potentials
//
std::vector<CEdgePtr>::iterator it2;
//cout << "EDGE POTENTIALS" << endl;
for ( it2 = m_edges.begin(); it2 != m_edges.end(); it2++ )
{
CEdgePtr edgePtr = *it2;
Eigen::MatrixXd potentials
= edgePtr->getType()->computePotentials( edgePtr->getFeatures() );
edgePtr->setPotentials ( potentials );
}
}
double compareT(Eigen::Isometry3d a, Eigen::Isometry3d b,
Eigen::VectorXd weight)
{
Eigen::Quaterniond qa(a.rotation());
Eigen::Quaterniond qb(b.rotation());
Eigen::Vector3d pa = a.translation();
Eigen::Vector3d pb = b.translation();
Eigen::VectorXd va(7), vb(7), verr(7), vScaled(7);
va << pa, qa.x(), qa.y(), qa.z(), qa.w();
vb << pb, qb.x(), qb.y(), qb.z(), qb.w();
verr = vb - va;
vScaled = weight.cwiseProduct(verr);
return vScaled.squaredNorm();
}
void UPGMpp::applyMaskToPotentials(CGraph &graph, map<size_t,vector<size_t> > &mask )
{
vector<CNodePtr> &nodes = graph.getNodes();
for ( size_t node_index = 0; node_index < nodes.size(); node_index++ )
{
CNodePtr nodePtr = nodes[node_index];
size_t nodeID = nodePtr->getID();
if ( mask.count(nodeID) )
{
Eigen::VectorXd nodePot = nodePtr->getPotentials();
Eigen::VectorXd potMask( nodePot.rows() );
potMask.fill(0);
for ( size_t mask_index = 0; mask_index < mask[nodeID].size(); mask_index++ )
potMask(mask[nodeID][mask_index]) = 1;
nodePot = nodePot.cwiseProduct(potMask);
nodePtr->setPotentials( nodePot );
}
}
}
/**
* It multiply the result of the wheight Function with the Bias value
*
* @return it returns the result of the multiplication
**/
Eigen::VectorXd Product(Eigen::VectorXd weighedVector, Eigen::VectorXd biasVector){
return weighedVector.cwiseProduct(biasVector);
}
int main(int argc, char **argv) {
/* NeuralNetwork nn(Eigen::Vector4d(3,3,3,1), 0.2, 0.1);
typedef Eigen::Matrix<double,1,1> Vector1d;
Vector1d rtrue;
rtrue << 1;
Vector1d rfalse;
rfalse << 0;
int NUM_ITERS = 100000;
std::cout << "Beginning learning phase...\niteration 0";
std::vector<std::pair<Eigen::VectorXd, Eigen::VectorXd>> training_data;
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(1,1,1), rtrue));
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(1,0,0), rtrue));
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(0,1,0), rtrue));
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(0,0,1), rtrue));
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(1,1,0), rfalse));
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(0,1,1), rfalse));
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(1,0,1), rfalse));
training_data.push_back(std::make_pair<Eigen::VectorXd, Eigen::VectorXd>(Eigen::Vector3d(0,0,0), rfalse));
nn.TrainBatch(training_data, 100000, 0.000001);
std::cout <<"Learning done."<< std::endl;
std::cout <<"Beginning testing phase...\n";
std::cout << nn.Evaluate(Eigen::Vector3d(1,1,1)) << " vs " << 1 << std::endl;
std::cout << nn.Evaluate(Eigen::Vector3d(1,1,0)) << " vs " << 0 << std::endl;
std::cout << nn.Evaluate(Eigen::Vector3d(1,0,0)) << " vs " << 1 << std::endl;
std::cout << nn.Evaluate(Eigen::Vector3d(1,0,1)) << " vs " << 0 << std::endl;
std::cout << nn.Evaluate(Eigen::Vector3d(0,1,1)) << " vs " << 0 << std::endl;
std::cout << nn.Evaluate(Eigen::Vector3d(0,1,0)) << " vs " << 1 << std::endl;
std::cout << nn.Evaluate(Eigen::Vector3d(0,0,1)) << " vs " << 1 << std::endl;
std::cout << nn.Evaluate(Eigen::Vector3d(0,0,0)) << " vs " << 0 << std::endl;
*/
Reader reader;
Eigen::VectorXd layers(4);
layers << 10, 10, 5,1;
NeuralNetwork nn(layers, 0.2, 0.1);
std::cout << "Reading training data..." << std::flush;
std::vector<std::pair<Eigen::VectorXd, Eigen::VectorXd>> training_data;
std::cout << reader.ReadTrainingData("training_sample.csv",10,1,training_data) << " lines read." << std::endl;
std::cout << "Beginning learning phase..." << std::endl;
nn.TrainBatch(training_data, 50000, 0.001);
std::cout << "End training phase..." << std::endl;
nn.PrintWeights();
std::cout << "Reading evaluation data..." << std::flush;
std::vector<Eigen::VectorXd> evaluation_input_data;
std::vector<Eigen::VectorXd> evaluation_output_data;
int evaluation_rowcount = 0;
std::cout << (evaluation_rowcount = reader.ReadEvaluationData("training_normalized.csv",10,1,evaluation_input_data, evaluation_output_data)) << " lines read." << std::endl;
std::cout << "Beginning testing phase..." << std::endl;
double cumulative_mse = 0;
int success_count = 0;
double success_square_error_threshold = 0.16;
for(int i = 0; i < evaluation_rowcount; ++i) {
Eigen::VectorXd output = nn.Evaluate(evaluation_input_data[i]);
Eigen::VectorXd error = evaluation_output_data[i] - output;
double square_error = error.cwiseProduct(error).sum() / error.size();
cumulative_mse += square_error;
if(square_error < success_square_error_threshold) {
++success_count;
}
//std::cout << nn.Evaluate(evaluation_input_data[i]) << " vs. " << evaluation_output_data[i] << std::endl;
}
nn.PrintWeights();
nn.PrintStates();
std::cout << "End testing phase. Mean square error " << cumulative_mse/evaluation_rowcount << "\n";
std::cout << success_count << " / " << evaluation_rowcount << " rows classified correctly (mse < " << success_square_error_threshold << ")\n";
//std::cout << nn.Evaluate(evaluation_input_data[0]) << " vs. " << evaluation_output_data[0] << std::endl;
//nn.PrintStates();
//std::cout << nn.Evaluate(evaluation_input_data[1]) << " vs. " << evaluation_output_data[1] << std::endl;
//nn.PrintStates();
//std::cout << nn.Evaluate(evaluation_input_data[4]) << " vs. " << evaluation_output_data[4] << std::endl;
//nn.PrintStates();
return 0;
}
/// <summary>
/// use a kernel matrix and solve the svm problem
/// </summary>
/// <param name="Kernel">precomputed kernel</param>
DualSolution libSVMWrapper::Solve(const Eigen::MatrixXd &Kernel)
{
// unfortunately libsvm needs "svm_nodes", so we have to copy everything
// workaround pointer to matrix entries (eigen3 does not allow it?)
// copy entries (code from libSVM)
int j = 0, sc = NumberOfData + 1;
// TODO
// libSVM_x_space[j+k].value = *(Kernel.data() + (k-1)*NumberOfData + i); // by reference or pointer
#pragma omp parallel for
for (int i = 0; i < libSVM_Problem.l; i++)
{
j = (sc+1)*i ;
for (int k = 0; k < sc; k++)
{
libSVM_x_space[j].index = k + 1;
if (k == 0)
{
libSVM_x_space[j].value = i + 1;
}
else
{
libSVM_x_space[j+k].value = Kernel(i, k - 1);
}
}
j = ((sc+1)*i+sc) ;
libSVM_x_space[j+1].index = -1;
}
#ifdef DEBUG
for (int i = 0; i < libSVM_Problem.l; i++)
{
if ((int) libSVM_Problem.x[i][0].value <= 0 || (int) libSVM_Problem.x[i][0].value > sc)
{
printf("Wrong input format: sample_serial_number out of range\n");
exit(0);
}
}
const char *error_msg;
error_msg = svm_check_parameter(&libSVM_Problem, &libSVM_Parameter);
if (error_msg)
{
fprintf(stderr, "ERROR: %s\n", error_msg);
exit(1);
}
#endif
// train the model
if (libSVM_Model != NULL)
{
svm_free_model_content(libSVM_Model);
libSVM_Model = NULL;
}
libSVM_Model = svm_train(&libSVM_Problem, &libSVM_Parameter);
// extract results
// bias is easy
double Bias = -1 * libSVM_Model->rho[0];
// alpha should be dense now
Eigen::VectorXd Alpha = Eigen::MatrixXd::Zero(NumberOfData, 1);
for (int i = 0; i < libSVM_Model->l; i++)
{
Alpha(libSVM_Model->sv_indices[i] - 1) = (libSVM_Model->sv_coef[0][i] < 0) ? -1 * libSVM_Model->sv_coef[0][i] : libSVM_Model->sv_coef[0][i];
}
DualSolution DS;
DS.Bias = Bias;
DS.Alpha = Alpha;
Eigen::VectorXd tt = Alpha.cwiseProduct(Y);
// objective value of dual solution
DS.Value = Alpha.sum() - 0.5* (double)(tt.transpose() * (Kernel*tt));
return DS;
}