void RadialBasisFunction::Train(HostMatrix<float> &Input, HostMatrix<float> &Target){
//std::cout << "Training" << std::endl;
// c_width = (float*) malloc(sizeof(float)*network_size);
// memset(c_width,0,sizeof(float)*network_size);
DeviceMatrix<float> device_X(Input);
//std::cout << "KMeans" << std::endl;
clock_t initialTime = clock();
KMeans KM;
KM.SetSeed(seed);
dCenters = KM.Execute(device_X,network_size);
cudaThreadSynchronize();
times[0] = (clock() - initialTime);
//std::cout << "Adjust Widths" << std::endl;
/*Adjust width using mean of distance to neighbours*/
initialTime = clock();
AdjustWidths(number_neighbours);
cudaThreadSynchronize();
times[1] = (clock() - initialTime);
/*Training weights and scaling factor*/
HostMatrix<float> TargetArr(Target.Rows(),NumClasses);
memset(TargetArr.Pointer(),0,sizeof(float)*TargetArr.Elements());
for(int i = 0; i < Target.Rows(); i++){
TargetArr(i,((int)Target(i,0)-1)) = 1;
}
DeviceMatrix<float> d_Target(TargetArr);
//std::cout << "Calculating Weights" << std::endl;
initialTime = clock();
DeviceMatrix<float> device_activ_matrix(device_X.Rows(),dCenters.Rows(),ColumnMajor);
KernelActivationMatrix(device_activ_matrix.Pointer(),device_X.Pointer(),dCenters.Pointer(),device_X.Columns(),dCenters.Columns(),device_activ_matrix.Columns(),device_activ_matrix.Rows(),scaling_factor,device_c_width.Pointer());
DeviceMatrix<float> d_Aplus = UTILS::pseudoinverse(device_activ_matrix);
dWeights = DeviceMatrix<float>(d_Aplus.Rows(),d_Target.Columns());
d_Aplus.Multiply(d_Aplus,d_Target,dWeights);
/*Return Weights and Centers*/
cudaThreadSynchronize();
times[2] = (clock() - initialTime);
// cudaMemcpy(c_width,device_c_width.Pointer(),sizeof(float)*device_c_width.Length(),cudaMemcpyDeviceToHost);
// this->Weights = HostMatrix<float>(dWeights);
// this->Centers = HostMatrix<float>(dCenters);
}
int main()
{
double data[] = {
0.0, 0.2, 0.4,
0.3, 0.2, 0.4,
0.4, 0.2, 0.4,
0.5, 0.2, 0.4,
5.0, 5.2, 8.4,
6.0, 5.2, 7.4,
4.0, 5.2, 4.4,
10.3, 10.4, 10.5,
10.1, 10.6, 10.7,
11.3, 10.2, 10.9
};
const int size = 10; //Number of samples
const int dim = 3; //Dimension of feature
const int cluster_num = 4; //Cluster number
KMeans* kmeans = new KMeans(dim,cluster_num);
int* labels = new int[size];
kmeans->SetInitMode(KMeans::InitUniform);
kmeans->Cluster(data,size,labels);
for(int i = 0; i < size; ++i)
{
printf("%f, %f, %f belongs to %d cluster\n", data[i*dim+0], data[i*dim+1], data[i*dim+2], labels[i]);
}
delete []labels;
delete kmeans;
return 0;
}
void test_kmeans()
{
printf("[test kmeans]\n");
Loader loader("data/kmeans");
HFMatrix<double> matrix(loader);
KMeans kmeans;
kmeans.set_distance(new Euclidean);
kmeans.cluster(&matrix, 5);
}
bool KMeansQuantizer::train(MatrixDouble &trainingData){
if( !initialized ){
errorLog << "train(MatrixDouble &trainingData) - The quantizer has not been initialized!" << endl;
return false;
}
//Reset any previous model
quantizerTrained = false;
featureDataReady = false;
clusters.clear();
quantizationDistances.clear();
//Train the KMeans model
KMeans kmeans;
kmeans.setNumClusters(numClusters);
kmeans.setComputeTheta( true );
kmeans.setMinChange( 1.0e-10 );
kmeans.setMinNumEpochs( 10 );
kmeans.setMaxNumEpochs( 10000 );
if( !kmeans.trainInplace(trainingData) ){
errorLog << "train(MatrixDouble &trainingData) - Failed to train quantizer!" << endl;
return false;
}
//Save the clusters from the KMeans model
clusters = kmeans.getClusters();
quantizationDistances.resize(numClusters,0);
quantizerTrained = true;
return true;
}
bool KMeansQuantizer::train_(MatrixDouble &trainingData){
//Clear any previous model
clear();
//Train the KMeans model
KMeans kmeans;
kmeans.setNumClusters(numClusters);
kmeans.setComputeTheta( true );
kmeans.setMinChange( minChange );
kmeans.setMinNumEpochs( minNumEpochs );
kmeans.setMaxNumEpochs( maxNumEpochs );
if( !kmeans.train_(trainingData) ){
errorLog << "train_(MatrixDouble &trainingData) - Failed to train quantizer!" << endl;
return false;
}
trained = true;
initialized = true;
numInputDimensions = trainingData.getNumCols();
numOutputDimensions = 1; //This is always 1 for the KMeansQuantizer
featureVector.resize(numOutputDimensions,0);
clusters = kmeans.getClusters();
quantizationDistances.resize(numClusters,0);
return true;
}
void RefinedStart::Cluster(const MatType& data,
const size_t clusters,
arma::mat& centroids) const
{
// This will hold the sampled datasets.
const size_t numPoints = size_t(percentage * data.n_cols);
MatType sampledData(data.n_rows, numPoints);
// vector<bool> is packed so each bool is 1 bit.
std::vector<bool> pointsUsed(data.n_cols, false);
arma::mat sampledCentroids(data.n_rows, samplings * clusters);
for (size_t i = 0; i < samplings; ++i)
{
// First, assemble the sampled dataset.
size_t curSample = 0;
while (curSample < numPoints)
{
// Pick a random point in [0, numPoints).
size_t sample = (size_t) math::RandInt(data.n_cols);
if (!pointsUsed[sample])
{
// This point isn't used yet. So we'll put it in our sample.
pointsUsed[sample] = true;
sampledData.col(curSample) = data.col(sample);
++curSample;
}
}
// Now, using the sampled dataset, run k-means. In the case of an empty
// cluster, we re-initialize that cluster as the point furthest away from
// the cluster with maximum variance. This is not *exactly* what the paper
// implements, but it is quite similar, and we'll call it "good enough".
KMeans<> kmeans;
kmeans.Cluster(sampledData, clusters, centroids);
// Store the sampled centroids.
sampledCentroids.cols(i * clusters, (i + 1) * clusters - 1) = centroids;
pointsUsed.assign(data.n_cols, false);
}
// Now, we run k-means on the sampled centroids to get our final clusters.
KMeans<> kmeans;
kmeans.Cluster(sampledCentroids, clusters, centroids);
}
int main (int argc, const char * argv[])
{
//Create a new KMeans instance
KMeans kmeans;
kmeans.setComputeTheta( true );
kmeans.setMinChange( 1.0e-10 );
kmeans.setMinNumEpochs( 10 );
kmeans.setMaxNumEpochs( 10000 );
//There are a number of ways of training the KMeans algorithm, depending on what you need the KMeans for
//These are:
//- with labelled training data (in the ClassificationData format)
//- with unlablled training data (in the UnlabelledData format)
//- with unlabelled training data (in a simple MatrixDouble format)
//This example shows you how to train the algorithm with ClassificationData
//Load some training data to train the KMeans algorithm
ClassificationData trainingData;
if( !trainingData.load("LabelledClusterData.csv") ){
cout << "Failed to load training data!\n";
return EXIT_FAILURE;
}
//Train the KMeans algorithm - K will automatically be set to the number of classes in the training dataset
if( !kmeans.train( trainingData ) ){
cout << "Failed to train model!\n";
return EXIT_FAILURE;
}
//Get the K clusters from the KMeans instance and print them
cout << "\nClusters:\n";
MatrixFloat clusters = kmeans.getClusters();
for(unsigned int k=0; k<clusters.getNumRows(); k++){
for(unsigned int n=0; n<clusters.getNumCols(); n++){
cout << clusters[k][n] << "\t";
}cout << endl;
}
return EXIT_SUCCESS;
}
void ex_kmeans () {
SampleList samples;
ssi_size_t n_classes = 4;
ssi_size_t n_sampels = 200;
ssi_size_t n_streams = 1;
ssi_real_t distr[][3] = { 0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 0.5f };
ModelTools::CreateTestSamples (samples, n_classes, n_sampels, n_streams, distr);
// training
{
KMeans *model = ssi_create (KMeans, "kmeans", true);
model->getOptions()->k = n_classes;
Trainer trainer (model);
trainer.train (samples);
trainer.save ("kmeans");
}
// evaluation
{
Trainer trainer;
Trainer::Load (trainer, "kmeans");
trainer.cluster (samples);
ModelTools::PlotSamples(samples, "kmeans", ssi_rect(650, 0, 400, 400));
}
// split
{
KMeans *model = ssi_create (KMeans, "kmeans", true);
model->load("kmeans.trainer.KMeans.model");
ISSelectSample ss (&samples);
ss.setSelection (model->getIndicesPerClusterSize(1), model->getIndicesPerCluster(1));
ModelTools::PlotSamples (ss, "kmeans", ssi_rect(650,0,400,400));
}
}
bool KMeansFeatures::train_(MatrixDouble &trainingData){
if( !initialized ){
errorLog << "train_(MatrixDouble &trainingData) - The quantizer has not been initialized!" << endl;
return false;
}
//Reset any previous model
featureDataReady = false;
const UINT M = trainingData.getNumRows();
const UINT N = trainingData.getNumCols();
numInputDimensions = N;
numOutputDimensions = numClustersPerLayer[ numClustersPerLayer.size()-1 ];
//Scale the input data if needed
ranges = trainingData.getRanges();
if( useScaling ){
for(UINT i=0; i<M; i++){
for(UINT j=0; j<N; j++){
trainingData[i][j] = scale(trainingData[i][j],ranges[j].minValue,ranges[j].maxValue,0,1.0);
}
}
}
//Train the KMeans model at each layer
const UINT K = (UINT)numClustersPerLayer.size();
for(UINT k=0; k<K; k++){
KMeans kmeans;
kmeans.setNumClusters( numClustersPerLayer[k] );
kmeans.setComputeTheta( true );
kmeans.setMinChange( minChange );
kmeans.setMinNumEpochs( minNumEpochs );
kmeans.setMaxNumEpochs( maxNumEpochs );
trainingLog << "Layer " << k+1 << "/" << K << " NumClusters: " << numClustersPerLayer[k] << endl;
if( !kmeans.train_( trainingData ) ){
errorLog << "train_(MatrixDouble &trainingData) - Failed to train kmeans model at layer: " << k << endl;
return false;
}
//Save the clusters
clusters.push_back( kmeans.getClusters() );
//Project the data through the current layer to use as training data for the next layer
if( k+1 != K ){
MatrixDouble data( M, numClustersPerLayer[k] );
VectorDouble input( trainingData.getNumCols() );
VectorDouble output( data.getNumCols() );
for(UINT i=0; i<M; i++){
//Copy the data into the sample
for(UINT j=0; j<input.size(); j++){
input[j] = trainingData[i][j];
}
//Project the sample through the current layer
if( !projectDataThroughLayer( input, output, k ) ){
errorLog << "train_(MatrixDouble &trainingData) - Failed to project sample through layer: " << k << endl;
return false;
}
//Copy the result into the training data for the next layer
for(UINT j=0; j<output.size(); j++){
data[i][j] = output[j];
}
}
//Swap the data for the next layer
trainingData = data;
}
}
//Flag that the kmeans model has been trained
trained = true;
featureVector.resize( numOutputDimensions, 0 );
return true;
}
int main(int argc, char** argv) {
//initialize FreeImage library if needed
#ifdef FREEIMAGE_LIB
FreeImage_Initialise();
#endif
//hardcode the image names, create vectors and FreeImage library object
char* file_in = "test.jpg";
char* file_out = "test_result.jpg";
vector<centroid> centroids(CENTROID_COUNT);
// Use a standard array instead of vector
centroid centroid_array[CENTROID_COUNT];
vector<pixel> pixels;
fipImage input;
KMeans img;
//generate centroids randomly
mt19937 generator(chrono::system_clock::now().time_since_epoch().count());
uniform_real_distribution<float> distro(0.0f, 1.0f);
for(int i = 0; i < CENTROID_COUNT; ++i) {
centroid temp;
temp.r = distro(generator);
temp.g = distro(generator);
temp.b = distro(generator);
img.centroids[i] = temp;
}
//open and load image as per convention from freeimage
if(!input.load(file_in)) {
cout << "Could not load file with name " << file_in << endl;
return 1;
}
FREE_IMAGE_TYPE originalType = input.getImageType();
if(!input.convertTo24Bits()) {
cout << "Error occurred when converting pixels to float values." << endl;
return 1;
}
// Assign common method results to variables to save access times
unsigned int width = input.getWidth();
unsigned int height = input.getHeight();
//create pixel structs
//access raw data
//float* pixelData = reinterpret_cast<float*>(input.accessPixels());
img.pixels.resize(width * height);
for (unsigned int i = 0; i < width; ++i) {
for (unsigned int j = 0; j < height; ++j) {
pixel temp;
byte colors[4];
input.getPixelColor(i, j, reinterpret_cast<RGBQUAD*>(colors));
temp.b = colors[0] / 255.0f;
temp.g = colors[1] / 255.0f;
temp.r = colors[2] / 255.0f;
temp.cluster = -1;
img.pixels[j * width + i] = temp;
}
}
StopWatch timer;
timer.start();
for(int z = 0;z<1000;z++){
img.assignCentroids();
img.moveCentroids();
//cout<<z<<endl;
}
img.assignFinalPixelColors();
timer.stop();
//write image
//allocate output image
fipImage output(FIT_BITMAP, width, height, 24);
unsigned int outWidth = output.getWidth();
unsigned int outHeight = output.getHeight();
for(unsigned int i = 0; i < outWidth; ++i) {
for(unsigned int j = 0; j < outHeight; ++j) {
byte colors[4];
int index = j * outWidth + i;
colors[0] = static_cast<byte>(img.pixels[index].b * 255);
colors[1] = static_cast<byte>(img.pixels[index].g * 255);
colors[2] = static_cast<byte>(img.pixels[index].r * 255);
output.setPixelColor(i, j, reinterpret_cast<RGBQUAD*>(colors));
}
}
if(!output.convertToType(originalType)) {
cout << "Could not convert back to 24 bits for image saving." << endl;
return 1;
}
if(!output.save(file_out)) {
cout << "Something went wrong with filesaving" << endl;
return 1;
}
#ifdef FREEIMAGE_LIB
FreeImage_Uninitialise();
#endif
return 0;
}
arma::vec Vespucci::Math::KMeansWrapper::Cluster(const arma::mat &data, const size_t clusters, arma::mat ¢roids)
{
using namespace mlpack::metric;
using namespace mlpack::kmeans;
arma::Row<size_t> assignments;
arma::vec assignments_vec;
if (allow_empty_){
if (metric_ == "squaredeuclidean"){
if (init_ == "sampleinitialization"){
KMeans<SquaredEuclideanDistance, SampleInitialization, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<SquaredEuclideanDistance, RandomPartition, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<SquaredEuclideanDistance, RefinedStart, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
else if (metric_ == "euclidean"){
if (init_ == "sampleinitialization"){
KMeans<EuclideanDistance, SampleInitialization, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<EuclideanDistance, RandomPartition, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<EuclideanDistance, RefinedStart, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
else if (metric_ == "manhattan"){
if (init_ == "sampleinitialization"){
KMeans<ManhattanDistance, SampleInitialization, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<ManhattanDistance, RandomPartition, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<ManhattanDistance, RefinedStart, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
else if (metric_ == "chebyshev"){
if (init_ == "sampleinitialization"){
KMeans<ChebyshevDistance, SampleInitialization, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<ChebyshevDistance, RandomPartition, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<ChebyshevDistance, RefinedStart, AllowEmptyClusters> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
}
else{
if (metric_ == "squaredeuclidean"){
if (init_ == "sampleinitialization"){
KMeans<SquaredEuclideanDistance, SampleInitialization> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<SquaredEuclideanDistance, RandomPartition> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<SquaredEuclideanDistance, RefinedStart> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
else if (metric_ == "euclidean"){
if (init_ == "sampleinitialization"){
KMeans<EuclideanDistance, SampleInitialization> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<EuclideanDistance, RandomPartition> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<EuclideanDistance, RefinedStart> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
else if (metric_ == "manhattan"){
if (init_ == "sampleinitialization"){
KMeans<ManhattanDistance, SampleInitialization> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<ManhattanDistance, RandomPartition> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<ManhattanDistance, RefinedStart> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
else if (metric_ == "chebyshev"){
if (init_ == "sampleinitialization"){
KMeans<ChebyshevDistance, SampleInitialization> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "randompartition"){
KMeans<ChebyshevDistance, RandomPartition> k;
k.Cluster(data, clusters, assignments, centroids);
}
else if (init_ == "refinedstart"){
KMeans<ChebyshevDistance, RefinedStart> k;
k.Cluster(data, clusters, assignments, centroids);
}
}
}
assignments_vec.set_size(assignments.n_elem);
for (arma::uword i = 0; i < assignments.n_elem; ++i)
assignments_vec(i) = double(assignments(i) + 1);
return assignments_vec;
}
int main(int argc, char *argv[]) {
google::ParseCommandLineFlags(&argc, &argv, true);
google::InitGoogleLogging(argv[0]);
petuum::HighResolutionTimer data_loading_timer;
LOG(INFO)<< "training file location: " << FLAGS_train_file;
KMeans kmeans;
kmeans.ReadData();
LOG(INFO)<< "Data Loading Complete. Loaded " << kmeans.GetTrainingDataSize() << " in " <<data_loading_timer.elapsed();
// kmeans.
petuum::TableGroupConfig table_group_config;
table_group_config.num_comm_channels_per_client =
FLAGS_num_comm_channels_per_client;
table_group_config.num_total_clients = FLAGS_num_clients;
table_group_config.num_tables = 4;
// // + 1 for main() thread.
table_group_config.num_local_app_threads = FLAGS_num_app_threads + 1;
table_group_config.client_id = FLAGS_client_id;
table_group_config.stats_path = FLAGS_stats_path;
//
petuum::GetHostInfos(FLAGS_hostfile, &table_group_config.host_map);
if (std::string("SSP").compare(FLAGS_consistency_model) == 0) {
table_group_config.consistency_model = petuum::SSP;
} else if (std::string("SSPPush").compare(FLAGS_consistency_model) == 0) {
table_group_config.consistency_model = petuum::SSPPush;
} else if (std::string("LocalOOC").compare(FLAGS_consistency_model) == 0) {
table_group_config.consistency_model = petuum::LocalOOC;
} else {
LOG(FATAL)<< "Unkown consistency model: " << FLAGS_consistency_model;
}
petuum::PSTableGroup::RegisterRow<petuum::DenseRow<float> >(
kDenseRowFloatTypeID);
petuum::PSTableGroup::RegisterRow<petuum::DenseRow<int> >(
kDenseRowIntTypeID);
//
petuum::PSTableGroup::Init(table_group_config, false);
//
petuum::ClientTableConfig table_config;
table_config.table_info.row_type = kDenseRowFloatTypeID;
table_config.table_info.table_staleness = FLAGS_staleness;
// //table_config.table_info.row_capacity = feature_dim * num_labels;
table_config.table_info.row_capacity = FLAGS_dimensionality;
table_config.table_info.row_oplog_type = FLAGS_row_oplog_type;
table_config.table_info.oplog_dense_serialized =
FLAGS_oplog_dense_serialized;
table_config.table_info.dense_row_oplog_capacity = FLAGS_dimensionality;
// //table_config.process_cache_capacity = 1;
table_config.process_cache_capacity = FLAGS_num_centers;
table_config.oplog_capacity = table_config.process_cache_capacity;
petuum::PSTableGroup::CreateTable(FLAGS_centres_table_id, table_config);
LOG(INFO) << "created centers table";
//Objective Function table.
table_config.table_info.dense_row_oplog_capacity = FLAGS_num_epochs+1;
table_config.table_info.table_staleness = 0;
petuum::PSTableGroup::CreateTable(FLAGS_objective_function_value_tableId, table_config);
LOG(INFO) << "created objective values table";
// Centers table
table_config.table_info.row_type = kDenseRowIntTypeID;
table_config.table_info.table_staleness = FLAGS_count_table_staleness;
table_config.table_info.row_capacity = FLAGS_num_centers;
table_config.process_cache_capacity = 1000;
table_config.oplog_capacity = table_config.process_cache_capacity;
petuum::PSTableGroup::CreateTable(FLAGS_center_count_tableId, table_config);
// Table to hold the local deltas.
petuum::PSTableGroup::CreateTable(FLAGS_update_centres_table_id, table_config);
LOG(INFO) << "Completed creating tables" ;
petuum::PSTableGroup::CreateTableDone();
std::vector<std::thread> threads(FLAGS_num_app_threads);
for (auto& thr : threads) {
thr = std::thread(&KMeans::Start, std::ref(kmeans));
}
for (auto& thr : threads) {
thr.join();
}
petuum::PSTableGroup::ShutDown();
LOG(INFO)<< "Kmeans finished and shut down!";
return 0;
}
void GMM::Init(const char* sampleFileName)
{
const double MIN_VAR = 1E-10;
KMeans* kmeans = new KMeans(m_dimNum, m_mixNum);
kmeans->SetInitMode(KMeans::InitUniform);
kmeans->Cluster(sampleFileName, "gmm_init.tmp");
int* counts = new int[m_mixNum];
double* overMeans = new double[m_dimNum]; // Overall mean of training data
for (int i = 0; i < m_mixNum; i++)
{
counts[i] = 0;
m_priors[i] = 0;
memcpy(m_means[i], kmeans->GetMean(i), sizeof(double) * m_dimNum);
memset(m_vars[i], 0, sizeof(double) * m_dimNum);
}
memset(overMeans, 0, sizeof(double) * m_dimNum);
memset(m_minVars, 0, sizeof(double) * m_dimNum);
// Open the sample and label file to initialize the model
ifstream sampleFile(sampleFileName, ios_base::binary);
//assert(sampleFile);
ifstream labelFile("gmm_init.tmp", ios_base::binary);
//assert(labelFile);
int size = 0;
sampleFile.read((char*)&size, sizeof(int));
sampleFile.seekg(2 * sizeof(int), ios_base::beg);
labelFile.seekg(sizeof(int), ios_base::beg);
double* x = new double[m_dimNum];
int label = -1;
for (int i = 0; i < size; i++)
{
sampleFile.read((char*)x, sizeof(double) * m_dimNum);
labelFile.read((char*)&label, sizeof(int));
// Count each Gaussian
counts[label]++;
double* m = kmeans->GetMean(label);
for (int d = 0; d < m_dimNum; d++)
{
m_vars[label][d] += (x[d] - m[d]) * (x[d] - m[d]);
}
// Count the overall mean and variance.
for (int d = 0; d < m_dimNum; d++)
{
overMeans[d] += x[d];
m_minVars[d] += x[d] * x[d];
}
}
// Compute the overall variance (* 0.01) as the minimum variance.
for (int d = 0; d < m_dimNum; d++)
{
overMeans[d] /= size;
m_minVars[d] = max(MIN_VAR, 0.01 * (m_minVars[d] / size - overMeans[d] * overMeans[d]));
}
// Initialize each Gaussian.
for (int i = 0; i < m_mixNum; i++)
{
m_priors[i] = 1.0 * counts[i] / size;
if (m_priors[i] > 0)
{
for (int d = 0; d < m_dimNum; d++)
{
m_vars[i][d] = m_vars[i][d] / counts[i];
// A minimum variance for each dimension is required.
if (m_vars[i][d] < m_minVars[d])
{
m_vars[i][d] = m_minVars[d];
}
}
}
else
{
memcpy(m_vars[i], m_minVars, sizeof(double) * m_dimNum);
cout << "[WARNING] Gaussian " << i << " of GMM is not used!\n";
}
}
delete kmeans;
delete[] x;
delete[] counts;
delete[] overMeans;
sampleFile.close();
labelFile.close();
}
void GMM::Init(double *data, int N)
{
const double MIN_VAR = 1E-10;
KMeans* kmeans = new KMeans(m_dimNum, m_mixNum);
kmeans->SetInitMode(KMeans::InitUniform);
int *Label;
Label=new int[N];
kmeans->Cluster(data,N,Label);
int* counts = new int[m_mixNum];
double* overMeans = new double[m_dimNum]; // Overall mean of training data
for (int i = 0; i < m_mixNum; i++)
{
counts[i] = 0;
m_priors[i] = 0;
memcpy(m_means[i], kmeans->GetMean(i), sizeof(double) * m_dimNum);
memset(m_vars[i], 0, sizeof(double) * m_dimNum);
}
memset(overMeans, 0, sizeof(double) * m_dimNum);
memset(m_minVars, 0, sizeof(double) * m_dimNum);
int size = 0;
size=N;
double* x = new double[m_dimNum];
int label = -1;
for (int i = 0; i < size; i++)
{
for(int j=0;j<m_dimNum;j++)
x[j]=data[i*m_dimNum+j];
label=Label[i];
// Count each Gaussian
counts[label]++;
double* m = kmeans->GetMean(label);
for (int d = 0; d < m_dimNum; d++)
{
m_vars[label][d] += (x[d] - m[d]) * (x[d] - m[d]);
}
// Count the overall mean and variance.
for (int d = 0; d < m_dimNum; d++)
{
overMeans[d] += x[d];
m_minVars[d] += x[d] * x[d];
}
}
// Compute the overall variance (* 0.01) as the minimum variance.
for (int d = 0; d < m_dimNum; d++)
{
overMeans[d] /= size;
m_minVars[d] = max(MIN_VAR, 0.01 * (m_minVars[d] / size - overMeans[d] * overMeans[d]));
}
// Initialize each Gaussian.
for (int i = 0; i < m_mixNum; i++)
{
m_priors[i] = 1.0 * counts[i] / size;
if (m_priors[i] > 0)
{
for (int d = 0; d < m_dimNum; d++)
{
m_vars[i][d] = m_vars[i][d] / counts[i];
// A minimum variance for each dimension is required.
if (m_vars[i][d] < m_minVars[d])
{
m_vars[i][d] = m_minVars[d];
}
}
}
else
{
memcpy(m_vars[i], m_minVars, sizeof(double) * m_dimNum);
cout << "[WARNING] Gaussian " << i << " of GMM is not used!\n";
}
}
delete kmeans;
delete[] x;
delete[] counts;
delete[] overMeans;
delete[] Label;
}
int main(int argc, char *argv[])
{
QCoreApplication a(argc, argv);
static int index = 0;
///Laser Data
LMS1xx LaserSensor;
scanCfg cfg;
scanData data;
scanDataCfg dataCfg;
status_t status;
std::ofstream file;
double start_angle=0;
double stop_angle=0;
double resolution=0;
double frequency=0;
///Kmeans realated variables
KMeans<> K;
mat dataset;
size_t cluster;
Col<size_t> assignments;
mat centroid;
///Connect to the Lasersensor
LaserSensor.connect(host);
if(LaserSensor.isConnected())
{
std::cout << "\nConnected !!!\n";
LaserSensor.login();
///Get Laser Configurations
cfg = LaserSensor.getScanCfg();
//cfg.angleResolution = 0.25*10000.0;
//cfg.scaningFrequency = 25*100;
//LaserSensor.setScanCfg(cfg);
//LaserSensor.saveConfig();
// sleep(3);
cfg = LaserSensor.getScanCfg();
start_angle = cfg.startAngle/10000.0; //* DEG2RAD - M_PI/2;
stop_angle = cfg.stopAngle/10000.0; //* DEG2RAD - M_PI/2;
resolution = cfg.angleResolution/10000.0;
frequency = cfg.scaningFrequency/100;
std::cout << "Start Angle: " << start_angle;
std::cout << "\tStop Angle: " << stop_angle;
std::cout << "\tResolution: " << resolution;
std::cout << "\tFrequency: " << frequency;
std::cout << std::endl;
dataCfg.outputChannel = 1;
dataCfg.remission = true;
dataCfg.resolution = 1;
dataCfg.encoder = 0;
dataCfg.position = false;
dataCfg.deviceName = false;
dataCfg.outputInterval = 1;
LaserSensor.setScanDataCfg(dataCfg); ///Set Data Configuration of the laser data
LaserSensor.startMeas(); ///Start Measurement
do
{
status = LaserSensor.queryStatus();
usleep(200);
}
while(status != ready_for_measurement);
{
LaserSensor.startDevice();
LaserSensor.scanContinous(1);
while(LaserSensor.isConnected())
{
LaserSensor.getData(data); ///Get the Laser Data
// u_int16_t range[data.dist_len1];
// u_int16_t intensity[data.rssi_len1];
int range[data.dist_len1];
int intensity[data.rssi_len1];
for(int i=0; i<data.dist_len1;i++)
range[i] = data.dist1[i];
for(int i=0; i<data.rssi_len1;i++)
intensity[i] = data.rssi1[i];
if (index == 0)
{
index++;
std::cout << std::endl << "Data len = " << data.dist_len1 << std::endl;
std::cout << "Intensity len = " << data.rssi_len1 << std::endl;
///distance assumed to be in mm
///Start angle is -45 end is 225
float angle_scan = -45.0;
float x[1081], y[1081]; ///The resolution is 0.5 degress so 541 values
int index_range = 0;
double slope;
cluster = 2;
//centroid.zeros();
dataset.resize(2,1081);
dataset.zeros();
file.open("LaserData.txt");
while(1)
{
x[index_range] = range[index_range]*cos(angle_scan*DEG2RAD)/1000.0;
y[index_range] = range[index_range] * sin(angle_scan*DEG2RAD)/1000.0;
//std::cout << "range: " << range[index_range] << " angle: " << angle_scan;
//std::cout << " x: " << x[index_range] << " y : " << y[index_range] << std::endl;
angle_scan += 0.25;
//if(intensity[index_range] >=850)
{
file << x[index_range] << "," << y[index_range] << "," << intensity[index_range] << std::endl;
}
if (angle_scan > 225.0)
{
break;
}
index_range++;
usleep(100);
}
int index_tmp = 0;
for(int i=0; i<1081;i++)
{
if (intensity[i] >= 900)
{
dataset(0,index_tmp) = x[i];
dataset(1,index_tmp) = y[i];
std::cout << "\n" << dataset[0,index_tmp] << "\t" << dataset[1,index_tmp];
index_tmp++;
}
}
std::cout << "\nKMeans Calculations!!!" << std::endl;
dataset.resize(2,index_tmp);
///Actual KMeans CLustering
K.Cluster((arma::mat) dataset,2,assignments,centroid);
/*************************************************************************************************************************
static double sum_x[2];
static double sum_y[2];
int number_dist1=0;
int number_dist2=0;
for(int i=0; i < assignments.size(); i++) {
switch(assignments[i])
{
case 0:
sum_x[0]+=dataset(0,i);
sum_y[0]+=dataset(1,i);
number_dist1++;
break;
case 1:
sum_x[1]+=dataset(0,i);
sum_y[1]+=dataset(1,i);
number_dist2++;
break;
};
std::cout << "\n" << assignments[i];
}
double center1_x, center1_y;
double center2_x, center2_y;
center1_x = sum_x[0]/number_dist1;
center1_y = sum_y[0]/number_dist1;
center2_x = sum_x[1]/number_dist2;
center2_y = sum_y[1]/number_dist2;
std::cout<<center1_x<<"," << center1_y<<" " << center2_x<<","<<center2_y<<endl;
**************************************************************************************************************************/
//std::cout << "\n" << centroid(0,0) << "\t" << centroid(1,0) << "\t"<< centroid(0,1) << "\t"<< centroid(1,1)<<"\n";
slope = (centroid(1,1) - centroid(1,0)) / (centroid(0,1) - centroid(0,0));
slope = (atan(slope))*RAD2DEG;
std::cout << "\nclusters= " << cluster << std::endl;
std::cout << "\nOrientation= " << slope << std::endl;
}
usleep(200);
}
std::cout << "\n Sensor Disconnected \n";
///Disconnect the Laser
LaserSensor.scanContinous(0);
LaserSensor.stopMeas();
LaserSensor.disconnect();
file.close();
}
}
else
{
std::cout <<"\nSensor Not Connected !!!\n";
}
return a.exec();
}
bool DecisionTreeClusterNode::computeError( const ClassificationData &trainingData, MatrixFloat &data, const Vector< UINT > &classLabels, Vector< MinMax > ranges, Vector< UINT > groupIndex, const UINT featureIndex, Float &threshold, Float &error ){
error = 0;
threshold = 0;
const UINT M = trainingData.getNumSamples();
const UINT K = (UINT)classLabels.size();
Float giniIndexL = 0;
Float giniIndexR = 0;
Float weightL = 0;
Float weightR = 0;
VectorFloat groupCounter(2,0);
MatrixFloat classProbabilities(K,2);
//Use this data to train a KMeans cluster with 2 clusters
KMeans kmeans;
kmeans.setNumClusters( 2 );
kmeans.setComputeTheta( true );
kmeans.setMinChange( 1.0e-5 );
kmeans.setMinNumEpochs( 1 );
kmeans.setMaxNumEpochs( 100 );
//Disable the logging to clean things up
kmeans.setTrainingLoggingEnabled( false );
if( !kmeans.train_( data ) ){
errorLog << __GRT_LOG__ << " Failed to train KMeans model for feature: " << featureIndex << std::endl;
return false;
}
//Set the split threshold as the mid point between the two clusters
const MatrixFloat &clusters = kmeans.getClusters();
threshold = 0;
for(UINT i=0; i<clusters.getNumRows(); i++){
threshold += clusters[i][0];
}
threshold /= clusters.getNumRows();
//Iterate over each sample and work out if it should be in the lhs (0) or rhs (1) group based on the current threshold
groupCounter[0] = groupCounter[1] = 0;
classProbabilities.setAllValues(0);
for(UINT i=0; i<M; i++){
groupIndex[i] = trainingData[ i ][ featureIndex ] >= threshold ? 1 : 0;
groupCounter[ groupIndex[i] ]++;
classProbabilities[ getClassLabelIndexValue(trainingData[i].getClassLabel(),classLabels) ][ groupIndex[i] ]++;
}
//Compute the class probabilities for the lhs group and rhs group
for(UINT k=0; k<K; k++){
classProbabilities[k][0] = groupCounter[0]>0 ? classProbabilities[k][0]/groupCounter[0] : 0;
classProbabilities[k][1] = groupCounter[1]>0 ? classProbabilities[k][1]/groupCounter[1] : 0;
}
//Compute the Gini index for the lhs and rhs groups
giniIndexL = giniIndexR = 0;
for(UINT k=0; k<K; k++){
giniIndexL += classProbabilities[k][0] * (1.0-classProbabilities[k][0]);
giniIndexR += classProbabilities[k][1] * (1.0-classProbabilities[k][1]);
}
weightL = groupCounter[0]/M;
weightR = groupCounter[1]/M;
error = (giniIndexL*weightL) + (giniIndexR*weightR);
return true;
}
void RefinedStart::Cluster(const MatType& data,
const size_t clusters,
arma::Col<size_t>& assignments) const
{
math::RandomSeed(std::time(NULL));
// This will hold the sampled datasets.
const size_t numPoints = size_t(percentage * data.n_cols);
MatType sampledData(data.n_rows, numPoints);
// vector<bool> is packed so each bool is 1 bit.
std::vector<bool> pointsUsed(data.n_cols, false);
arma::mat sampledCentroids(data.n_rows, samplings * clusters);
// We will use these objects repeatedly for clustering.
arma::Col<size_t> sampledAssignments;
arma::mat centroids;
KMeans<> kmeans;
for (size_t i = 0; i < samplings; ++i)
{
// First, assemble the sampled dataset.
size_t curSample = 0;
while (curSample < numPoints)
{
// Pick a random point in [0, numPoints).
size_t sample = (size_t) math::RandInt(data.n_cols);
if (!pointsUsed[sample])
{
// This point isn't used yet. So we'll put it in our sample.
pointsUsed[sample] = true;
sampledData.col(curSample) = data.col(sample);
++curSample;
}
}
// Now, using the sampled dataset, run k-means. In the case of an empty
// cluster, we re-initialize that cluster as the point furthest away from
// the cluster with maximum variance. This is not *exactly* what the paper
// implements, but it is quite similar, and we'll call it "good enough".
kmeans.Cluster(sampledData, clusters, sampledAssignments, centroids);
// Store the sampled centroids.
sampledCentroids.cols(i * clusters, (i + 1) * clusters - 1) = centroids;
pointsUsed.assign(data.n_cols, false);
}
// Now, we run k-means on the sampled centroids to get our final clusters.
kmeans.Cluster(sampledCentroids, clusters, sampledAssignments, centroids);
// Turn the final centroids into assignments.
assignments.set_size(data.n_cols);
for (size_t i = 0; i < data.n_cols; ++i)
{
// Find the closest centroid to this point.
double minDistance = std::numeric_limits<double>::infinity();
size_t closestCluster = clusters;
for (size_t j = 0; j < clusters; ++j)
{
const double distance = kmeans.Metric().Evaluate(data.col(i),
centroids.col(j));
if (distance < minDistance)
{
minDistance = distance;
closestCluster = j;
}
}
// Assign the point to its closest cluster.
assignments[i] = closestCluster;
}
}