GestureRecognitionToolkit
Version: 0.2.5
The Gesture Recognition Toolkit (GRT) is a cross-platform, open-source, c++ machine learning library for real-time gesture recognition.
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Public Types | |
enum | DistanceMethods { ABSOLUTE_DIST =0, EUCLIDEAN_DIST, NORM_ABSOLUTE_DIST } |
enum | RejectionModes { TEMPLATE_THRESHOLDS =0, CLASS_LIKELIHOODS, THRESHOLDS_AND_LIKELIHOODS } |
Public Types inherited from Classifier | |
enum | ClassifierModes { STANDARD_CLASSIFIER_MODE =0, TIMESERIES_CLASSIFIER_MODE } |
typedef std::map< std::string, Classifier *(*)() > | StringClassifierMap |
Public Types inherited from MLBase | |
enum | BaseType { BASE_TYPE_NOT_SET =0, CLASSIFIER, REGRESSIFIER, CLUSTERER, PRE_PROCSSING, POST_PROCESSING, FEATURE_EXTRACTION, CONTEXT } |
Public Member Functions | |
DTW (bool useScaling=false, bool useNullRejection=false, Float nullRejectionCoeff=3.0, UINT rejectionMode=DTW::TEMPLATE_THRESHOLDS, bool dtwConstrain=true, Float radius=0.2, bool offsetUsingFirstSample=false, bool useSmoothing=false, UINT smoothingFactor=5, Float nullRejectionLikelihoodThreshold=0.99) | |
DTW (const DTW &rhs) | |
virtual | ~DTW (void) |
DTW & | operator= (const DTW &rhs) |
virtual bool | deepCopyFrom (const Classifier *classifier) |
virtual bool | train_ (TimeSeriesClassificationData &trainingData) |
virtual bool | predict_ (VectorFloat &inputVector) |
virtual bool | predict_ (MatrixFloat &timeSeries) |
virtual bool | reset () |
virtual bool | clear () |
virtual bool | save (std::fstream &file) const |
virtual bool | load (std::fstream &file) |
virtual bool | recomputeNullRejectionThresholds () |
UINT | getNumTemplates () const |
bool | setRejectionMode (UINT rejectionMode) |
bool | setNullRejectionThreshold (Float nullRejectionLikelihoodThreshold) |
bool | setOffsetTimeseriesUsingFirstSample (bool offsetUsingFirstSample) |
bool | setContrainWarpingPath (bool constrain) |
bool | setWarpingRadius (Float radius) |
UINT | getRejectionMode () const |
bool | enableZNormalization (bool useZNormalization, bool constrainZNorm=true) |
bool | enableTrimTrainingData (bool trimTrainingData, Float trimThreshold, Float maximumTrimPercentage) |
Vector< DTWTemplate > | getModels () const |
bool | setModels (Vector< DTWTemplate > newTemplates) |
Vector< VectorFloat > | getInputDataBuffer () const |
const Vector< MatrixFloat > & | getDistanceMatrices () const |
const Vector< Vector< IndexDist > > & | getWarpingPaths () const |
Public Member Functions inherited from Classifier | |
Classifier (const std::string &classifierId="") | |
virtual | ~Classifier (void) |
bool | copyBaseVariables (const Classifier *classifier) |
virtual bool | computeAccuracy (const ClassificationData &data, Float &accuracy) |
std::string | getClassifierType () const |
bool | getSupportsNullRejection () const |
bool | getNullRejectionEnabled () const |
Float | getNullRejectionCoeff () const |
Float | getMaximumLikelihood () const |
Float | getBestDistance () const |
Float | getPhase () const |
Float | getTrainingSetAccuracy () const |
virtual UINT | getNumClasses () const |
UINT | getClassLabelIndexValue (const UINT classLabel) const |
UINT | getPredictedClassLabel () const |
VectorFloat | getClassLikelihoods () const |
VectorFloat | getClassDistances () const |
VectorFloat | getNullRejectionThresholds () const |
Vector< UINT > | getClassLabels () const |
Vector< MinMax > | getRanges () const |
bool | enableNullRejection (const bool useNullRejection) |
virtual bool | setNullRejectionCoeff (const Float nullRejectionCoeff) |
virtual bool | setNullRejectionThresholds (const VectorFloat &newRejectionThresholds) |
bool | getTimeseriesCompatible () const |
Classifier * | create () const |
GRT_DEPRECATED_MSG ("createNewInstance is deprecated, use create instead.", Classifier *createNewInstance() const ) | |
GRT_DEPRECATED_MSG ("createInstanceFromString is deprecated, use create instead.", static Classifier *createInstanceFromString(const std::string &id)) | |
Classifier * | deepCopy () const |
const Classifier * | getClassifierPointer () const |
const Classifier & | getBaseClassifier () const |
Public Member Functions inherited from MLBase | |
MLBase (const std::string &id="", const BaseType type=BASE_TYPE_NOT_SET) | |
virtual | ~MLBase (void) |
bool | copyMLBaseVariables (const MLBase *mlBase) |
virtual bool | train (ClassificationData trainingData) |
virtual bool | train_ (ClassificationData &trainingData) |
virtual bool | train (RegressionData trainingData) |
virtual bool | train_ (RegressionData &trainingData) |
virtual bool | train (RegressionData trainingData, RegressionData validationData) |
virtual bool | train_ (RegressionData &trainingData, RegressionData &validationData) |
virtual bool | train (TimeSeriesClassificationData trainingData) |
virtual bool | train (ClassificationDataStream trainingData) |
virtual bool | train_ (ClassificationDataStream &trainingData) |
virtual bool | train (UnlabelledData trainingData) |
virtual bool | train_ (UnlabelledData &trainingData) |
virtual bool | train (MatrixFloat data) |
virtual bool | train_ (MatrixFloat &data) |
virtual bool | predict (VectorFloat inputVector) |
virtual bool | predict (MatrixFloat inputMatrix) |
virtual bool | map (VectorFloat inputVector) |
virtual bool | map_ (VectorFloat &inputVector) |
virtual bool | print () const |
virtual bool | save (const std::string &filename) const |
virtual bool | load (const std::string &filename) |
GRT_DEPRECATED_MSG ("saveModelToFile(std::string filename) is deprecated, use save(const std::string &filename) instead", virtual bool saveModelToFile(const std::string &filename) const ) | |
GRT_DEPRECATED_MSG ("saveModelToFile(std::fstream &file) is deprecated, use save(std::fstream &file) instead", virtual bool saveModelToFile(std::fstream &file) const ) | |
GRT_DEPRECATED_MSG ("loadModelFromFile(std::string filename) is deprecated, use load(const std::string &filename) instead", virtual bool loadModelFromFile(const std::string &filename)) | |
GRT_DEPRECATED_MSG ("loadModelFromFile(std::fstream &file) is deprecated, use load(std::fstream &file) instead", virtual bool loadModelFromFile(std::fstream &file)) | |
virtual bool | getModel (std::ostream &stream) const |
virtual std::string | getModelAsString () const |
DataType | getInputType () const |
DataType | getOutputType () const |
BaseType | getType () const |
UINT | getNumInputFeatures () const |
UINT | getNumInputDimensions () const |
UINT | getNumOutputDimensions () const |
UINT | getMinNumEpochs () const |
UINT | getMaxNumEpochs () const |
UINT | getBatchSize () const |
UINT | getNumRestarts () const |
UINT | getValidationSetSize () const |
UINT | getNumTrainingIterationsToConverge () const |
Float | getMinChange () const |
Float | getLearningRate () const |
Float | getRMSTrainingError () const |
GRT_DEPRECATED_MSG ("getRootMeanSquaredTrainingError() is deprecated, use getRMSTrainingError() instead", Float getRootMeanSquaredTrainingError() const ) | |
Float | getTotalSquaredTrainingError () const |
Float | getRMSValidationError () const |
Float | getValidationSetAccuracy () const |
VectorFloat | getValidationSetPrecision () const |
VectorFloat | getValidationSetRecall () const |
bool | getUseValidationSet () const |
bool | getRandomiseTrainingOrder () const |
bool | getTrained () const |
GRT_DEPRECATED_MSG ("getModelTrained() is deprecated, use getTrained() instead", bool getModelTrained() const ) | |
bool | getConverged () const |
bool | getScalingEnabled () const |
bool | getIsBaseTypeClassifier () const |
bool | getIsBaseTypeRegressifier () const |
bool | getIsBaseTypeClusterer () const |
bool | getTrainingLoggingEnabled () const |
bool | getTestingLoggingEnabled () const |
bool | enableScaling (const bool useScaling) |
bool | setMaxNumEpochs (const UINT maxNumEpochs) |
bool | setBatchSize (const UINT batchSize) |
bool | setMinNumEpochs (const UINT minNumEpochs) |
bool | setNumRestarts (const UINT numRestarts) |
bool | setMinChange (const Float minChange) |
bool | setLearningRate (const Float learningRate) |
bool | setUseValidationSet (const bool useValidationSet) |
bool | setValidationSetSize (const UINT validationSetSize) |
bool | setRandomiseTrainingOrder (const bool randomiseTrainingOrder) |
bool | setTrainingLoggingEnabled (const bool loggingEnabled) |
bool | setTestingLoggingEnabled (const bool loggingEnabled) |
bool | registerTrainingResultsObserver (Observer< TrainingResult > &observer) |
bool | registerTestResultsObserver (Observer< TestInstanceResult > &observer) |
bool | removeTrainingResultsObserver (const Observer< TrainingResult > &observer) |
bool | removeTestResultsObserver (const Observer< TestInstanceResult > &observer) |
bool | removeAllTrainingObservers () |
bool | removeAllTestObservers () |
bool | notifyTrainingResultsObservers (const TrainingResult &data) |
bool | notifyTestResultsObservers (const TestInstanceResult &data) |
MLBase * | getMLBasePointer () |
const MLBase * | getMLBasePointer () const |
Vector< TrainingResult > | getTrainingResults () const |
Public Member Functions inherited from GRTBase | |
GRTBase (const std::string &id="") | |
virtual | ~GRTBase (void) |
bool | copyGRTBaseVariables (const GRTBase *GRTBase) |
GRT_DEPRECATED_MSG ("getClassType is deprecated, use getId() instead!", std::string getClassType() const ) | |
std::string | getId () const |
std::string | getLastWarningMessage () const |
std::string | getLastErrorMessage () const |
std::string | getLastInfoMessage () const |
bool | setInfoLoggingEnabled (const bool loggingEnabled) |
bool | setWarningLoggingEnabled (const bool loggingEnabled) |
bool | setErrorLoggingEnabled (const bool loggingEnabled) |
bool | setDebugLoggingEnabled (const bool loggingEnabled) |
GRTBase * | getGRTBasePointer () |
const GRTBase * | getGRTBasePointer () const |
Float | scale (const Float &x, const Float &minSource, const Float &maxSource, const Float &minTarget, const Float &maxTarget, const bool constrain=false) |
Float | SQR (const Float &x) const |
Public Member Functions inherited from Observer< TrainingResult > | |
virtual void | notify (const TrainingResult &data) |
Public Member Functions inherited from Observer< TestInstanceResult > | |
virtual void | notify (const TestInstanceResult &data) |
Static Public Member Functions | |
static std::string | getId () |
Static Public Member Functions inherited from Classifier | |
static Classifier * | create (const std::string &id) |
static Vector< std::string > | getRegisteredClassifiers () |
Static Public Member Functions inherited from GRTBase | |
static std::string | getGRTVersion (bool returnRevision=true) |
static std::string | getGRTRevison () |
Protected Member Functions | |
bool | train_NDDTW (TimeSeriesClassificationData &trainingData, DTWTemplate &dtwTemplate, UINT &bestIndex) |
Float | computeDistance (MatrixFloat &timeSeriesA, MatrixFloat &timeSeriesB, MatrixFloat &distanceMatrix, Vector< IndexDist > &warpPath) |
Float | d (int m, int n, MatrixFloat &distanceMatrix, const int M, const int N) |
Float | MIN_ (Float a, Float b, Float c) |
void | scaleData (TimeSeriesClassificationData &trainingData) |
void | scaleData (MatrixFloat &data, MatrixFloat &scaledData) |
void | znormData (TimeSeriesClassificationData &trainingData) |
void | znormData (MatrixFloat &data, MatrixFloat &normData) |
void | smoothData (VectorFloat &data, UINT smoothFactor, VectorFloat &resultsData) |
void | smoothData (MatrixFloat &data, UINT smoothFactor, MatrixFloat &resultsData) |
void | offsetTimeseries (MatrixFloat ×eries) |
bool | loadLegacyModelFromFile (std::fstream &file) |
Protected Member Functions inherited from Classifier | |
bool | saveBaseSettingsToFile (std::fstream &file) const |
bool | loadBaseSettingsFromFile (std::fstream &file) |
Protected Member Functions inherited from MLBase | |
bool | saveBaseSettingsToFile (std::fstream &file) const |
bool | loadBaseSettingsFromFile (std::fstream &file) |
Protected Attributes | |
Vector< DTWTemplate > | templatesBuffer |
Vector< MatrixFloat > | distanceMatrices |
Vector< Vector< IndexDist > > | warpPaths |
CircularBuffer< VectorFloat > | continuousInputDataBuffer |
UINT | numTemplates |
UINT | rejectionMode |
bool | useSmoothing |
bool | useZNormalisation |
bool | offsetUsingFirstSample |
bool | constrainZNorm |
bool | constrainWarpingPath |
bool | trimTrainingData |
Float | zNormConstrainThreshold |
Float | radius |
Float | trimThreshold |
Float | maximumTrimPercentage |
Float | nullRejectionLikelihoodThreshold |
UINT | smoothingFactor |
UINT | distanceMethod |
UINT | averageTemplateLength |
Protected Attributes inherited from Classifier | |
bool | supportsNullRejection |
bool | useNullRejection |
UINT | numClasses |
UINT | predictedClassLabel |
UINT | classifierMode |
Float | nullRejectionCoeff |
Float | maxLikelihood |
Float | bestDistance |
Float | phase |
Float | trainingSetAccuracy |
VectorFloat | classLikelihoods |
VectorFloat | classDistances |
VectorFloat | nullRejectionThresholds |
Vector< UINT > | classLabels |
Vector< MinMax > | ranges |
Protected Attributes inherited from MLBase | |
bool | trained |
bool | useScaling |
bool | converged |
DataType | inputType |
DataType | outputType |
BaseType | baseType |
UINT | numInputDimensions |
UINT | numOutputDimensions |
UINT | numTrainingIterationsToConverge |
UINT | minNumEpochs |
UINT | maxNumEpochs |
UINT | batchSize |
UINT | validationSetSize |
UINT | numRestarts |
Float | learningRate |
Float | minChange |
Float | rmsTrainingError |
Float | rmsValidationError |
Float | totalSquaredTrainingError |
Float | validationSetAccuracy |
bool | useValidationSet |
bool | randomiseTrainingOrder |
VectorFloat | validationSetPrecision |
VectorFloat | validationSetRecall |
Random | random |
Vector< TrainingResult > | trainingResults |
TrainingResultsObserverManager | trainingResultsObserverManager |
TestResultsObserverManager | testResultsObserverManager |
TrainingLog | trainingLog |
TestingLog | testingLog |
Protected Attributes inherited from GRTBase | |
std::string | classId |
Stores the name of the class (e.g., MinDist) | |
DebugLog | debugLog |
ErrorLog | errorLog |
InfoLog | infoLog |
WarningLog | warningLog |
Additional Inherited Members | |
Static Protected Member Functions inherited from Classifier | |
static StringClassifierMap * | getMap () |
DTW::DTW | ( | bool | useScaling = false , |
bool | useNullRejection = false , |
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Float | nullRejectionCoeff = 3.0 , |
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UINT | rejectionMode = DTW::TEMPLATE_THRESHOLDS , |
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bool | dtwConstrain = true , |
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Float | radius = 0.2 , |
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bool | offsetUsingFirstSample = false , |
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bool | useSmoothing = false , |
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UINT | smoothingFactor = 5 , |
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Float | nullRejectionLikelihoodThreshold = 0.99 |
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Default Constructor
useScaling | sets if the training and prediction data should be scaled to a specific range. Default value is useScaling = false |
useNullRejection | sets if null rejection will be used for the realtime prediction. If useNullRejection is set to true then the predictedClassLabel will be set to 0 (which is the default null label) if the distance between the inputVector and the closest template is greater than the null rejection threshold for the top predicted class. The null rejection threshold is computed for each class during the training phase. Default value is useNullRejection = false |
nullRejectionCoeff | sets the null rejection coefficient, this is a multipler controlling the null rejection threshold for each class. This will only be used if the useNullRejection parameter is set to true. Default value is nullRejectionCoeff = 3.0 |
rejectionMode | sets the method used for null rejection. The options are TEMPLATE_THRESHOLDS, CLASS_LIKELIHOODS or THRESHOLDS_AND_LIKELIHOODS. Default = TEMPLATE_THRESHOLDS |
dtwConstrain | sets if the DTW warping path should be constrained within a specific distance from the main radius of the cost matrix. Default value = true |
radius | controls the radius of the warping path, which is used if the dtwConstrain is set to true. Should be a value between [0 1]. Default value = 0.2 |
offsetUsingFirstSample | sets if each timeseries should be offset by the first sample in the timeseries. Default value = false |
useSmoothing | sets if the input timeseries should be smoothed (i.e. averaged and downsampled). Default value = false |
smoothingFactor | controls the amount of downsampling if the useSmoothing parameter is set to true. Default value = 5 |
nullRejectionLikelihoodThreshold | set the null rejection threshold for likelihoods when CLASS_LIKELIHOODS or THRESHOLDS_AND_LIKELIHOODS modes are used for rejectionMode. Default value = 0.99 |
DTW::DTW | ( | const DTW & | rhs | ) |
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This overrides the clear function in the Classifier base class. It will completely clear the ML module, removing any trained model and setting all the base variables to their default values.
Reimplemented from Classifier.
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This is required for the Gesture Recognition Pipeline for when the pipeline.setClassifier(...) method is called. It clones the data from the Base Class Classifier pointer (which should be pointing to an DTW instance) into this instance
classifier | a pointer to the Classifier Base Class, this should be pointing to another DTW instance |
Reimplemented from Classifier.
bool DTW::enableTrimTrainingData | ( | bool | trimTrainingData, |
Float | trimThreshold, | ||
Float | maximumTrimPercentage | ||
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Sets if the training data should be trimmed before training the DTW templates. If set to true then any training samples that have very little movement at the start or end of a file will be trimmed so as to remove the none movement at the start or end of the file. This can be useful if some of your examples have a section were the user paused before performing a gesture, or were the recording continued for a few seconds after the gesture ended. The trimThreshold and maximumTrimPrecentage parameters control how extreme the trimming can be. The trimThreshold should be in a range of [0 1] and the maximumTrimPrecentage should be in a range of [0 100]. If the amount of energy in the timeseries is below the trimThreshold then it will be trimmed.
Note that if the trimming mode is enabled, and a time series sample exceeds the maximumTrimPercentage, then that sample will not be added to the modified (trimmed) training dataset. If any sample exceeds the maximumTrimPercentage then a warning message will be displayed via the DTW trainingLog (unless the trainingLog's logging has been disabled).
trimTrainingData | if true, then the training examples will be trimmed prior to training the DTW templates |
trimThreshold | the trimThreshold sets the threshold at which the data should be trimmed. This should be in a range of [0 1] |
maximumTrimPercentage | this sets the maximum amount of data that can be trimmed for one example. This should be in the range of [0 100] |
bool DTW::enableZNormalization | ( | bool | useZNormalization, |
bool | constrainZNorm = true |
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Sets if z-normalization should be used for both training and realtime prediction. This should be called before training the templates.
useZNormalization | if true then the data will be z-normalized before both training and prediction |
constrainZNorm | if true then the data will only be z-normalized if the std-dev of the data is below a specific threshold |
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Gets the distances matrices from the last prediction. Each element in the vector represents the distance matrices for each corresponding class.
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Gets the warping paths from the last prediction. Each element in the vector represents the warping path for each corresponding class.
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This loads a trained DTW model from a file. This overrides the load function in the Classifier base class.
file | a reference to the file the DTW model will be loaded from |
Reimplemented from MLBase.
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This predicts the class of the inputVector. This overrides the predict function in the Classifier base class.
inputVector | the input vector to classify |
Reimplemented from MLBase.
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This predicts the class of the timeseries. This overrides the predict function in the Classifier base class.
timeSeries | the input timeseries to classify |
Reimplemented from MLBase.
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This recomputes the null rejection thresholds for each of the classes in the DTW model. This will be called automatically if the setGamma(Float gamma) function is called. The DTW model needs to be trained first before this function can be called.
Reimplemented from Classifier.
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This resets the DTW classifier.
Reimplemented from Classifier.
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This saves the trained DTW model to a file. This overrides the save function in the Classifier base class.
file | a reference to the file the DTW model will be saved to |
Reimplemented from MLBase.
bool DTW::setContrainWarpingPath | ( | bool | constrain | ) |
Sets if the warping path should be constrained to within a specific radius from the main diagonal of the cost matrix.
constrain | if true then the warping path should be constrained |
bool DTW::setModels | ( | Vector< DTWTemplate > | newTemplates | ) |
bool DTW::setNullRejectionThreshold | ( | Float | nullRejectionLikelihoodThreshold | ) |
bool DTW::setOffsetTimeseriesUsingFirstSample | ( | bool | offsetUsingFirstSample | ) |
Sets if each timeseries should be offset by the first sample in the timeseries. This can help the DTW algorithm be more invariant to the position a gesture is performed without having to normalize the data. You shoud call this function before training the algorithm.
offsetUsingFirstSample | sets if each timeseries should be offset by the first sample in the timeseries |
bool DTW::setRejectionMode | ( | UINT | rejectionMode | ) |
bool DTW::setWarpingRadius | ( | Float | radius | ) |
Sets the warping radius, this is used to constrain the warping path within a specific radius from the main diagonal of the cost matrix. This is only used if the #constrainWarpingPath parameter is set to true. The radius should be a value between [0 1].
radius | the new warping radius (should be between [0 1] |
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This trains the DTW model, using the labelled timeseries classification data. This overrides the train function in the Classifier base class.
trainingData | a reference to the training data |
Reimplemented from MLBase.