mr_svm.py 文件源码

def dataset(modalities=0, forcetempTime=4, contactmicTime=0.2, leaveObjectOut=False, verbose=False, deriv=False):
    materials = ['plastic', 'glass', 'fabric', 'metal', 'wood', 'ceramic']
    X = []
    y = []
    objects = dict()
    for m, material in enumerate(materials):
        if verbose:
            print 'Processing', material
            sys.stdout.flush()
        with open('data_processed/processed_0.1sbefore_%s_times_%.2f_%.2f.pkl' % (material, forcetempTime, contactmicTime), 'rb') as f:
            allData = pickle.load(f)
            for j, (objName, objData) in enumerate(allData.iteritems()):
                if leaveObjectOut:
                    objects[objName] = {'x': [], 'y': []}
                    X = objects[objName]['x']
                    y = objects[objName]['y']
                for i in xrange(len(objData['temperature'])):
                    y.append(m)

                    if deriv:
                        objData['force0'][i] = firstDeriv(objData['force0'][i], objData['forceTime'][i])
                        objData['force1'][i] = firstDeriv(objData['force1'][i], objData['forceTime'][i])
                        objData['temperature'][i] = firstDeriv(objData['temperature'][i], objData['temperatureTime'][i])

                    if modalities > 2:
                        # Mel-scaled power (energy-squared) spectrogram
                        sr = 48000
                        S = librosa.feature.melspectrogram(np.array(objData['contact'][i]), sr=sr, n_mels=128)
                        # Convert to log scale (dB)
                        log_S = librosa.logamplitude(S, ref_power=np.max)

                    if modalities == 0:
                        X.append(objData['force0'][i] + objData['force1'][i])
                    elif modalities == 1:
                        X.append(objData['temperature'][i])
                    elif modalities == 2:
                        X.append(objData['temperature'][i] + objData['force0'][i] + objData['force1'][i])
                    elif modalities == 3:
                        X.append(log_S.flatten())
                    elif modalities == 4:
                        X.append(objData['temperature'][i] + log_S.flatten().tolist())
                    elif modalities == 5:
                        X.append(objData['temperature'][i] + objData['force0'][i] + objData['force1'][i] + log_S.flatten().tolist())
                    elif modalities == 6:
                        X.append(objData['force0'][i] + objData['force1'][i] + log_S.flatten().tolist())

    if leaveObjectOut:
        return objects
    else:
        X = np.array(X)
        y = np.array(y)
        if verbose:
            print 'X:', np.shape(X), 'y:', np.shape(y)
        return X, y