def _vlines(lines, ctrs=None, lengths=None, vecs=None, angle_lo=20, angle_hi=160, ransac_options=RANSAC_OPTIONS):
ctrs = ctrs if ctrs is not None else lines.mean(1)
vecs = vecs if vecs is not None else lines[:, 1, :] - lines[:, 0, :]
lengths = lengths if lengths is not None else np.hypot(vecs[:, 0], vecs[:, 1])
angles = np.degrees(np.arccos(vecs[:, 0] / lengths))
points = np.column_stack([ctrs[:, 0], angles])
point_indices, = np.nonzero((angles > angle_lo) & (angles < angle_hi))
points = points[point_indices]
if len(points) > 2:
model_ransac = linear_model.RANSACRegressor(**ransac_options)
model_ransac.fit(points[:, 0].reshape(-1, 1), points[:, 1].reshape(-1, 1))
inlier_mask = model_ransac.inlier_mask_
valid_lines = lines[point_indices[inlier_mask], :, :]
else:
valid_lines = []
return valid_lines
python类RANSACRegressor()的实例源码
def _hlines(lines, ctrs=None, lengths=None, vecs=None, angle_lo=20, angle_hi=160, ransac_options=RANSAC_OPTIONS):
ctrs = ctrs if ctrs is not None else lines.mean(1)
vecs = vecs if vecs is not None else lines[:, 1, :] - lines[:, 0, :]
lengths = lengths if lengths is not None else np.hypot(vecs[:, 0], vecs[:, 1])
angles = np.degrees(np.arccos(vecs[:, 1] / lengths))
points = np.column_stack([ctrs[:, 1], angles])
point_indices, = np.nonzero((angles > angle_lo) & (angles < angle_hi))
points = points[point_indices]
if len(points) > 2:
model_ransac = linear_model.RANSACRegressor(**ransac_options)
model_ransac.fit(points[:, 0].reshape(-1, 1), points[:, 1].reshape(-1, 1))
inlier_mask = model_ransac.inlier_mask_
valid_lines = lines[point_indices[inlier_mask], :, :]
else:
valid_lines = []
return valid_lines
def __init__(self, ompath, density = 4.0):
"""
:param ompath: path of the mesh template
author: weiwei
date: 20170711
"""
cadtemp = CADTemp.CADTemp(ompath = ompath, density = density)
self.objnp = pg.packpandanp(cadtemp.objtrimesh.vertices,
cadtemp.objtrimesh.face_normals,
cadtemp.objtrimesh.faces,
name='')
self.temppnt = cadtemp.pcdtemp
self.kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Depth)
self.dbscan = DBSCAN(eps=50, min_samples=100, n_jobs=-1)
self.randsac = linear_model.RANSACRegressor(linear_model.LinearRegression(), residual_threshold = 15)
self.tablepnt = []
self.objectpnt = []
def test_ransac_is_data_valid():
def is_data_valid(X, y):
assert_equal(X.shape[0], 2)
assert_equal(y.shape[0], 2)
return False
X = np.random.rand(10, 2)
y = np.random.rand(10, 1)
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5,
is_data_valid=is_data_valid,
random_state=0)
assert_raises(ValueError, ransac_estimator.fit, X, y)
def test_ransac_multi_dimensional_targets():
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
# 3-D target values
yyy = np.column_stack([y, y, y])
# Estimate parameters of corrupted data
ransac_estimator.fit(X, yyy)
# Ground truth / reference inlier mask
ref_inlier_mask = np.ones_like(ransac_estimator.inlier_mask_
).astype(np.bool_)
ref_inlier_mask[outliers] = False
assert_equal(ransac_estimator.inlier_mask_, ref_inlier_mask)
# XXX: Remove in 0.20
def __init__(self):
"""
Kinect interface
author: weiwei
date: 20170715
"""
self.kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Depth)
self.dbscan = DBSCAN(eps=50, min_samples=100, n_jobs=-1)
self.randsac = linear_model.RANSACRegressor(linear_model.LinearRegression(), residual_threshold = 15)
def test_ransac_inliers_outliers():
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
# Estimate parameters of corrupted data
ransac_estimator.fit(X, y)
# Ground truth / reference inlier mask
ref_inlier_mask = np.ones_like(ransac_estimator.inlier_mask_
).astype(np.bool_)
ref_inlier_mask[outliers] = False
assert_equal(ransac_estimator.inlier_mask_, ref_inlier_mask)
def test_ransac_is_model_valid():
def is_model_valid(estimator, X, y):
assert_equal(X.shape[0], 2)
assert_equal(y.shape[0], 2)
return False
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5,
is_model_valid=is_model_valid,
random_state=0)
assert_raises(ValueError, ransac_estimator.fit, X, y)
def test_ransac_max_trials():
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, max_trials=0,
random_state=0)
assert_raises(ValueError, ransac_estimator.fit, X, y)
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, max_trials=11,
random_state=0)
assert getattr(ransac_estimator, 'n_trials_', None) is None
ransac_estimator.fit(X, y)
assert_equal(ransac_estimator.n_trials_, 2)
def test_ransac_stop_n_inliers():
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, stop_n_inliers=2,
random_state=0)
ransac_estimator.fit(X, y)
assert_equal(ransac_estimator.n_trials_, 1)
def test_ransac_score():
X = np.arange(100)[:, None]
y = np.zeros((100, ))
y[0] = 1
y[1] = 100
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=0.5, random_state=0)
ransac_estimator.fit(X, y)
assert_equal(ransac_estimator.score(X[2:], y[2:]), 1)
assert_less(ransac_estimator.score(X[:2], y[:2]), 1)
def test_ransac_predict():
X = np.arange(100)[:, None]
y = np.zeros((100, ))
y[0] = 1
y[1] = 100
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=0.5, random_state=0)
ransac_estimator.fit(X, y)
assert_equal(ransac_estimator.predict(X), np.zeros(100))
def test_ransac_resid_thresh_no_inliers():
# When residual_threshold=0.0 there are no inliers and a
# ValueError with a message should be raised
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=0.0, random_state=0)
assert_raises_regexp(ValueError,
"No inliers.*residual_threshold.*0\.0",
ransac_estimator.fit, X, y)
def test_ransac_sparse_coo():
X_sparse = sparse.coo_matrix(X)
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
ransac_estimator.fit(X_sparse, y)
ref_inlier_mask = np.ones_like(ransac_estimator.inlier_mask_
).astype(np.bool_)
ref_inlier_mask[outliers] = False
assert_equal(ransac_estimator.inlier_mask_, ref_inlier_mask)
def test_ransac_sparse_csr():
X_sparse = sparse.csr_matrix(X)
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
ransac_estimator.fit(X_sparse, y)
ref_inlier_mask = np.ones_like(ransac_estimator.inlier_mask_
).astype(np.bool_)
ref_inlier_mask[outliers] = False
assert_equal(ransac_estimator.inlier_mask_, ref_inlier_mask)
def test_ransac_none_estimator():
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
ransac_none_estimator = RANSACRegressor(None, 2, 5, random_state=0)
ransac_estimator.fit(X, y)
ransac_none_estimator.fit(X, y)
assert_array_almost_equal(ransac_estimator.predict(X),
ransac_none_estimator.predict(X))
def test_ransac_min_n_samples():
base_estimator = LinearRegression()
ransac_estimator1 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
ransac_estimator2 = RANSACRegressor(base_estimator,
min_samples=2. / X.shape[0],
residual_threshold=5, random_state=0)
ransac_estimator3 = RANSACRegressor(base_estimator, min_samples=-1,
residual_threshold=5, random_state=0)
ransac_estimator4 = RANSACRegressor(base_estimator, min_samples=5.2,
residual_threshold=5, random_state=0)
ransac_estimator5 = RANSACRegressor(base_estimator, min_samples=2.0,
residual_threshold=5, random_state=0)
ransac_estimator6 = RANSACRegressor(base_estimator,
residual_threshold=5, random_state=0)
ransac_estimator7 = RANSACRegressor(base_estimator,
min_samples=X.shape[0] + 1,
residual_threshold=5, random_state=0)
ransac_estimator1.fit(X, y)
ransac_estimator2.fit(X, y)
ransac_estimator5.fit(X, y)
ransac_estimator6.fit(X, y)
assert_array_almost_equal(ransac_estimator1.predict(X),
ransac_estimator2.predict(X))
assert_array_almost_equal(ransac_estimator1.predict(X),
ransac_estimator5.predict(X))
assert_array_almost_equal(ransac_estimator1.predict(X),
ransac_estimator6.predict(X))
assert_raises(ValueError, ransac_estimator3.fit, X, y)
assert_raises(ValueError, ransac_estimator4.fit, X, y)
assert_raises(ValueError, ransac_estimator7.fit, X, y)
def test_ransac_residual_metric():
residual_metric1 = lambda dy: np.sum(np.abs(dy), axis=1)
residual_metric2 = lambda dy: np.sum(dy ** 2, axis=1)
yyy = np.column_stack([y, y, y])
base_estimator = LinearRegression()
ransac_estimator0 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
ransac_estimator1 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0,
residual_metric=residual_metric1)
ransac_estimator2 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0,
residual_metric=residual_metric2)
# multi-dimensional
ransac_estimator0.fit(X, yyy)
assert_warns(DeprecationWarning, ransac_estimator1.fit, X, yyy)
assert_warns(DeprecationWarning, ransac_estimator2.fit, X, yyy)
assert_array_almost_equal(ransac_estimator0.predict(X),
ransac_estimator1.predict(X))
assert_array_almost_equal(ransac_estimator0.predict(X),
ransac_estimator2.predict(X))
# one-dimensional
ransac_estimator0.fit(X, y)
assert_warns(DeprecationWarning, ransac_estimator2.fit, X, y)
assert_array_almost_equal(ransac_estimator0.predict(X),
ransac_estimator2.predict(X))
def test_ransac_residual_loss():
loss_multi1 = lambda y_true, y_pred: np.sum(np.abs(y_true - y_pred), axis=1)
loss_multi2 = lambda y_true, y_pred: np.sum((y_true - y_pred) ** 2, axis=1)
loss_mono = lambda y_true, y_pred : np.abs(y_true - y_pred)
yyy = np.column_stack([y, y, y])
base_estimator = LinearRegression()
ransac_estimator0 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0)
ransac_estimator1 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0,
loss=loss_multi1)
ransac_estimator2 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0,
loss=loss_multi2)
# multi-dimensional
ransac_estimator0.fit(X, yyy)
ransac_estimator1.fit(X, yyy)
ransac_estimator2.fit(X, yyy)
assert_array_almost_equal(ransac_estimator0.predict(X),
ransac_estimator1.predict(X))
assert_array_almost_equal(ransac_estimator0.predict(X),
ransac_estimator2.predict(X))
# one-dimensional
ransac_estimator0.fit(X, y)
ransac_estimator2.loss = loss_mono
ransac_estimator2.fit(X, y)
assert_array_almost_equal(ransac_estimator0.predict(X),
ransac_estimator2.predict(X))
ransac_estimator3 = RANSACRegressor(base_estimator, min_samples=2,
residual_threshold=5, random_state=0,
loss="squared_loss")
ransac_estimator3.fit(X, y)
assert_array_almost_equal(ransac_estimator0.predict(X),
ransac_estimator2.predict(X))
def test_ransac_dynamic_max_trials():
# Numbers hand-calculated and confirmed on page 119 (Table 4.3) in
# Hartley, R.~I. and Zisserman, A., 2004,
# Multiple View Geometry in Computer Vision, Second Edition,
# Cambridge University Press, ISBN: 0521540518
# e = 0%, min_samples = X
assert_equal(_dynamic_max_trials(100, 100, 2, 0.99), 1)
# e = 5%, min_samples = 2
assert_equal(_dynamic_max_trials(95, 100, 2, 0.99), 2)
# e = 10%, min_samples = 2
assert_equal(_dynamic_max_trials(90, 100, 2, 0.99), 3)
# e = 30%, min_samples = 2
assert_equal(_dynamic_max_trials(70, 100, 2, 0.99), 7)
# e = 50%, min_samples = 2
assert_equal(_dynamic_max_trials(50, 100, 2, 0.99), 17)
# e = 5%, min_samples = 8
assert_equal(_dynamic_max_trials(95, 100, 8, 0.99), 5)
# e = 10%, min_samples = 8
assert_equal(_dynamic_max_trials(90, 100, 8, 0.99), 9)
# e = 30%, min_samples = 8
assert_equal(_dynamic_max_trials(70, 100, 8, 0.99), 78)
# e = 50%, min_samples = 8
assert_equal(_dynamic_max_trials(50, 100, 8, 0.99), 1177)
# e = 0%, min_samples = 10
assert_equal(_dynamic_max_trials(1, 100, 10, 0), 0)
assert_equal(_dynamic_max_trials(1, 100, 10, 1), float('inf'))
base_estimator = LinearRegression()
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
stop_probability=-0.1)
assert_raises(ValueError, ransac_estimator.fit, X, y)
ransac_estimator = RANSACRegressor(base_estimator, min_samples=2,
stop_probability=1.1)
assert_raises(ValueError, ransac_estimator.fit, X, y)
def slope(f, psd, fslopelim = (80,200), flatten_thresh = 0):
'''
Calculate the slope of the power spectrum
Parameters
----------
f : array
frequencies corresponding to power spectrum
psd : array
power spectrum
fslopelim : 2-element list
frequency range to fit slope
flatten_thresh : float
See foof.utils
Returns
-------
slope : float
slope of psd
slopelineP : array
linear fit of the PSD in log-log space (includes information of offset)
slopelineF : array
frequency array corresponding to slopebyf
'''
fslopeidx = np.logical_and(f>=fslopelim[0],f<=fslopelim[1])
slopelineF = f[fslopeidx]
x = np.log10(slopelineF)
y = np.log10(psd[fslopeidx])
from sklearn import linear_model
lm = linear_model.RANSACRegressor(random_state=42)
lm.fit(x[:, np.newaxis], y)
slopelineP = lm.predict(x[:, np.newaxis])
psd_flat = y - slopelineP.flatten()
mask = (psd_flat / psd_flat.max()) < flatten_thresh
psd_flat[mask] = 0
slopes = lm.estimator_.coef_
slopes = slopes[0]
return slopes, slopelineP, slopelineF
def spectral_slope(f, psd, f_sampleslope = np.arange(80,200), flatten_thresh = 0):
'''
Calculate the slope of the power spectrum
NOTE:
This is an update to the 'slope' function that should be deprecated
Parameters
----------
f : array
frequencies corresponding to power spectrum
psd : array
power spectrum
fslopelim : 2-element list
frequency range to fit slope
flatten_thresh : float
See foof.utils
Returns
-------
slope_value : float
slope of psd (chi)
fit_logf : array
linear fit of the PSD in log-log space (includes information of offset)
fit_logpower : array
frequency array corresponding to slopebyf
'''
# Define frequency and power values to fit in log-log space
fit_logf = np.log10(f_sampleslope)
y = np.log10(psd[f_sampleslope.astype(int)])
# Fit a linear model
lm = linear_model.RANSACRegressor(random_state=42)
lm.fit(fit_logf[:, np.newaxis], y)
# Find the line of best fit using the provided frequencies
fit_logpower = lm.predict(fit_logf[:, np.newaxis])
psd_flat = y - fit_logpower.flatten()
mask = (psd_flat / psd_flat.max()) < flatten_thresh
psd_flat[mask] = 0
# Find the chi value
slope_value = lm.estimator_.coef_
slope_value = slope_value[0]
return slope_value, fit_logf, fit_logpower
def estimatenormals(points, npoints = 40, method = 'pca'):
"""
estimate the normals of points
:param points: an array of [x, y, z]
:param method: 'pca' or 'ransac', theoretically ransac is more precise when there are more points
:return: a list of normal vectors
author: weiwei
date: 20170714
"""
pointsnormals = []
camerapos = np.array([0.0,0.0,0.0])
kdt = KDTree(points)
if method == 'pca':
regionpntidlist = kdt.query(points, k=npoints, return_distance=False)
for i, pntidlist in enumerate(regionpntidlist):
regionpnts = points[pntidlist]
covmat = np.cov(regionpnts.T)
eigvalues, eigmat = np.linalg.eig(covmat)
idx = np.argmin(eigvalues)
eigvec = eigmat[:, idx]
if np.dot(eigvec, camerapos-points[i]) < 0:
eigvec = -eigvec
pointsnormals.append(eigvec)
elif method == 'ransac':
# NOTE: this part is not usable due to small npoints
ransacer = linear_model.RANSACRegressor(linear_model.LinearRegression())
regionpntidlist = kdt.query(points, k=npoints, return_distance=False)
for i, pntidlist in enumerate(regionpntidlist):
XYZ = points[pntidlist]
ransacer.fit(XYZ[:, 0:2], XYZ[:, 2])
inlier_mask = ransacer.inlier_mask_
regionpnts = XYZ[inlier_mask]
covmat = np.cov(regionpnts.T)
eigvalues, eigmat = np.linalg.eig(covmat)
idx = np.argmin(eigvalues)
eigvec = eigmat[:, idx]
if np.dot(eigvec, camerapos-points[i]) < 0:
eigvec = -eigvec
pointsnormals.append(eigvec)
return pointsnormals
def test_ransac_fit_sample_weight():
ransac_estimator = RANSACRegressor(random_state=0)
n_samples = y.shape[0]
weights = np.ones(n_samples)
ransac_estimator.fit(X, y, weights)
# sanity check
assert_equal(ransac_estimator.inlier_mask_.shape[0], n_samples)
ref_inlier_mask = np.ones_like(ransac_estimator.inlier_mask_
).astype(np.bool_)
ref_inlier_mask[outliers] = False
# check that mask is correct
assert_array_equal(ransac_estimator.inlier_mask_, ref_inlier_mask)
# check that fit(X) = fit([X1, X2, X3],sample_weight = [n1, n2, n3]) where
# X = X1 repeated n1 times, X2 repeated n2 times and so forth
random_state = check_random_state(0)
X_ = random_state.randint(0, 200, [10, 1])
y_ = np.ndarray.flatten(0.2 * X_ + 2)
sample_weight = random_state.randint(0, 10, 10)
outlier_X = random_state.randint(0, 1000, [1, 1])
outlier_weight = random_state.randint(0, 10, 1)
outlier_y = random_state.randint(-1000, 0, 1)
X_flat = np.append(np.repeat(X_, sample_weight, axis=0),
np.repeat(outlier_X, outlier_weight, axis=0), axis=0)
y_flat = np.ndarray.flatten(np.append(np.repeat(y_, sample_weight, axis=0),
np.repeat(outlier_y, outlier_weight, axis=0),
axis=0))
ransac_estimator.fit(X_flat, y_flat)
ref_coef_ = ransac_estimator.estimator_.coef_
sample_weight = np.append(sample_weight, outlier_weight)
X_ = np.append(X_, outlier_X, axis=0)
y_ = np.append(y_, outlier_y)
ransac_estimator.fit(X_, y_, sample_weight)
assert_almost_equal(ransac_estimator.estimator_.coef_, ref_coef_)
# check that if base_estimator.fit doesn't support
# sample_weight, raises error
base_estimator = Lasso()
ransac_estimator = RANSACRegressor(base_estimator)
assert_raises(ValueError, ransac_estimator.fit, X, y, weights)
