/// <summary>
/// Initializes a new instance of the <see cref="SimpleHeadPoseEstimator"/> class with the model files to estimate head pose.
/// </summary>
/// <param name="rollModelFile">The model file path to estimate roll angle.</param>
/// <param name="pitchModelFile">The model file path to estimate pitch angle.</param>
/// <param name="yawModelFile">The model file path to estimate yaw angle.</param>
/// <exception cref="FileNotFoundException"><paramref name="rollModelFile"/>, <paramref name="pitchModelFile"/> or <paramref name="yawModelFile"/> does not exist.</exception>
public SimpleHeadPoseEstimator(string rollModelFile,
string pitchModelFile,
string yawModelFile)
{
if (!File.Exists(rollModelFile))
{
throw new FileNotFoundException($"{nameof(rollModelFile)} does not exist.", nameof(rollModelFile));
}
if (!File.Exists(pitchModelFile))
{
throw new FileNotFoundException($"{nameof(pitchModelFile)} does not exist.", nameof(pitchModelFile));
}
if (!File.Exists(yawModelFile))
{
throw new FileNotFoundException($"{nameof(yawModelFile)} does not exist.", nameof(yawModelFile));
}
// gamma parameter is meaningless
this._RollKernel = new RadialBasisKernel <double, Matrix <double> >(0.1, 0, 0);
this._PitchKernel = new RadialBasisKernel <double, Matrix <double> >(0.1, 0, 0);
this._YawKernel = new RadialBasisKernel <double, Matrix <double> >(0.1, 0, 0);
this._RollEstimator = new Krls <double, RadialBasisKernel <double, Matrix <double> > >(this._RollKernel);
this._PitchEstimator = new Krls <double, RadialBasisKernel <double, Matrix <double> > >(this._PitchKernel);
this._YawEstimator = new Krls <double, RadialBasisKernel <double, Matrix <double> > >(this._YawKernel);
Krls <double, RadialBasisKernel <double, Matrix <double> > > .Deserialize(rollModelFile, ref this._RollEstimator);
Krls <double, RadialBasisKernel <double, Matrix <double> > > .Deserialize(pitchModelFile, ref this._PitchEstimator);
Krls <double, RadialBasisKernel <double, Matrix <double> > > .Deserialize(yawModelFile, ref this._YawEstimator);
}
private static void Main()
{
// Here we declare that our samples will be 1 dimensional column vectors. The reason for
// using a matrix here is that in general you can use N dimensional vectors as inputs to the
// krls object. But here we only have 1 dimension to make the example simple.
// Now we are making a typedef for the kind of kernel we want to use. I picked the
// radial basis kernel because it only has one parameter and generally gives good
// results without much fiddling.
// Here we declare an instance of the krls object. The first argument to the constructor
// is the kernel we wish to use. The second is a parameter that determines the numerical
// accuracy with which the object will perform part of the regression algorithm. Generally
// smaller values give better results but cause the algorithm to run slower (because it tries
// to use more "dictionary vectors" to represent the function it is learning.
// You just have to play with it to decide what balance of speed and accuracy is right
// for your problem. Here we have set it to 0.001.
//
// The last argument is the maximum number of dictionary vectors the algorithm is allowed
// to use. The default value for this field is 1,000,000 which is large enough that you
// won't ever hit it in practice. However, here we have set it to the much smaller value
// of 7. This means that once the krls object accumulates 7 dictionary vectors it will
// start discarding old ones in favor of new ones as it goes through the training process.
// In other words, the algorithm "forgets" about old training data and focuses on recent
// training samples. So the bigger the maximum dictionary size the longer its memory will
// be. But in this example program we are doing filtering so we only care about the most
// recent data. So using a small value is appropriate here since it will result in much
// faster filtering and won't introduce much error.
using (var rbk = new RadialBasisKernel <double, Matrix <double> >(0.1, 1, 1))
using (var test = new Krls <double, RadialBasisKernel <double, Matrix <double> > >(rbk, 0.001))
{
// now we train our object on a few samples of the sinc function.
using (var m = Matrix <double> .CreateTemplateParameterizeMatrix(1, 1))
{
for (double x = -10; x <= 4; x += 1)
{
m[0] = x;
test.Train(m, Sinc(x));
}
// now we output the value of the sinc function for a few test points as well as the
// value predicted by krls object.
m[0] = 2.5;
Console.WriteLine($"{Sinc(m[0])} {test.Operator(m)}");
m[0] = 0.1;
Console.WriteLine($"{Sinc(m[0])} {test.Operator(m)}");
m[0] = -4;
Console.WriteLine($"{Sinc(m[0])} {test.Operator(m)}");
m[0] = 5.0;
Console.WriteLine($"{Sinc(m[0])} {test.Operator(m)}");
// The output is as follows:
// 0.239389 0.239362
// 0.998334 0.998333
// -0.189201 -0.189201
// -0.191785 -0.197267
// The first column is the true value of t he sinc function and the second
// column is the output from the krls estimate.
// Another thing that is worth knowing is that just about everything in dlib is serializable.
// So for example, you can save the test object to disk and recall it later like so:
Krls <double, RadialBasisKernel <double, Matrix <double> > > .Serialize(test, "saved_krls_object.dat");
// Now let's open that file back up and load the krls object it contains.
using (var rbk2 = new RadialBasisKernel <double, Matrix <double> >(0.1, 1, 1))
{
var test2 = new Krls <double, RadialBasisKernel <double, Matrix <double> > >(rbk2, 0.001);
Krls <double, RadialBasisKernel <double, Matrix <double> > > .Deserialize("saved_krls_object.dat", ref test2);
// If you don't want to save the whole krls object (it might be a bit large)
// you can save just the decision function it has learned so far. You can get
// the decision function out of it by calling test.get_decision_function() and
// then you can serialize that object instead. E.g.
var funct = test2.GetDecisionFunction();
DecisionFunction <double, RadialBasisKernel <double, Matrix <double> > > .Serialize(funct, "saved_krls_function.dat");
}
}
}
}
private static void Main()
{
// Here we declare that our samples will be 1 dimensional column vectors. The reason for
// using a matrix here is that in general you can use N dimensional vectors as inputs to the
// krls object. But here we only have 1 dimension to make the example simple.
// Now we are making a typedef for the kind of kernel we want to use. I picked the
// radial basis kernel because it only has one parameter and generally gives good
// results without much fiddling.
// Here we declare an instance of the krls object. The first argument to the constructor
// is the kernel we wish to use. The second is a parameter that determines the numerical
// accuracy with which the object will perform part of the regression algorithm. Generally
// smaller values give better results but cause the algorithm to run slower (because it tries
// to use more "dictionary vectors" to represent the function it is learning.
// You just have to play with it to decide what balance of speed and accuracy is right
// for your problem. Here we have set it to 0.001.
//
// The last argument is the maximum number of dictionary vectors the algorithm is allowed
// to use. The default value for this field is 1,000,000 which is large enough that you
// won't ever hit it in practice. However, here we have set it to the much smaller value
// of 7. This means that once the krls object accumulates 7 dictionary vectors it will
// start discarding old ones in favor of new ones as it goes through the training process.
// In other words, the algorithm "forgets" about old training data and focuses on recent
// training samples. So the bigger the maximum dictionary size the longer its memory will
// be. But in this example program we are doing filtering so we only care about the most
// recent data. So using a small value is appropriate here since it will result in much
// faster filtering and won't introduce much error.
using (var rbk = new RadialBasisKernel <double, Matrix <double> >(0.05, 1, 1))
using (var test = new Krls <double, RadialBasisKernel <double, Matrix <double> > >(rbk, 0.001, 7))
{
using (var rnd = new Rand())
{
// Now let's loop over a big range of values from the sinc() function. Each time
// adding some random noise to the data we send to the krls object for training.
using (var m = Matrix <double> .CreateTemplateParameterizeMatrix(1, 1))
{
double mseNoise = 0;
double mse = 0;
double count = 0;
for (double x = -20; x <= 20; x += 0.01)
{
m[0] = x;
// get a random number between -0.5 and 0.5
double noise = rnd.GetRandomDouble() - 0.5;
// train on this new sample
test.Train(m, Sinc(x) + noise);
// once we have seen a bit of data start measuring the mean squared prediction error.
// Also measure the mean squared error due to the noise.
if (x > -19)
{
++count;
mse += Math.Pow(Sinc(x) - test.Operator(m), 2);
mseNoise += Math.Pow(noise, 2);
}
}
mse /= count;
mseNoise /= count;
// Output the ratio of the error from the noise and the mean squared prediction error.
Console.WriteLine($"prediction error: {mse}");
Console.WriteLine($"noise: {mseNoise}");
Console.WriteLine($"ratio of noise to prediction error: {mseNoise / mse}");
// When the program runs it should print the following:
// prediction error: 0.00735201
// noise: 0.0821628
// ratio of noise to prediction error: 11.1756
// And we see that the noise has been significantly reduced by filtering the points
// through the krls object.
}
}
}
}
