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demo3_clust_tangent_emb.m
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demo3_clust_tangent_emb.m
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Main demo script for the SPCM-CRP-MM Clustering Algorithm proposed in:
%
% N. Figueroa and A. Billard, “Transform-Invariant Clustering of SPD Matrices
% and its Application on Joint Segmentation and Action Discovery}”
% Arxiv, 2017.
%
% Author: Nadia Figueroa, PhD Student., Robotics
% Learning Algorithms and Systems Lab, EPFL (Switzerland)
% Email address: nadia.figueroafernandez@epfl.ch
% Website: http://lasa.epfl.ch
% December 2018; Last revision: 10-Feb-2019
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Step 1 (DATA LOADING): Load Datasets %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
close all; clear all; clc
%%%%%%%%%%%%%%%%%%%%%%%%% Select a Dataset %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 1: Non-deformed+Deformed Ellips. (3D) / (80 Samples c1:3, c2:3, c2:3 c4:)
% 2: SPD sampled from Wishart (3D) / (120 Samples c1:40, c2:40, c2:40)
% 3: SPD sampled from Wishart (6D) / (200 Samples c1:50, c2:50, c3:50 c4:50)
% 4: Real 6D Task-Ellipsoids (6D) / (105 Samples c1:63, c2:21, c3:21)
% 5: Manipulability Ellipsoids 1 (3D) / (727 Samples 5 classes)
% 6: Real Diffusion Tensors (Rat) (3D) / (1024 Samples 5 classes)
% ...
% 9: ETH-80 Object Dataset Feats. (18D) ... TODO (Rotated Objects)
% 10 : HMM Emission Models - Task1 (13D) ... TODO (Polishing)
% 11 : HMM Emission Models - Task2 (7D) ... TODO (Grating)
% 12 : HMM Emission Models - Task3 (13D) ... TODO (Rolling)
% 13: HMM Emission Models - Task4 (26D) ... TODO (Peeling)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%% Data Loading Parameter Description %%%%%%%%%%%%%%%%%%%%%%
% display: [0,1] -- Display Covariance matrices in their own format
% randomize: [0,1] -- Randomize the Covariance Matrices indices
% pkg_dir: {'./data/'} -- Path to data folder
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
pkg_dir = '/home/nbfigueroa/Dropbox/PhD_papers/journal-draft/new-code/SPCM-CRP';
display = 1; % display SDP matrices (if applicable)
randomize = 0; % randomize idx
dataset = 6; % choosen dataset from index above
sample_ratio = 1; % sub-sample dataset [0.0 - 1]
[sigmas, true_labels, dataset_name] = load_SPD_dataset(dataset, pkg_dir, display, randomize, sample_ratio);
%% Generate Random Labels for Baseline Clustering Comparison
M = length(sigmas);
if exist('true_labels', 'var')
K = length(unique(true_labels));
end
random_labels = zeros(1,length(true_labels));
for i=1:M
random_labels(i) = randsample(K,1);
end
[Purity_random, NMI_random, F_random, ARI_random] = cluster_metrics(true_labels, random_labels);
fprintf('------ Results for Random Clustering ------\n K: %d, Purity: %1.2f, NMI: %1.2f, ARI: %1.2f, F measure: %1.2f \n', ...
K, Purity_random, NMI_random, ARI_random, F_random);
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Step 2: Compute Log-Euclidean Embedding of SPD matrices %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%% Embed Objects (Covariance Matrices) in Approximate Euclidean Space %%%%%%
emb_options = [];
emb_options.expl_var = 0.85; % Explained variance for eigenvectors to keep
emb_options.show_plots = 0; % 0/1 display plots
emb_options.emb_type = 0; % 0: PCA on Tangent Space log-Eucl Mapping
% 1: PCA on Tangent Space Riemannian Mapping
[x_emb, Y, pca_params, emb_name] = pcaTangentSpaceEmbedding(sigmas, emb_options);
show_full_emb = 0;
M = size(Y,1);
%%%%%%%% Visualize Tangent-Space Embedding %%%%%%%%
if show_full_emb
plot_options = [];
plot_options.labels = true_labels;
plot_options.title = 'Tangent Space Vector Embedding';
ml_plot_data(x_emb', plot_options);
end
%%%%%%%% Visualize Lower-D Embedding %%%%%%%%
plot_options = [];
plot_options.labels = true_labels;
plot_options.title = emb_name;
ml_plot_data(Y',plot_options);
axis equal
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% (Optional) Compute Similarity Matrix from B-SPCM Function for dataset %%
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %%%%%%%%%%%%%%%%%%%%% Set Hyper-parameter %%%%%%%%%%%%%%%%%%%%%%%%
% Hyper-parameter for similarity function
gamma = 3;
%%%%%%%%%%%%%%%%%%% Compute SPCM Similarities %%%%%%%%%%%%%%%%%%
spcm = ComputeSPCMfunctionMatrix(sigmas, gamma, 2);
S = spcm(:,:,2);
if exist('h0','var') && isvalid(h0), delete(h0); end
h0 = plotSimilarityConfMatrix(S, 'SCPM Similarity function');
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Step 2: Discover Clusters of Covariance Matrices %%
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Discover Clusters with different GMM-based Clustering Variants on Embedding %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 0: sim-CRP-MM (Collapsed Gibbs Sampler) on Preferred Embedding
% 1: GMM-EM Model Selection via BIC on Preferred Embedding
% 2: CRP-GMM (Gibbs Sampler/Collapsed) on Preferred Embedding
est_options = [];
est_options.type = 2; % Clustering Estimation Algorithm Type
% If algo 1 selected:
est_options.maxK = 15; % Maximum Gaussians for Type 1
est_options.fixed_K = []; % Fix K and estimate with EM for Type 1
% If algo 0 or 2 selected:
est_options.samplerIter = 200; % Maximum Sampler Iterations
% For type 0: 50-200 iter are needed
% For type 2: 200-1000 iter are needed
% Plotting options
est_options.do_plots = 1; % Plot Estimation Stats
est_options.dataset_name = dataset_name; % Dataset name
est_options.true_labels = true_labels; % To plot against estimates
% Fit GMM to Trajectory Data
tic;
clear Priors Mu Sigma
[Priors, Mu, Sigma, est_labels, stats] = fitgmm_sdp(S, Y, est_options);
toc;
%%%%%%%%%% Compute Cluster Metrics %%%%%%%%%%%%%
[Purity, NMI, F, ARI] = cluster_metrics(true_labels, est_labels');
K = length(unique(true_labels));
switch est_options.type
case 0
est_options = [];
est_options.type = 0;
est_options.emb_name = emb_name;
fprintf('---%s Results---\n Iter:%d, LP: %d, Clusters: %d/%d with Purity: %1.2f, NMI Score: %1.2f, ARI: %1.2f, F measure: %1.2f \n', ...
'spcm-CRP-MM (Collapsed-Gibbs)', stats.Psi.Maxiter, stats.Psi.MaxLogProb, length(unique(est_labels)), K, Purity, NMI, ARI, F);
case 1
est_options = [];
est_options.type = 1;
est_options.emb_name = emb_name;
fprintf('---%s Results---\n Clusters: %d/%d with Purity: %1.2f, NMI Score: %1.2f, ARI: %1.2f, F measure: %1.2f \n', ...
'Finite-GMM (MS-BIC)', length(unique(est_labels)), K, Purity, NMI, ARI, F);
case 2
est_options = [];
est_options.type = 2;
est_options.emb_name = emb_name;
if isfield(stats,'collapsed')
fprintf('---%s Results---\n Clusters: %d/%d with Purity: %1.2f, NMI Score: %1.2f, ARI: %1.2f, F measure: %1.2f \n', ...
'CRP-GMM (Collapsed-Gibbs)', length(unique(est_labels)), K, Purity, NMI, ARI, F);
else
fprintf('---%s Results---\n Clusters: %d/%d with Purity: %1.2f, NMI Score: %1.2f, ARI: %1.2f, F measure: %1.2f \n', ...
'CRP-GMM (Gibbs)', length(unique(est_labels)), K, Purity, NMI, ARI, F);
end
end
%% Visualize Estimated Parameters
if M < 4
est_options.emb_name = emb_name;
[Priors0, Mu0, Sigma0] = gmmOracle(Y, est_labels);
tot_dilation_factor = 1; rel_dilation_fact = 0.1;
Sigma0 = adjust_Covariances(Priors0, Sigma0, tot_dilation_factor, rel_dilation_fact);
[~, est_labels0] = my_gmm_cluster(Y, Priors0, Mu0, Sigma0, 'hard', []);
[h_gmm] = visualizeEstimatedGMM(Y, Priors0, Mu0, Sigma0, est_labels0, est_options);
axis equal;
end
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Compute/Show GMM-Oracle Results %%
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% GMM-Oracle Estimation
[Priors0, Mu0, Sigma0] = gmmOracle(Y, true_labels);
[~, est_labels0] = my_gmm_cluster(Y, Priors0, Mu0, Sigma0, 'hard', []);
est_K0 = length(unique(est_labels0));
[Purity, NMI, F, ARI] = cluster_metrics(true_labels, est_labels0);
fprintf('(GMM-Oracle) Number of estimated clusters: %d/%d, Purity: %1.2f, NMI Score: %1.2f, ARI: %1.2f, F measure: %1.2f \n',est_K0,K, Purity, NMI, ARI, F);
if M < 4
oracle_options = [];
oracle_options.type = -1;
oracle_options.emb_name = emb_name;
[h_gmm] = visualizeEstimatedGMM(Y, Priors0, Mu0, Sigma0, est_labels0, oracle_options);
axis equal
end
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% %%%%%%% For Dataset 6: Visualize cluster labels for DTI %%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Visualize Estimated Cluster Labels as DTI
% if exist('h3a','var') && isvalid(h3a), delete(h3a);end
title = 'Estimated Cluster Labels of Diffusion Tensors';
h3a = plotlabelsDTI(est_labels, title);
if exist('h3b','var') && isvalid(h3b), delete(h3b);end
title = 'Ground Truth Cluster Labels of Diffusion Tensors';
h3b = plotlabelsDTI(true_labels, title);