So it's late here, and my google skills seem to be failing me. I've found some great responses on SO before (time and time again), I thought you guys could help.
I have a neural network I'm trying to run in native objective-c. It works, but it's too slow. These networks are not recurrent. Each network I run about 20,000 times ( 128x80 times, or around that). The problem is these networks really just boil down to math functions (each network is a 4 dimensional function, taking x,y,dist(x,y),and bias as inputs, and outputting 3 values).
What I want to do is convert each network (only once) into a function call, or a block of code at runtime in objective-c.
How do I do this? I could make a big string of the math operations that need to be performed, but how do I go about executing that string, or converting the string into a block of code for execution?
Again, my late night search failed me, so sorry if this has already been answered. Any help is greatly appreciated.
-Paul
Edit: Aha! Great success! Nearly 24 hours later, I have working code to turn a neural network with up to 4 inputs into a single 4 dimensional function. I used the block method suggested by Dave DeLong in the answers.
For anybody who ever wants to follow what I've done in the future, here is a (quick) breakdown of what I did (excuse me if this is incorrect etiquette on stackoverflow):
First, I made a few typedef's for the different block functions:
typedef CGFloat (^oneDFunction)(CGFloat x);
typedef CGFloat (^twoDFunction)(CGFloat x, CGFloat y);
typedef CGFloat (^threeDFunction)(CGFloat x, CGFloat y, CGFloat z);
typedef CGFloat (^fourDFunction)(CGFloat x, CGFloat y, CGFloat z, CGFloat w);
A oneDFunction takes the form of f(x), twoD is f(x,y), etc. Then I made functions to combine two fourDFunction blocks (and 2 oneD, 2 twoD, etc, although these were not necessary).
fourDFunction (^combineFourD) (fourDFunction f1, fourDFunction f2) =
^(fourDFunction f1, fourDFunction f2){
fourDFunction blockToCopy = ^(CGFloat x, CGFloat y, CGFloat z, CGFloat w){
return f1(x,y,z,w) + f2(x,y,z,w);
};
fourDFunction act = [blockToCopy copy];
[f1 release];
[f2 release];
//Need to release act at some point
return act;
};
And, of course, I needed to apply the activation function to the fourD function for every node, and for each node, I would need to multiply by the weight connecting it:
//for applying the activation function
fourDFunction (^applyOneToFourD)( oneDFunction f1, fourDFunction f2) =
^(oneDFunction f1, fourDFunction f2){
fourDFunction blockToCopy = ^(CGFloat x, CGFloat y, CGFloat z, CGFloat w){
return f1(f2(x,y,z,w));
};
fourDFunction act = [blockToCopy copy];
[f1 release];
[f2 release];
//Need to release act at some point
return act;
};
//For applying the weight to the function
fourDFunction (^weightCombineFour) (CGFloat x, fourDFunction f1) =
^(CGFloat weight, fourDFunction f1)
{
fourDFunction blockToCopy = ^(CGFloat x, CGFloat y, CGFloat z, CGFloat w){
return weight*f1(x,y,z,w);
};
fourDFunction act = [blockToCopy copy];
[f1 release];
//[act release];
//Need to release act at some point
return act;
};
Then, for each node in the network, I simply applied the activation function to the sum of the fourD functions from the source neurons multiplied by their connection weight.
After composing all those blocks, I took the final functions from each output. Therefore, my outputs are separate 4D functions of the inputs.
Thanks for the help, this was very cool.
You can do this with blocks. Something like:
//specify some parameters
int parameter1 = 42;
int parameter2 = 54;
//create your block
int (^myBlock)(int) = ^(int parameter3){
return parameter1 * parameter2 * parameter3;
};
//copy the block off the stack
myBlock = [myBlock copy];
//stash the block somewhere so that you can pull it out later
[self saveBlockOffSomewhereElse:myBlock underName:#"myBlock"];
//balance the call to -copy
[myBlock release];
And then elsewhere...
int (^retrievedBlock)(int) = [self retrieveBlockWithName:#"myBlock"];
int theAnswer = retrievedBlock(2); //theAnswer is 4536
If you have a string representing some math to evaluate, you could check out GCMathParser (fast but not extensible) or my own DDMathParser (slower but extensible).
Your idea isn't very stupid. As a matter of fact, LLVM is designed to do exactly that kind of thing (generate code, compile, link, load and run) and it even has libraries to link against and APIs to use.
While you could go down a path of trying to piece together a bunch of blocks or primitives -- a sort of VM of your own -- it'll be slower and probably more maintenance. You'll end up having to write some kind of a parser, write all the primitive blocks, and then piecing it all together.
For code generation, you'll probably still need a parser, obviously, but the resulting code is going to be much much faster because you can crank the optimizer on the compiler up and, as long as you generate just one really big file of code, the compiler's optimizer will be even more effective.
I would suggest, though, that you generate your program and then run it externally to your app. That will prevent the hell that is trying to dynamically unload code. It also means that if the generated code crashes, it doesn't take out your application.
LLVM.org has a bunch of additional details.
(Historical note -- one early form of Pixar's modeling environment was a TCL based system that would emit, literally, hundreds of thousands of lines of heavily templated C++ code.)
Here's another possibility: Use OpenGL.
The sorts of functions you are executing in a neural network are very similar to those performed by GPU's. multiplication/scaling, distance, sigmoids, etc... You could encode your state in a bitmap, generate a pixel shaper as ASCII, compile & link it using the provided library calls, then generate an output "bitmap" with the new state. Then switch the two bitmaps and iterate again.
Writing a pixel shaper is not as hard as you might imagine. In the basic case you are given a pixel from the input bitmap/buffer and you compute a value to put in the output buffer. You also have access to all the other pixels in the input and output buffers, as wall as arbitrary parameters you set global, including "texture" bitmaps which might serve as just an arbitrary data vector.
Modern GPU's have multiple pipelines so you'd probably get much better performance than even native CPU machine code.
Another vote for blocks. If you start with a bunch of blocks representing primitive operations, you could compose those into larger blocks that represent complex functions. For example, you might write a function that takes a number of blocks as parameters, copies each one in turn and uses it as the first parameter to the next block. The result of the function could be a block that represents a mathematical function.
Perhaps I'm talking crazy here due to the late hour, but it seems like the ability of blocks to refer to other blocks and to maintain state should make them very good for assembling operations.
Related
I have data regarding the redness of the user's finger that is currently quite noisy, so I'd like to run it through an FFT to reduce the noise. The data on the left side of this image is similar to my data currently. I've familiarized myself with the Apple documentation regarding vDSP, but there doesn't seem to be a clear or concise guide on how to implement a Fast Fourier Transform using Apple's vDSP and the Accelerate framework. How can I do this?
I have already referred to this question, which is on a similar topic, but is significantly outdated and doesn't involve vDSP.
Using vDSP for FFT calculations is pretty easy. I'm assuming you have real values on input. The only thing you need to keep in mind you need to convert your real valued array to a packed complex array that FFT algo from vDSP uses internally.
You can see a good overview in the documentation:
https://developer.apple.com/library/content/documentation/Performance/Conceptual/vDSP_Programming_Guide/UsingFourierTransforms/UsingFourierTransforms.html
Here is the smallest example of calculating real valued FFT:
const int n = 1024;
const int log2n = 10; // 2^10 = 1024
DSPSplitComplex a;
a.realp = new float[n/2];
a.imagp = new float[n/2];
// prepare the fft algo (you want to reuse the setup across fft calculations)
FFTSetup setup = vDSP_create_fftsetup(log2n, kFFTRadix2);
// copy the input to the packed complex array that the fft algo uses
vDSP_ctoz((DSPComplex *) input, 2, &a, 1, n/2);
// calculate the fft
vDSP_fft_zrip(setup, &a, 1, log2n, FFT_FORWARD);
// do something with the complex spectrum
for (size_t i = 0; i < n/2; ++i) {
a.realp[i];
a.imagp[i];
}
One trick is that a.realp[0] is the DC offset and a.imagp[0] is the real valued magnitude at the Nyquist frequency.
So I have an object that has a physicsBody and gravity affects it. It is also dynamic.
Currently, when the users touches the screen, I run the code:
applyForce(0, 400)
The object moves up about 200 and then falls back down due to gravity. This only happens some of the time. Other times, it results in the object only moving 50ish units in the Y direction.
I can't find a pattern... I put my project on dropbox so it can be opened if anyone is willing to look at it.
https://www.dropbox.com/sh/z0nt79pd0l5psfg/bJTbaS2JpY
EDIT: It seems this happens when the player is bouncing off of the ground slightly for a moment after impact. Is there a way I can make it so the player doesn't bounce at all?
EDIT 2: I tried to solve this using the friction parameter and only allowing the player to "jump" when the friction was = 0 (you would think this would be all cases where the player was airborne) but friction appears to be greater than 0 at all times. How else might I detect if the player is touching an object (other than by using the y location)?
Thanks
Suggested Solution
If you're trying to implement a jump feature, I suggest you look at applyImpulse instead of applyForce. Here's the difference between the two, as described in the Sprite Kit Programming Guide:
You can choose to apply either a force or an impulse:
A force is applied for a length of time based on the amount of simulation time that passes between when you apply the force and when the next frame of the simulation is processed. So, to apply a continuous force to an body, you need to make the appropriate method calls each time a new frame is processed. Forces are usually used for continuous effects.
An impulse makes an instantaneous change to the body’s velocity that is independent of the amount of simulation time that has passed. Impulses are usually used for immediate changes to a body’s velocity.
A jump is really an instantaneous change to a body's velocity, meaning that you should apply an impulse instead of a force. To use the applyImpulse: method, figure out the desired instantaneous change in velocity, multiply by the body's mass, and use that as the impulse parameter into the function. I think you'll see better results.
Explanation for Unexpected Behavior
If you're calling applyForce: outside of your update: function, what's happening is that your force is being multiplied by the amount of time passed between when you apply the force and when the next frame of the simulation is processed. This multiplier is not a constant, so you're seeing a different change in velocity every time you call applyForce: in this manner.
#godel9 has a good suggested solution, although, in my own testing, the explanation given for the unexpected behaviour is not correct.
From the SKPhysicsBody Class Reference:
The force is applied for a single simulation step (one frame).
Referring back to the SKScene Class Reference's section on the -update method:
...it is called exactly once per frame, so long as the scene is presented in a view and is not paused.
So we can assume that calling -applyForce: in SKScene's -update method should not cause a problem. But as observed, the force does not exceed gravity, despite applying an upward force much greater than gravity (400 newtons vs 9.81).
I created a test project that would create two nodes, one that falls naturally, setting affectedByGravity to TRUE, and another that calls -applyForce with the same expected gravity vector (0 newtons in the x direction, and -9.81 in the y direction). I then calculated the difference in velocity of each node in one time step, and the length of time step. From this, I then logged the acceleration (change in velocity / change in time).
Here is a snippet from my SKScene subclass:
- (id)initWithSize:(CGSize)size
{
if (self = [super initWithSize:size])
{
self.backgroundColor = [UIColor purpleColor];
SKShapeNode *node = [[SKShapeNode alloc] init];
node.path = CGPathCreateWithEllipseInRect(CGRectMake(0, 0, 10, 10), nil);
node.name = #"n";
node.physicsBody = [SKPhysicsBody bodyWithCircleOfRadius:5];
node.position = CGPointMake(0, 450);
node.physicsBody.linearDamping = 0;
node.physicsBody.affectedByGravity = NO;
[self addChild:node];
node = [[SKShapeNode alloc] init];
node.path = CGPathCreateWithEllipseInRect(CGRectMake(0, 0, 10, 10), nil);
node.name = #"n2";
node.physicsBody = [SKPhysicsBody bodyWithCircleOfRadius:5];
node.position = CGPointMake(20, 450);
node.physicsBody.linearDamping = 0;
[self addChild:node];
}
return self;
}
- (void)update:(NSTimeInterval)currentTime
{
SKNode *node = [self childNodeWithName:#"n"];
SKNode *node2 = [self childNodeWithName:#"n2"];
CGFloat acc1 = (node.physicsBody.velocity.dy - self.previousVelocity) / (currentTime - self.previousTime);
CGFloat acc2 = (node2.physicsBody.velocity.dy - self.previousVelocity2) / (currentTime - self.previousTime);
[node2.physicsBody applyForce:CGVectorMake(0, node.physicsBody.mass * -150 * self.physicsWorld.gravity.dy)];
NSLog(#"x:%f, y:%f, acc1:%f, acc2:%f", node.position.x, node.position.y, acc1, acc2);
self.previousVelocity = node.physicsBody.velocity.dy;
self.previousTime = currentTime;
self.previousVelocity2 = node2.physicsBody.velocity.dy;
}
The results are unusual. The node that is affected by gravity in the simulation has an acceleration that is consistently multiplied by a factor of 150 when compared to the node whose force was manually applied. I have attempted this with nodes of varying size and density, but the same scalar multiplier exists.
From this I must deduce that SpriteKit internally has a default 'pixel-to-meter' ratio. That is to say that each 'meter' is equal to exactly 150 pixels. This is sometimes useful, as otherwise the scene is often too large, meaning forces react slowly (think watching an airplane from the ground, it is travelling very fast but seemingly moving very slowly).
Sprite Kit documentation frequently suggests that exact physics calculations are not recommended (seen specifically in the section 'Fudging the Numbers'), but this inconsistency took me a long time to pin down. Hope this helps!
After some time searching, I have revised my question.
I have found numerous examples of ball to ball collisions, but the only ones that seem to work use Vector2d or Vector2D.
This is a problem, because I am only allowed to use the regular java library, so my main question is: How do I convert the examples (which I will post below) to use what I can use?
I have several variables, both balls have the same mass, the velocities are broken into different variables, x and y. Also I have access to their x and y pos.
This is the ONLY problem left in my application.
I am at a total loss on how to convert the below example.
// get the mtd
Vector2d delta = (position.subtract(ball.position));
float d = delta.getLength();
// minimum translation distance to push balls apart after intersecting
Vector2d mtd = delta.multiply(((getRadius() + ball.getRadius())-d)/d);
// resolve intersection --
// inverse mass quantities
float im1 = 1 / getMass();
float im2 = 1 / ball.getMass();
// push-pull them apart based off their mass
position = position.add(mtd.multiply(im1 / (im1 + im2)));
ball.position = ball.position.subtract(mtd.multiply(im2 / (im1 + im2)));
// impact speed
Vector2d v = (this.velocity.subtract(ball.velocity));
float vn = v.dot(mtd.normalize());
// sphere intersecting but moving away from each other already
if (vn > 0.0f) return;
// collision impulse
float i = (-(1.0f + Constants.restitution) * vn) / (im1 + im2);
Vector2d impulse = mtd.multiply(i);
// change in momentum
this.velocity = this.velocity.add(impulse.multiply(im1));
ball.velocity = ball.velocity.subtract(impulse.multiply(im2));
Here is the URL for the question:
http://stackoverflow.com/questions/345838/ball-to-ball-collision-detection-and-handling
And I have taken a look at his source code.
Thank you for taking the time to read this issue.
SUCCESS!
I have found how to use Vector2d, and it works PERFECTLY!
Will edit later with answer!
I'm implementing my own 3d engine in c# based on a really basic 3d open-source engine in JavaScript called a3. I don't know If I have 100% understand you but It sounds like you can only find examples with Vector2d but you are not allowed to use that class?
I that is the case, as you can imagine javascript does not have native Vector2d types so someone had to implement. Don't be afraid of giving it a try, is just a few high school maths functions, you should be able to implement your own Vector2d class in just a few minutes
The following link contain implementations if vector2d, vector3d, vector4d, matrix3, and matrix4 in javascript: https://github.com/paullewis/a3/tree/master/src/js/core/math hope it helps :)
I am trying to build an IOS application that counts claps. I have been watching the WWDC videos on CoreAudio, and the topic seems so vast that I'm not quite sure where to look.
I have found similar problems here in stackoverflow. Here is one in C# for detecting a door slam:
Given an audio stream, find when a door slams (sound pressure level calculation?)
It seems that I need to do this:
Divide the samples up into sections
Calculate the energy of each section
Take the ratio of the energies between the previous window and the current window
If the ratio exceeds some threshold, determine that there was a sudden loud noise.
I am not sure how to accomplish this in Objective-C.
I have been able to figure out how to sample the audio with SCListener
Here is my attempt:
- (void)levelTimerCallback:(NSTimer *)timer {
[recorder updateMeters];
const double ALPHA = 0.05;
double peakPowerForChannel = pow(10, (0.05 * [recorder peakPowerForChannel:0]));
lowPassResults = ALPHA * peakPowerForChannel + (1.0 - ALPHA) * lowPassResults;
if ([recorder peakPowerForChannel:0] == 0)
totalClapsLabel.text = [NSString stringWithFormat:#"%d", total++];
SCListener *listener = [SCListener sharedListener];
if (![listener isListening])
return;
AudioQueueLevelMeterState *levels = [listener levels];
Float32 peak = levels[0].mPeakPower;
Float32 average = levels[0].mAveragePower;
lowPassResultsLabel.text = [NSString stringWithFormat:#"%f", lowPassResults];
peakInputLabel.text = [NSString stringWithFormat:#"%f", peak];
averageInputLabel.text = [NSString stringWithFormat:#"%f", average];
}
Though I see the suggested algorithm, I am unclear as to how to implement it in Objective-C.
You didn't mention what sort of detection fidelity you are looking for? Just checking for some kind of sound "pressure" change may be entirely adequate for your needs, honestly.
Keep in mind however that bumps to the phone might end up being a very low frequency and fairly high-powered impulse such that it will trigger you detector even though it was not an actual clap. Ditto for very high frequency sound sources that are also not likely to be a clap.
Is this ok for your needs?
If not and you are hoping for something higher fidelity, I think you'd be better of doing a spectral analysis (FFT) of the input signal and then looking in a much narrower frequency band for a sharp signal spike, similar to the part you already have.
I haven't looked closely at this source, but here's some possible open source FFT code you could hopefully use as-is for your iphone app:
Edit:
https://github.com/alexbw/iPhoneFFT
The nice part about graphing the spectral result is that it should make it quite easy to tune which frequency range you actually care about. In my own tests with some laptop software I have, my claps have a very strong spike around 1kHz - 2kHz.
Possibly overkill for you needs, but if you need something higher fidelity, then I suspect you will not be satisfied with simply tracking a signal spike without knowing what frequency range led to the signal spike in the first place.
Cheers
I used FFT for my App https://itunes.apple.com/us/app/clapmera/id519363613?mt=8 . Clap in the frequency domain looks like a (not perfect) constant.
Regards
Is there any class for Matrix support in Objective-C? By Matrix I mean 2D-arrays.
What I do now is using 2 NSArrays, one within the other. This works perfectly but my code looks like a big mess.
I have also tried to use C-style arrays within each-other (matrix[][]) but this approach doesn't fit my application as I cannot automatically #synthesize or specify #properties for them.
I could of course create my own class for that, but what I'm wondering is if Objective-C already has something for this kind of situations. I did some Google-research but didn't find anything.
Nope, Foundation doesn't have any 2D array class. As far as mathematical computations are concerned, Matrices are typically implemented in C or C++ for portability and performance reasons. You'll have to write your own class for that if you really want it.
It seems obj-c has not its own struct for matrix. I refered to the iOS SDK's CATransform3D, found that it use:
struct CATransform3D
{
CGFloat m11, m12, m13, m14;
CGFloat m21, m22, m23, m24;
CGFloat m31, m32, m33, m34;
CGFloat m41, m42, m43, m44;
};
typedef struct CATransform3D CATransform3D;
as the 3D transform matrix.
Late to the party but I'd like to mention this project, which implements a flexible Matrix class based on a C array, with interfaces to many BLAS and LAPACK functions. Disclaimer: I am the developer.
Basic use is as follows:
YCMatrix *I = [YCMatrix identityOfRows:3 Columns:3];
double v = [I getValueAtRow:1 Column:1];
[I setValue:0 Row:0 Column:0];
I think you will need to subclass NSArray or use some non-sweet syntax : [MyArray objectAtIndex:i*d+j]. The latter case is really cumbersome as you will get only one clumsy kind of enumerator.