remote-calibrator 0.2.2-beta.2 → 0.2.2

package/src/WebGazer4RC/src/util_regression.mjs

@@ -1,240 +0,0 @@
-import util from './util.mjs';
-import numeric from 'numeric';
-import mat from './mat.mjs';
-import params from './params.mjs';
-
-const util_regression = {};
-
-
-/**
- * Initialize new arrays and initialize Kalman filter for regressions.
- */
-util_regression.InitRegression = function() {
-  var dataWindow = 700;
-  var trailDataWindow = 10;
-  this.ridgeParameter = Math.pow(10,-5);
-  this.errorXArray = new util.DataWindow(dataWindow);
-  this.errorYArray = new util.DataWindow(dataWindow);
-
-
-  this.screenXClicksArray = new util.DataWindow(dataWindow);
-  this.screenYClicksArray = new util.DataWindow(dataWindow);
-  this.eyeFeaturesClicks = new util.DataWindow(dataWindow);
-
-  //sets to one second worth of cursor trail
-  this.trailTime = 1000;
-  this.trailDataWindow = this.trailTime / params.moveTickSize;
-  this.screenXTrailArray = new util.DataWindow(trailDataWindow);
-  this.screenYTrailArray = new util.DataWindow(trailDataWindow);
-  this.eyeFeaturesTrail = new util.DataWindow(trailDataWindow);
-  this.trailTimes = new util.DataWindow(trailDataWindow);
-
-  this.dataClicks = new util.DataWindow(dataWindow);
-  this.dataTrail = new util.DataWindow(trailDataWindow);
-
-  // Initialize Kalman filter [20200608 xk] what do we do about parameters?
-  // [20200611 xk] unsure what to do w.r.t. dimensionality of these matrices. So far at least
-  //               by my own anecdotal observation a 4x1 x vector seems to work alright
-  var F = [ [1, 0, 1, 0],
-    [0, 1, 0, 1],
-    [0, 0, 1, 0],
-    [0, 0, 0, 1]];
-
-  //Parameters Q and R may require some fine tuning
-  var Q = [ [1/4, 0,    1/2, 0],
-    [0,   1/4,  0,   1/2],
-    [1/2, 0,    1,   0],
-    [0,  1/2,  0,   1]];// * delta_t
-  var delta_t = 1/10; // The amount of time between frames
-  Q = numeric.mul(Q, delta_t);
-
-  var H = [ [1, 0, 0, 0, 0, 0],
-    [0, 1, 0, 0, 0, 0],
-    [0, 0, 1, 0, 0, 0],
-    [0, 0, 0, 1, 0, 0]];
-  var H = [ [1, 0, 0, 0],
-    [0, 1, 0, 0]];
-  var pixel_error = 47; //We will need to fine tune this value [20200611 xk] I just put a random value here
-
-  //This matrix represents the expected measurement error
-  var R = numeric.mul(numeric.identity(2), pixel_error);
-
-  var P_initial = numeric.mul(numeric.identity(4), 0.0001); //Initial covariance matrix
-  var x_initial = [[500], [500], [0], [0]]; // Initial measurement matrix
-
-  this.kalman = new util_regression.KalmanFilter(F, H, Q, R, P_initial, x_initial);
-}
-
-/**
- * Kalman Filter constructor
- * Kalman filters work by reducing the amount of noise in a models.
- * https://blog.cordiner.net/2011/05/03/object-tracking-using-a-kalman-filter-matlab/
- *
- * @param {Array.<Array.<Number>>} F - transition matrix
- * @param {Array.<Array.<Number>>} Q - process noise matrix
- * @param {Array.<Array.<Number>>} H - maps between measurement vector and noise matrix
- * @param {Array.<Array.<Number>>} R - defines measurement error of the device
- * @param {Array} P_initial - the initial state
- * @param {Array} X_initial - the initial state of the device
- */
-util_regression.KalmanFilter = function(F, H, Q, R, P_initial, X_initial) {
-    this.F = F; // State transition matrix
-    this.Q = Q; // Process noise matrix
-    this.H = H; // Transformation matrix
-    this.R = R; // Measurement Noise
-    this.P = P_initial; //Initial covariance matrix
-    this.X = X_initial; //Initial guess of measurement
-};
-
-/**
- * Get Kalman next filtered value and update the internal state
- * @param {Array} z - the new measurement
- * @return {Array}
- */
-util_regression.KalmanFilter.prototype.update = function(z) {
-    // Here, we define all the different matrix operations we will need
-    var add = numeric.add, sub = numeric.sub, inv = numeric.inv, identity = numeric.identity;
-    var mult = mat.mult, transpose = mat.transpose;
-    //TODO cache variables like the transpose of H
-
-    // prediction: X = F * X  |  P = F * P * F' + Q
-    var X_p = mult(this.F, this.X); //Update state vector
-    var P_p = add(mult(mult(this.F,this.P), transpose(this.F)), this.Q); //Predicted covaraince
-
-    //Calculate the update values
-    var y = sub(z, mult(this.H, X_p)); // This is the measurement error (between what we expect and the actual value)
-    var S = add(mult(mult(this.H, P_p), transpose(this.H)), this.R); //This is the residual covariance (the error in the covariance)
-
-    // kalman multiplier: K = P * H' * (H * P * H' + R)^-1
-    var K = mult(P_p, mult(transpose(this.H), inv(S))); //This is the Optimal Kalman Gain
-
-    //We need to change Y into it's column vector form
-    for(var i = 0; i < y.length; i++){
-        y[i] = [y[i]];
-    }
-
-    //Now we correct the internal values of the model
-    // correction: X = X + K * (m - H * X)  |  P = (I - K * H) * P
-    this.X = add(X_p, mult(K, y));
-    this.P = mult(sub(identity(K.length), mult(K,this.H)), P_p);
-    return transpose(mult(this.H, this.X))[0]; //Transforms the predicted state back into it's measurement form
-};
-
-/**
- * Performs ridge regression, according to the Weka code.
- * @param {Array} y - corresponds to screen coordinates (either x or y) for each of n click events
- * @param {Array.<Array.<Number>>} X - corresponds to gray pixel features (120 pixels for both eyes) for each of n clicks
- * @param {Array} k - ridge parameter
- * @return{Array} regression coefficients
- */
-util_regression.ridge = function(y, X, k){
-    var nc = X[0].length;
-    var m_Coefficients = new Array(nc);
-    var xt = mat.transpose(X);
-    var solution = new Array();
-    var success = true;
-    do{
-        var ss = mat.mult(xt,X);
-        // Set ridge regression adjustment
-        for (var i = 0; i < nc; i++) {
-            ss[i][i] = ss[i][i] + k;
-        }
-
-        // Carry out the regression
-        var bb = mat.mult(xt,y);
-        for(var i = 0; i < nc; i++) {
-            m_Coefficients[i] = bb[i][0];
-        }
-        try{
-            var n = (m_Coefficients.length !== 0 ? m_Coefficients.length/m_Coefficients.length: 0);
-            if (m_Coefficients.length*n !== m_Coefficients.length){
-                console.log('Array length must be a multiple of m')
-            }
-            solution = (ss.length === ss[0].length ? (numeric.LUsolve(numeric.LU(ss,true),bb)) : (webgazer.mat.QRDecomposition(ss,bb)));
-
-            for (var i = 0; i < nc; i++){
-                m_Coefficients[i] = solution[i];
-            }
-            success = true;
-        }
-        catch (ex){
-            k *= 10;
-            console.log(ex);
-            success = false;
-        }
-    } while (!success);
-    return m_Coefficients;
-}
-
-/**
- * Add given data to current data set then,
- * replace current data member with given data
- * @param {Array.<Object>} data - The data to set
- */
-util_regression.setData = function(data) {
-  for (var i = 0; i < data.length; i++) {
-    // Clone data array
-    var leftData = new Uint8ClampedArray(data[i].eyes.left.patch.data);
-    var rightData = new Uint8ClampedArray(data[i].eyes.right.patch.data);
-    // Duplicate ImageData object
-    data[i].eyes.left.patch = new ImageData(leftData, data[i].eyes.left.width, data[i].eyes.left.height);
-    data[i].eyes.right.patch = new ImageData(rightData, data[i].eyes.right.width, data[i].eyes.right.height);
-
-    // Add those data objects to model
-    this.addData(data[i].eyes, data[i].screenPos, data[i].type);
-  }
-};
-
-
-//not used ?!
-//TODO: still usefull ???
-/**
- *
- * @returns {Number}
- */
-util_regression.getCurrentFixationIndex = function() {
-  var index = 0;
-  var recentX = this.screenXTrailArray.get(0);
-  var recentY = this.screenYTrailArray.get(0);
-  for (var i = this.screenXTrailArray.length - 1; i >= 0; i--) {
-    var currX = this.screenXTrailArray.get(i);
-    var currY = this.screenYTrailArray.get(i);
-    var euclideanDistance = Math.sqrt(Math.pow((currX-recentX),2)+Math.pow((currY-recentY),2));
-    if (euclideanDistance > 72){
-      return i+1;
-    }
-  }
-  return i;
-}
-
-util_regression.addData = function(eyes, screenPos, type) {
-    if (!eyes) {
-        return;
-    }
-    //not doing anything with blink at present
-    // if (eyes.left.blink || eyes.right.blink) {
-    //     return;
-    // }
-    if (type === 'click') {
-        this.screenXClicksArray.push([screenPos[0]]);
-        this.screenYClicksArray.push([screenPos[1]]);
-        this.eyeFeaturesClicks.push(util.getEyeFeats(eyes));
-        this.dataClicks.push({'eyes':eyes, 'screenPos':screenPos, 'type':type});
-    } else if (type === 'move') {
-        this.screenXTrailArray.push([screenPos[0]]);
-        this.screenYTrailArray.push([screenPos[1]]);
-
-        this.eyeFeaturesTrail.push(util.getEyeFeats(eyes));
-        this.trailTimes.push(performance.now());
-        this.dataTrail.push({'eyes':eyes, 'screenPos':screenPos, 'type':type});
-    }
-
-    // [20180730 JT] Why do we do this? It doesn't return anything...
-    // But as JS is pass by reference, it still affects it.
-    //
-    // Causes problems for when we want to call 'addData' twice in a row on the same object, but perhaps with different screenPos or types (think multiple interactions within one video frame)
-    //eyes.left.patch = Array.from(eyes.left.patch.data);
-    //eyes.right.patch = Array.from(eyes.right.patch.data);
-};
-
-export default util_regression;

package/src/WebGazer4RC/src/worker_scripts/mat.js

@@ -1,306 +0,0 @@
-(function() {
-    'use strict';
-
-    self.webgazer = self.webgazer || {};
-    self.webgazer.mat = self.webgazer.mat || {};
-
-    /**
-     * Transposes an mxn array
-     * @param {Array.<Array.<Number>>} matrix - of 'M x N' dimensionality
-     * @return {Array.<Array.<Number>>} transposed matrix
-     */
-    self.webgazer.mat.transpose = function(matrix){
-        var m = matrix.length;
-        var n = matrix[0].length;
-        var transposedMatrix = new Array(n);
-
-        for (var i = 0; i < m; i++){
-            for (var j = 0; j < n; j++){
-                if (i === 0) transposedMatrix[j] = new Array(m);
-                transposedMatrix[j][i] = matrix[i][j];
-            }
-        }
-
-        return transposedMatrix;
-    };
-
-    /**
-     * Get a sub-matrix of matrix
-     * @param {Array.<Array.<Number>>} matrix - original matrix
-     * @param {Array.<Number>} r - Array of row indices
-     * @param {Number} j0 - Initial column index
-     * @param {Number} j1 - Final column index
-     * @returns {Array} The sub-matrix matrix(r(:),j0:j1)
-     */
-    self.webgazer.mat.getMatrix = function(matrix, r, j0, j1){
-        var X = new Array(r.length),
-            m = j1-j0+1;
-
-        for (var i = 0; i < r.length; i++){
-            X[i] = new Array(m);
-            for (var j = j0; j <= j1; j++){
-                X[i][j-j0] = matrix[r[i]][j];
-            }
-        }
-        return X;
-    };
-
-    /**
-     * Get a submatrix of matrix
-     * @param {Array.<Array.<Number>>} matrix - original matrix
-     * @param {Number} i0 - Initial row index
-     * @param {Number} i1 - Final row index
-     * @param {Number} j0 - Initial column index
-     * @param {Number} j1 - Final column index
-     * @return {Array} The sub-matrix matrix(i0:i1,j0:j1)
-     */
-    self.webgazer.mat.getSubMatrix = function(matrix, i0, i1, j0, j1){
-        var size = j1 - j0 + 1,
-            X = new Array(i1-i0+1);
-
-        for (var i = i0; i <= i1; i++){
-            var subI = i-i0;
-
-            X[subI] = new Array(size);
-
-            for (var j = j0; j <= j1; j++){
-                X[subI][j-j0] = matrix[i][j];
-            }
-        }
-        return X;
-    };
-
-    /**
-     * Linear algebraic matrix multiplication, matrix1 * matrix2
-     * @param {Array.<Array.<Number>>} matrix1
-     * @param {Array.<Array.<Number>>} matrix2
-     * @return {Array.<Array.<Number>>} Matrix product, matrix1 * matrix2
-     */
-    self.webgazer.mat.mult = function(matrix1, matrix2){
-
-        if (matrix2.length != matrix1[0].length){
-            console.log('Matrix inner dimensions must agree:');
-            
-        }
-
-        var X = new Array(matrix1.length),
-            Bcolj = new Array(matrix1[0].length);
-
-        for (var j = 0; j < matrix2[0].length; j++){
-            for (var k = 0; k < matrix1[0].length; k++){
-                Bcolj[k] = matrix2[k][j];
-            }
-            for (var i = 0; i < matrix1.length; i++){
-
-                if (j === 0)
-                    X[i] = new Array(matrix2[0].length);
-
-                var Arowi = matrix1[i];
-                var s = 0;
-                for (var k = 0; k < matrix1[0].length; k++){
-                    s += Arowi[k]*Bcolj[k];
-                }
-                X[i][j] = s;
-            }
-        }
-        return X;
-    };
-
-
-    /**
-     * LUDecomposition to solve A*X = B, based on WEKA code
-     * @param {Array.<Array.<Number>>} A - left matrix of equation to be solved
-     * @param {Array.<Array.<Number>>} B - right matrix of equation to be solved
-     * @return {Array.<Array.<Number>>} X so that L*U*X = B(piv,:)
-     */
-    self.webgazer.mat.LUDecomposition = function(A,B){
-        var LU = new Array(A.length);
-
-        for (var i = 0; i < A.length; i++){
-          LU[i] = new Array(A[0].length);
-            for (var j = 0; j < A[0].length; j++){
-                LU[i][j] = A[i][j];
-            }
-        }
-
-        var m = A.length;
-        var n = A[0].length;
-        var piv = new Array(m);
-        for (var i = 0; i < m; i++){
-            piv[i] = i;
-        }
-        var pivsign = 1;
-        var LUrowi = new Array();
-        var LUcolj = new Array(m);
-        // Outer loop.
-        for (var j = 0; j < n; j++){
-            // Make a copy of the j-th column to localize references.
-            for (var i = 0; i < m; i++){
-                LUcolj[i] = LU[i][j];
-            }
-            // Apply previous transformations.
-            for (var i = 0; i < m; i++){
-                LUrowi = LU[i];
-                // Most of the time is spent in the following dot product.
-                var kmax = Math.min(i,j);
-                var s = 0;
-                for (var k = 0; k < kmax; k++){
-                    s += LUrowi[k]*LUcolj[k];
-                }
-                LUrowi[j] = LUcolj[i] -= s;
-            }
-            // Find pivot and exchange if necessary.
-            var p = j;
-            for (var i = j+1; i < m; i++){
-                if (Math.abs(LUcolj[i]) > Math.abs(LUcolj[p])){
-                    p = i;
-                }
-            }
-            if (p != j){
-                for (var k = 0; k < n; k++){
-                    var t = LU[p][k];
-                    LU[p][k] = LU[j][k];
-                    LU[j][k] = t;
-                }
-                var k = piv[p];
-                piv[p] = piv[j];
-                piv[j] = k;
-                pivsign = -pivsign;
-            }
-            // Compute multipliers.
-            if (j < m & LU[j][j] != 0){
-                for (var i = j+1; i < m; i++){
-                    LU[i][j] /= LU[j][j];
-                }
-            }
-        }
-        if (B.length != m){
-            console.log('Matrix row dimensions must agree.');
-        }
-        for (var j = 0; j < n; j++){
-            if (LU[j][j] === 0){
-                console.log('Matrix is singular.')
-            }
-        }
-        var nx = B[0].length;
-        var X = self.webgazer.mat.getMatrix(B,piv,0,nx-1);
-        // Solve L*Y = B(piv,:)
-        for (var k = 0; k < n; k++){
-            for (var i = k+1; i < n; i++){
-                for (var j = 0; j < nx; j++){
-                    X[i][j] -= X[k][j]*LU[i][k];
-                }
-            }
-        }
-        // Solve U*X = Y;
-        for (var k = n-1; k >= 0; k--){
-            for (var j = 0; j < nx; j++){
-                X[k][j] /= LU[k][k];
-            }
-            for (var i = 0; i < k; i++){
-                for (var j = 0; j < nx; j++){
-                    X[i][j] -= X[k][j]*LU[i][k];
-                }
-            }
-        }
-        return X;
-    };
-
-    /**
-     * Least squares solution of A*X = B, based on WEKA code
-     * @param {Array.<Array.<Number>>} A - left side matrix to be solved
-     * @param {Array.<Array.<Number>>} B - a matrix with as many rows as A and any number of columns.
-     * @return {Array.<Array.<Number>>} X - that minimizes the two norms of QR*X-B.
-     */
-    self.webgazer.mat.QRDecomposition = function(A, B){
-        // Initialize.
-        var QR = new Array(A.length);
-
-        for (var i = 0; i < A.length; i++){
-            QR[i] = new Array(A[0].length);
-            for (var j = 0; j < A[0].length; j++){
-                QR[i][j] = A[i][j];
-            }
-        }
-        var m = A.length;
-        var n = A[0].length;
-        var Rdiag = new Array(n);
-        var nrm;
-
-        // Main loop.
-        for (var k = 0; k < n; k++){
-            // Compute 2-norm of k-th column without under/overflow.
-            nrm = 0;
-            for (var i = k; i < m; i++){
-                nrm = Math.hypot(nrm,QR[i][k]);
-            }
-            if (nrm != 0){
-                // Form k-th Householder vector.
-                if (QR[k][k] < 0){
-                    nrm = -nrm;
-                }
-                for (var i = k; i < m; i++){
-                    QR[i][k] /= nrm;
-                }
-                QR[k][k] += 1;
-
-                // Apply transformation to remaining columns.
-                for (var j = k+1; j < n; j++){
-                    var s = 0;
-                    for (var i = k; i < m; i++){
-                        s += QR[i][k]*QR[i][j];
-                    }
-                    s = -s/QR[k][k];
-                    for (var i = k; i < m; i++){
-                        QR[i][j] += s*QR[i][k];
-                    }
-                }
-            }
-            Rdiag[k] = -nrm;
-        }
-        if (B.length != m){
-            console.log('Matrix row dimensions must agree.');
-        }
-        for (var j = 0; j < n; j++){
-            if (Rdiag[j] === 0)
-                console.log('Matrix is rank deficient');
-        }
-        // Copy right hand side
-        var nx = B[0].length;
-        var X = new Array(B.length);
-        for(var i=0; i<B.length; i++){
-            X[i] = new Array(B[0].length);
-        }
-        for (var i = 0; i < B.length; i++){
-            for (var j = 0; j < B[0].length; j++){
-                X[i][j] = B[i][j];
-            }
-        }
-        // Compute Y = transpose(Q)*B
-        for (var k = 0; k < n; k++){
-            for (var j = 0; j < nx; j++){
-                var s = 0.0;
-                for (var i = k; i < m; i++){
-                    s += QR[i][k]*X[i][j];
-                }
-                s = -s/QR[k][k];
-                for (var i = k; i < m; i++){
-                    X[i][j] += s*QR[i][k];
-                }
-            }
-        }
-        // Solve R*X = Y;
-        for (var k = n-1; k >= 0; k--){
-            for (var j = 0; j < nx; j++){
-                X[k][j] /= Rdiag[k];
-            }
-            for (var i = 0; i < k; i++){
-                for (var j = 0; j < nx; j++){
-                    X[i][j] -= X[k][j]*QR[i][k];
-                }
-            }
-        }
-        return self.webgazer.mat.getSubMatrix(X,0,n-1,0,nx-1);
-    }
-    
-}());