view hmm/hmm.c @ 321:f1e6be2de9a5

A threshold (delta) is added in the peak picking parameters structure (PPickParams). It is used as an offset when computing the smoothed detection function. A constructor for the structure PPickParams is also added to set the parameters to 0 when a structure instance is created. Hence programmes using the peak picking parameter structure and which do not set the delta parameter (e.g. QM Vamp note onset detector) won't be affected by the modifications.

Functions modified:
- dsp/onsets/PeakPicking.cpp
- dsp/onsets/PeakPicking.h
- dsp/signalconditioning/DFProcess.cpp
- dsp/signalconditioning/DFProcess.h

/*
 *  hmm.c
 *
 *  Created by Mark Levy on 12/02/2006.
 *  Copyright 2006 Centre for Digital Music, Queen Mary, University of London.

    This program is free software; you can redistribute it and/or
    modify it under the terms of the GNU General Public License as
    published by the Free Software Foundation; either version 2 of the
    License, or (at your option) any later version.  See the file
    COPYING included with this distribution for more information.
 *
 */

#include <stdio.h>
#include <math.h>
#include <stdlib.h>
#include <float.h>
#include <time.h>				/* to seed random number generator */

#include <clapack.h>		/* LAPACK for matrix inversion */

#include "maths/nan-inf.h"

#ifdef ATLAS_ORDER
#define HAVE_ATLAS 1
#endif

#ifdef HAVE_ATLAS
// Using ATLAS C interface to LAPACK
#define dgetrf_(m, n, a, lda, ipiv, info) \
        clapack_dgetrf(CblasColMajor, *m, *n, a, *lda, ipiv)
#define dgetri_(n, a, lda, ipiv, work, lwork, info) \
        clapack_dgetri(CblasColMajor, *n, a, *lda, ipiv)
#endif

#ifdef _MAC_OS_X
#include <vecLib/cblas.h>
#else
#include <cblas.h>		/* BLAS for matrix multiplication */
#endif

#include "hmm.h"

model_t* hmm_init(double** x, int T, int L, int N)
{
	int i, j, d, e, t;
	double s, ss;
	
	model_t* model;
	model = (model_t*) malloc(sizeof(model_t));
	model->N = N;
	model->L = L;	
	model->p0 = (double*) malloc(N*sizeof(double));
	model->a = (double**) malloc(N*sizeof(double*));
	model->mu = (double**) malloc(N*sizeof(double*));
	for (i = 0; i < N; i++)
	{
		model->a[i] = (double*) malloc(N*sizeof(double));
		model->mu[i] = (double*) malloc(L*sizeof(double));
	}
	model->cov = (double**) malloc(L*sizeof(double*));
	for (i = 0; i < L; i++)
		model->cov[i] = (double*) malloc(L*sizeof(double));
	
	srand(time(0));
	double* global_mean = (double*) malloc(L*sizeof(double));
	
	/* find global mean */
	for (d = 0; d < L; d++)
	{
		global_mean[d] = 0;
		for (t = 0; t < T; t++)
			global_mean[d] += x[t][d];
		global_mean[d] /= T;
	}
	
	/* calculate global diagonal covariance */
	for (d = 0; d < L; d++)
	{
		for (e = 0; e < L; e++)
			model->cov[d][e] = 0;
		for (t = 0; t < T; t++)
			model->cov[d][d] += (x[t][d] - global_mean[d]) * (x[t][d] - global_mean[d]);
		model->cov[d][d] /= T-1;
	}
	
	/* set all means close to global mean */
	for (i = 0; i < N; i++)
	{
		for (d = 0; d < L; d++)
		{
			/* add some random noise related to covariance */
			/* ideally the random number would be Gaussian(0,1), as a hack we make it uniform on [-0.25,0.25] */
			model->mu[i][d] = global_mean[d] + (0.5 * rand() / (double) RAND_MAX - 0.25) * sqrt(model->cov[d][d]);
		}
	}	
	
	/* random intial and transition probs */
	s = 0;
	for (i = 0; i < N; i++)
	{
		model->p0[i] = 1 + rand() / (double) RAND_MAX;
		s += model->p0[i];
		ss = 0;
		for (j = 0; j < N; j++)
		{
			model->a[i][j] = 1 + rand() / (double) RAND_MAX;
			ss += model->a[i][j];
		}
		for (j = 0; j < N; j++)
		{
			model->a[i][j] /= ss;
		}
	}
	for (i = 0; i < N; i++)
		model->p0[i] /= s;
	
	free(global_mean);
	
	return model;
}

void hmm_close(model_t* model)
{
	int i;
	
	for (i = 0; i < model->N; i++)
	{
		free(model->a[i]);
		free(model->mu[i]);
	}
	free(model->a);
	free(model->mu);
	for (i = 0; i < model->L; i++)
		free(model->cov[i]);
	free(model->cov);	  
	free(model);	
}

void hmm_train(double** x, int T, model_t* model)
{
	int i, t;
	double loglik;	/* overall log-likelihood at each iteration */
	
	int N = model->N;
	int L = model->L;
	double* p0 = model->p0;
	double** a = model->a;
	double** mu = model->mu;
	double** cov = model->cov;
	
	/* allocate memory */	
	double** gamma = (double**) malloc(T*sizeof(double*));
	double*** xi = (double***) malloc(T*sizeof(double**));
	for (t = 0; t < T; t++)
	{
		gamma[t] = (double*) malloc(N*sizeof(double));
		xi[t] = (double**) malloc(N*sizeof(double*));
		for (i = 0; i < N; i++)
			xi[t][i] = (double*) malloc(N*sizeof(double));
	}
	
	/* temporary memory */
	double* gauss_y = (double*) malloc(L*sizeof(double));
	double* gauss_z = (double*) malloc(L*sizeof(double));	
			
	/* obs probs P(j|{x}) */
	double** b = (double**) malloc(T*sizeof(double*));
	for (t = 0; t < T; t++)
		b[t] = (double*) malloc(N*sizeof(double));
	
	/* inverse covariance and its determinant */
	double** icov = (double**) malloc(L*sizeof(double*));
	for (i = 0; i < L; i++)
		icov[i] = (double*) malloc(L*sizeof(double));
	double detcov;
	
	double thresh = 0.0001;
	int niter = 50;	
	int iter = 0;
	double loglik1, loglik2;
	int foundnan = 0;

	while (iter < niter && !foundnan && !(iter > 1 && (loglik - loglik1) < thresh * (loglik1 - loglik2)))	
	{
		++iter;
/*		
		fprintf(stderr, "calculating obsprobs...\n");
		fflush(stderr);
*/		
		/* precalculate obs probs */
		invert(cov, L, icov, &detcov);
		
		for (t = 0; t < T; t++)
		{
			//int allzero = 1;
			for (i = 0; i < N; i++)
			{
				b[t][i] = exp(loggauss(x[t], L, mu[i], icov, detcov, gauss_y, gauss_z));
		
				//if (b[t][i] != 0)
				//	allzero = 0;
			}
			/*
			if (allzero)
			{
				printf("all the b[t][i] were zero for t = %d, correcting...\n", t);
				for (i = 0; i < N; i++)
				{
					b[t][i] = 0.00001;
				}
			}
			*/
		}
/*		
		fprintf(stderr, "forwards-backwards...\n");
		fflush(stderr);
*/		
		forward_backwards(xi, gamma, &loglik, &loglik1, &loglik2, iter, N, T, p0, a, b);
/*		
		fprintf(stderr, "iteration %d: loglik = %f\n", iter, loglik);		
		fprintf(stderr, "re-estimation...\n");
		fflush(stderr);
*/
		if (ISNAN(loglik)) {
		    foundnan = 1;
		    continue;
		}
		
		baum_welch(p0, a, mu, cov, N, T, L, x, xi, gamma);
			
		/*
		printf("a:\n");
		for (i = 0; i < model->N; i++)
		{
			for (j = 0; j < model->N; j++)
				printf("%f ", model->a[i][j]);
			printf("\n");
		}
		printf("\n\n");
		 */
		//hmm_print(model);
	}
	
	/* deallocate memory */
	for (t = 0; t < T; t++)
	{
		free(gamma[t]);
		free(b[t]);
		for (i = 0; i < N; i++)
			free(xi[t][i]);
		free(xi[t]);
	}
	free(gamma);
	free(xi);
	free(b);	
	
	for (i = 0; i < L; i++)
		free(icov[i]);
	free(icov);
	
	free(gauss_y);
	free(gauss_z);
}

void mlss_reestimate(double* p0, double** a, double** mu, double** cov, int N, int T, int L, int* q, double** x)
{
	/* fit a single Gaussian to observations in each state */
	
	/* calculate the mean observation in each state */
	
	/* calculate the overall covariance */
	
	/* count transitions */
	
	/* estimate initial probs from transitions (???) */
}

void baum_welch(double* p0, double** a, double** mu, double** cov, int N, int T, int L, double** x, double*** xi, double** gamma)
{
	int i, j, t;
	
	double* sum_gamma = (double*) malloc(N*sizeof(double));
	
	/* temporary memory */
	double* u = (double*) malloc(L*L*sizeof(double));
	double* yy = (double*) malloc(T*L*sizeof(double));
	double* yy2 = (double*) malloc(T*L*sizeof(double));	
	
	/* re-estimate transition probs */
	for (i = 0; i < N; i++)
	{
		sum_gamma[i] = 0;
		for (t = 0; t < T-1; t++)
			sum_gamma[i] += gamma[t][i];
	}
	
	for (i = 0; i < N; i++)
	{
		if (sum_gamma[i] == 0)
		{
/*			fprintf(stderr, "sum_gamma[%d] was zero...\n", i); */
		}
		//double s = 0;
		for (j = 0; j < N; j++)
		{
			a[i][j] = 0;
			if (sum_gamma[i] == 0.) continue;
			for (t = 0; t < T-1; t++)
				a[i][j] += xi[t][i][j];
			//s += a[i][j];
			a[i][j] /= sum_gamma[i];	
		}
		/*
		 for (j = 0; j < N; j++)
		 {
			 a[i][j] /= s;
		 }
		 */
	}
	
	/* NB: now we need to sum gamma over all t */
	for (i = 0; i < N; i++)
		sum_gamma[i] += gamma[T-1][i];
	
	/* re-estimate initial probs */
	for (i = 0; i < N; i++)
		p0[i] = gamma[0][i];
	
	/* re-estimate covariance */
	int d, e;
	double sum_sum_gamma = 0;
	for (i = 0; i < N; i++)
		sum_sum_gamma += sum_gamma[i];		
	
	/*
	 for (d = 0; d < L; d++)
	 {
		 for (e = d; e < L; e++)
		 {
			 cov[d][e] = 0;
			 for (t = 0; t < T; t++)
				 for (j = 0; j < N; j++)
					 cov[d][e] += gamma[t][j] * (x[t][d] - mu[j][d]) * (x[t][e] - mu[j][e]);
			 
			 cov[d][e] /= sum_sum_gamma;
			 
			 if (ISNAN(cov[d][e]))
			 {
				 printf("cov[%d][%d] was nan\n", d, e);
				 for (j = 0; j < N; j++)
					 for (i = 0; i < L; i++)
						 if (ISNAN(mu[j][i]))
							 printf("mu[%d][%d] was nan\n", j, i);
				 for (t = 0; t < T; t++)
					 for (j = 0; j < N; j++)
						 if (ISNAN(gamma[t][j]))
							 printf("gamma[%d][%d] was nan\n", t, j);
				 exit(-1);
			 }
		 }
	 }
	 for (d = 0; d < L; d++)
	 for (e = 0; e < d; e++)
	 cov[d][e] = cov[e][d];
	 */
	
	/* using BLAS */
	for (d = 0; d < L; d++)
		for (e = 0; e < L; e++)
			cov[d][e] = 0;
	
	for (j = 0; j < N; j++)
	{
		for (d = 0; d < L; d++)
			for (t = 0; t < T; t++)
			{
				yy[d*T+t] = x[t][d] - mu[j][d];
				yy2[d*T+t] = gamma[t][j] * (x[t][d] - mu[j][d]);
			}
				
				cblas_dgemm(CblasColMajor, CblasTrans, CblasNoTrans, L, L, T, 1.0, yy, T, yy2, T, 0, u, L);
		
		for (e = 0; e < L; e++)
			for (d = 0; d < L; d++)
				cov[d][e] += u[e*L+d];
	}
	
	for (d = 0; d < L; d++)
		for (e = 0; e < L; e++)
			cov[d][e] /= T; /* sum_sum_gamma; */			
	
	//printf("sum_sum_gamma = %f\n", sum_sum_gamma); /* fine, = T IS THIS ALWAYS TRUE with pooled cov?? */
	
	/* re-estimate means */
	for (j = 0; j < N; j++)
	{
		for (d = 0; d < L; d++)
		{
			mu[j][d] = 0;
			for (t = 0; t < T; t++)
				mu[j][d] += gamma[t][j] * x[t][d];
			mu[j][d] /= sum_gamma[j];
		}
	}
	
	/* deallocate memory */
	free(sum_gamma);
	free(yy);
	free(yy2);
	free(u);
}

void forward_backwards(double*** xi, double** gamma, double* loglik, double* loglik1, double* loglik2, int iter, int N, int T, double* p0, double** a, double** b)
{
	/* forwards-backwards with scaling */
	int i, j, t;
	
	double** alpha = (double**) malloc(T*sizeof(double*));
	double** beta = (double**) malloc(T*sizeof(double*));
	for (t = 0; t < T; t++)
	{
		alpha[t] = (double*) malloc(N*sizeof(double));
		beta[t] = (double*) malloc(N*sizeof(double));
	}
	
	/* scaling coefficients */
	double* c = (double*) malloc(T*sizeof(double));
	
	/* calculate forward probs and scale coefficients */
	c[0] = 0;
	for (i = 0; i < N; i++)
	{
		alpha[0][i] = p0[i] * b[0][i];
		c[0] += alpha[0][i];
		
		//printf("p0[%d] = %f, b[0][%d] = %f\n", i, p0[i], i, b[0][i]);
	}
	c[0] = 1 / c[0];
	for (i = 0; i < N; i++)
	{
		alpha[0][i] *= c[0];		
		
		//printf("alpha[0][%d] = %f\n", i, alpha[0][i]);	/* OK agrees with Matlab */
	}
	
	*loglik1 = *loglik;
	*loglik = -log(c[0]);
	if (iter == 2)
		*loglik2 = *loglik;
	
	for (t = 1; t < T; t++)
	{			
		c[t] = 0;
		for (j = 0; j < N; j++)
		{
			alpha[t][j] = 0;
			for (i = 0; i < N; i++)
				alpha[t][j] += alpha[t-1][i] * a[i][j];
			alpha[t][j] *= b[t][j];
			
			c[t] += alpha[t][j];
		}
		
		/*
		 if (c[t] == 0)
		 {
			 printf("c[%d] = 0, going to blow up so exiting\n", t);
			 for (i = 0; i < N; i++)
				 if (b[t][i] == 0)
					 fprintf(stderr, "b[%d][%d] was zero\n", t, i);
			 fprintf(stderr, "x[t] was \n");
			 for (i = 0; i < L; i++)
				 fprintf(stderr, "%f ", x[t][i]);
			 fprintf(stderr, "\n\n");
			 exit(-1);
		 }
		 */
		
		c[t] = 1 / c[t];
		for (j = 0; j < N; j++)
			alpha[t][j] *= c[t];
		
		//printf("c[%d] = %e\n", t, c[t]);
		
		*loglik -= log(c[t]);
	}
	
	/* calculate backwards probs using same coefficients */
	for (i = 0; i < N; i++)
		beta[T-1][i] = 1;
	t = T - 1;
	while (1)
	{
		for (i = 0; i < N; i++)
			beta[t][i] *= c[t];
		
		if (t == 0)
			break;
		
		for (i = 0; i < N; i++)
		{
			beta[t-1][i] = 0;
			for (j = 0; j < N; j++)
				beta[t-1][i] += a[i][j] * b[t][j] * beta[t][j];
		}
		
		t--;
	}
	
	/*
	 printf("alpha:\n");
	 for (t = 0; t < T; t++)
	 {
		 for (i = 0; i < N; i++)
			 printf("%4.4e\t\t", alpha[t][i]);
		 printf("\n");
	 }
	 printf("\n\n");printf("beta:\n");
	 for (t = 0; t < T; t++)
	 {
		 for (i = 0; i < N; i++)
			 printf("%4.4e\t\t", beta[t][i]);
		 printf("\n");
	 }
	 printf("\n\n");
	 */
	
	/* calculate posterior probs */
	double tot;
	for (t = 0; t < T; t++)
	{
		tot = 0;
		for (i = 0; i < N; i++)
		{
			gamma[t][i] = alpha[t][i] * beta[t][i];
			tot += gamma[t][i];
		}
		for (i = 0; i < N; i++)
		{
			gamma[t][i] /= tot;				
			
			//printf("gamma[%d][%d] = %f\n", t, i, gamma[t][i]);				
		}
	}		
	
	for (t = 0; t < T-1; t++)
	{
		tot = 0;
		for (i = 0; i < N; i++)
		{
			for (j = 0; j < N; j++)
			{
				xi[t][i][j] = alpha[t][i] * a[i][j] * b[t+1][j] * beta[t+1][j];
				tot += xi[t][i][j];
			}
		}
		for (i = 0; i < N; i++)
			for (j = 0; j < N; j++)
				xi[t][i][j] /= tot;
	}
	
	/*
	 // CHECK - fine
	 // gamma[t][i] = \sum_j{xi[t][i][j]}
	 tot = 0;
	 for (j = 0; j < N; j++)
	 tot += xi[3][1][j];
	 printf("gamma[3][1] = %f, sum_j(xi[3][1][j]) = %f\n", gamma[3][1], tot);
	 */	
	
	for (t = 0; t < T; t++)
	{
		free(alpha[t]);
		free(beta[t]);
	}
	free(alpha);
	free(beta);
	free(c);
}

void viterbi_decode(double** x, int T, model_t* model, int* q)
{
	int i, j, t;
	double max;
	int havemax;
	
	int N = model->N;
	int L = model->L;
	double* p0 = model->p0;
	double** a = model->a;
	double** mu = model->mu;
	double** cov = model->cov;
	
	/* inverse covariance and its determinant */
	double** icov = (double**) malloc(L*sizeof(double*));
	for (i = 0; i < L; i++)
		icov[i] = (double*) malloc(L*sizeof(double));
	double detcov;
	
	double** logb = (double**) malloc(T*sizeof(double*));
	double** phi = (double**) malloc(T*sizeof(double*));
	int** psi = (int**) malloc(T*sizeof(int*));
	for (t = 0; t < T; t++)
	{
		logb[t] = (double*) malloc(N*sizeof(double));
		phi[t] = (double*) malloc(N*sizeof(double));
		psi[t] = (int*) malloc(N*sizeof(int));
	}
	
	/* temporary memory */
	double* gauss_y = (double*) malloc(L*sizeof(double));
	double* gauss_z = (double*) malloc(L*sizeof(double));	
	
	/* calculate observation logprobs */
	invert(cov, L, icov, &detcov);
	for (t = 0; t < T; t++)
		for (i = 0; i < N; i++)
			logb[t][i] = loggauss(x[t], L, mu[i], icov, detcov, gauss_y, gauss_z);
	
	/* initialise */
	for (i = 0; i < N; i++)
	{
		phi[0][i] = log(p0[i]) + logb[0][i];
		psi[0][i] = 0;
	}
	
	for (t = 1; t < T; t++)
	{
		for (j = 0; j < N; j++)
		{
			max = -1000000;
			havemax = 0;

			psi[t][j] = 0;
			for (i = 0; i < N; i++)
			{
				if (phi[t-1][i] + log(a[i][j]) > max || !havemax)
				{
					max = phi[t-1][i] + log(a[i][j]);
					phi[t][j] = max + logb[t][j];
					psi[t][j] = i;
					havemax = 1;
				}
			}
		}
	}
	
	/* find maximising state at time T-1 */
	max = phi[T-1][0];
	q[T-1] = 0;
	for (i = 1; i < N; i++)
	{
		if (phi[T-1][i] > max)
		{
			max = phi[T-1][i];
			q[T-1] = i;
		}
	}

	
	/* track back */
	t = T - 2;
	while (t >= 0)
	{
		q[t] = psi[t+1][q[t+1]];
		t--;
	}
	
	/* de-allocate memory */
	for (i = 0; i < L; i++)
		free(icov[i]);
	free(icov);
	for (t = 0; t < T; t++)
	{
		free(logb[t]);
		free(phi[t]);
		free(psi[t]);
	}
	free(logb);
	free(phi);
	free(psi);
	
	free(gauss_y);
	free(gauss_z);
}

/* invert matrix and calculate determinant using LAPACK */
void invert(double** cov, int L, double** icov, double* detcov)
{
	/* copy square matrix into a vector in column-major order */
	double* a = (double*) malloc(L*L*sizeof(double));
	int i, j;
	for(j=0; j < L; j++)
		for (i=0; i < L; i++) 
			a[j*L+i] = cov[i][j];
	
	int M = (int) L;	
	int* ipiv = (int *) malloc(L*L*sizeof(int));
	int ret;
	
	/* LU decomposition */
	ret = dgetrf_(&M, &M, a, &M, ipiv, &ret);	/* ret should be zero, negative if cov is singular */
	if (ret < 0)
	{
		fprintf(stderr, "Covariance matrix was singular, couldn't invert\n");
		exit(-1);
	}
	
	/* find determinant */
	double det = 1;
	for(i = 0; i < L; i++)
		det *= a[i*L+i];
	// TODO: get this to work!!! If detcov < 0 then cov is bad anyway...
	/*
	int sign = 1;
	for (i = 0; i < L; i++)
		if (ipiv[i] != i)
			sign = -sign;
	det *= sign;
	 */
	if (det < 0)
		det = -det;
	*detcov = det;
	
	/* allocate required working storage */
#ifndef HAVE_ATLAS
	int lwork = -1;
	double lwbest = 0.0;
	dgetri_(&M, a, &M, ipiv, &lwbest, &lwork, &ret);
	lwork = (int) lwbest;	
	double* work  = (double*) malloc(lwork*sizeof(double));
#endif
	
	/* find inverse */
	dgetri_(&M, a, &M, ipiv, work, &lwork, &ret);

	for(j=0; j < L; j++)
		for (i=0; i < L; i++) 
			icov[i][j] = a[j*L+i];	
	
#ifndef HAVE_ATLAS	
	free(work);
#endif
	free(a);	
}

/* probability of multivariate Gaussian given mean, inverse and determinant of covariance */
double gauss(double* x, int L, double* mu, double** icov, double detcov, double* y, double* z)
{
	int i, j;
	double s = 0;
	for (i = 0; i < L; i++)
		y[i] = x[i] - mu[i];
	for (i = 0; i < L; i++)
	{
		//z[i] = 0;
		//for (j = 0; j < L; j++)
		//	z[i] += icov[i][j] *  y[j];
		z[i] = cblas_ddot(L, &icov[i][0], 1, y, 1);
	}
	s = cblas_ddot(L, z, 1, y, 1);
	//for (i = 0; i < L; i++)
	//	s += z[i] * y[i];	
	
	return exp(-s/2.0) / (pow(2*PI, L/2.0) * sqrt(detcov));
}

/* log probability of multivariate Gaussian given mean, inverse and determinant of covariance */
double loggauss(double* x, int L, double* mu, double** icov, double detcov, double* y, double* z)
{
	int i, j;
	double s = 0;
	double ret;
	for (i = 0; i < L; i++)
		y[i] = x[i] - mu[i];
	for (i = 0; i < L; i++)
	{
		//z[i] = 0;
		//for (j = 0; j < L; j++)
		//	z[i] += icov[i][j] *  y[j];
		z[i] = cblas_ddot(L, &icov[i][0], 1, y, 1);
	}
	s = cblas_ddot(L, z, 1, y, 1);
	//for (i = 0; i < L; i++)
	//	s += z[i] * y[i];	
	
	ret = -0.5 * (s + L * log(2*PI) + log(detcov));
	
	/*
	// TEST
	if (ISINF(ret) > 0)
		printf("loggauss returning infinity\n");
	if (ISINF(ret) < 0)
		printf("loggauss returning -infinity\n");
	if (ISNAN(ret))
		printf("loggauss returning nan\n");	
	*/
	
	return ret;
}

void hmm_print(model_t* model)
{
	int i, j;
	printf("p0:\n");
	for (i = 0; i < model->N; i++)
		printf("%f ", model->p0[i]);
	printf("\n\n");
	printf("a:\n");
	for (i = 0; i < model->N; i++)
	{
		for (j = 0; j < model->N; j++)
			printf("%f ", model->a[i][j]);
		printf("\n");
	}
	printf("\n\n");
	printf("mu:\n");
	for (i = 0; i < model->N; i++)
	{
		for (j = 0; j < model->L; j++)
			printf("%f ", model->mu[i][j]);
		printf("\n");
	}
	printf("\n\n");
	printf("cov:\n");
	for (i = 0; i < model->L; i++)
	{
		for (j = 0; j < model->L; j++)
			printf("%f ", model->cov[i][j]);
		printf("\n");
	}
	printf("\n\n");
}