Streaming KMeans [MLLIB][SPARK-3254]

This adds a Streaming KMeans algorithm to MLlib. It uses an update rule that generalizes the mini-batch KMeans update to incorporate a decay factor, which allows past data to be forgotten. The decay factor can be specified explicitly, or via a more intuitive "fractional decay" setting, in units of either data points or batches.

The PR includes:
- StreamingKMeans algorithm with decay factor settings
- Usage example
- Additions to documentation clustering page
- Unit tests of basic behavior and decay behaviors

tdas mengxr rezazadeh

Author: freeman <the.freeman.lab@gmail.com>
Author: Jeremy Freeman <the.freeman.lab@gmail.com>
Author: Xiangrui Meng <meng@databricks.com>

Closes apache#2942 from freeman-lab/streaming-kmeans and squashes the following commits:

b2e5b4a [freeman] Fixes to docs / examples
078617c [Jeremy Freeman] Merge pull request #1 from mengxr/SPARK-3254
2e682c0 [Xiangrui Meng] take discount on previous weights; use BLAS; detect dying clusters
0411bf5 [freeman] Change decay parameterization
9f7aea9 [freeman] Style fixes
374a706 [freeman] Formatting
ad9bdc2 [freeman] Use labeled points and predictOnValues in examples
77dbd3f [freeman] Make initialization check an assertion
9cfc301 [freeman] Make random seed an argument
44050a9 [freeman] Simpler constructor
c7050d5 [freeman] Fix spacing
2899623 [freeman] Use pattern matching for clarity
a4a316b [freeman] Use collect
1472ec5 [freeman] Doc formatting
ea22ec8 [freeman] Fix imports
2086bdc [freeman] Log cluster center updates
ea9877c [freeman] More documentation
9facbe3 [freeman] Bug fix
5db7074 [freeman] Example usage for StreamingKMeans
f33684b [freeman] Add explanation and example to docs
b5b5f8d [freeman] Add better documentation
a0fd790 [freeman] Merge remote-tracking branch 'upstream/master' into streaming-kmeans
9fd9c15 [freeman] Merge remote-tracking branch 'upstream/master' into streaming-kmeans
b93350f [freeman] Streaming KMeans with decay

docs/mllib-clustering.md

@@ -34,7 +34,7 @@ a given dataset, the algorithm returns the best clustering result).
 * *initializationSteps* determines the number of steps in the k-means\|\| algorithm.
 * *epsilon* determines the distance threshold within which we consider k-means to have converged. 
 
-## Examples
+### Examples
 
 <div class="codetabs">
 <div data-lang="scala" markdown="1">
@@ -153,3 +153,97 @@ provided in the [Self-Contained Applications](quick-start.html#self-contained-ap
 section of the Spark
 Quick Start guide. Be sure to also include *spark-mllib* to your build file as
 a dependency.
+
+## Streaming clustering
+
+When data arrive in a stream, we may want to estimate clusters dynamically, 
+updating them as new data arrive. MLlib provides support for streaming k-means clustering, 
+with parameters to control the decay (or "forgetfulness") of the estimates. The algorithm 
+uses a generalization of the mini-batch k-means update rule. For each batch of data, we assign 
+all points to their nearest cluster, compute new cluster centers, then update each cluster using:
+
+`\begin{equation}
+    c_{t+1} = \frac{c_tn_t\alpha + x_tm_t}{n_t\alpha+m_t}
+\end{equation}`
+`\begin{equation}
+    n_{t+1} = n_t + m_t  
+\end{equation}`
+
+Where `$c_t$` is the previous center for the cluster, `$n_t$` is the number of points assigned 
+to the cluster thus far, `$x_t$` is the new cluster center from the current batch, and `$m_t$` 
+is the number of points added to the cluster in the current batch. The decay factor `$\alpha$` 
+can be used to ignore the past: with `$\alpha$=1` all data will be used from the beginning; 
+with `$\alpha$=0` only the most recent data will be used. This is analogous to an 
+exponentially-weighted moving average. 
+
+The decay can be specified using a `halfLife` parameter, which determines the 
+correct decay factor `a` such that, for data acquired
+at time `t`, its contribution by time `t + halfLife` will have dropped to 0.5.
+The unit of time can be specified either as `batches` or `points` and the update rule
+will be adjusted accordingly.
+
+### Examples
+
+This example shows how to estimate clusters on streaming data.
+
+<div class="codetabs">
+
+<div data-lang="scala" markdown="1">
+
+First we import the neccessary classes.
+
+{% highlight scala %}
+
+import org.apache.spark.mllib.linalg.Vectors
+import org.apache.spark.mllib.regression.LabeledPoint
+import org.apache.spark.mllib.clustering.StreamingKMeans
+
+{% endhighlight %}
+
+Then we make an input stream of vectors for training, as well as a stream of labeled data 
+points for testing. We assume a StreamingContext `ssc` has been created, see 
+[Spark Streaming Programming Guide](streaming-programming-guide.html#initializing) for more info.  
+
+{% highlight scala %}
+
+val trainingData = ssc.textFileStream("/training/data/dir").map(Vectors.parse)
+val testData = ssc.textFileStream("/testing/data/dir").map(LabeledPoint.parse)
+
+{% endhighlight %}
+
+We create a model with random clusters and specify the number of clusters to find
+
+{% highlight scala %}
+
+val numDimensions = 3
+val numClusters = 2
+val model = new StreamingKMeans()
+  .setK(numClusters)
+  .setDecayFactor(1.0)
+  .setRandomCenters(numDimensions, 0.0)
+
+{% endhighlight %}
+
+Now register the streams for training and testing and start the job, printing 
+the predicted cluster assignments on new data points as they arrive.
+
+{% highlight scala %}
+
+model.trainOn(trainingData)
+model.predictOnValues(testData).print()
+
+ssc.start()
+ssc.awaitTermination()
+
+{% endhighlight %}
+
+As you add new text files with data the cluster centers will update. Each training 
+point should be formatted as `[x1, x2, x3]`, and each test data point
+should be formatted as `(y, [x1, x2, x3])`, where `y` is some useful label or identifier 
+(e.g. a true category assignment). Anytime a text file is placed in `/training/data/dir` 
+the model will update. Anytime a text file is placed in `/testing/data/dir` 
+you will see predictions. With new data, the cluster centers will change!
+
+</div>
+
+</div>

examples/src/main/scala/org/apache/spark/examples/mllib/StreamingKMeans.scala

@@ -0,0 +1,77 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.apache.spark.examples.mllib
+
+import org.apache.spark.mllib.linalg.Vectors
+import org.apache.spark.mllib.regression.LabeledPoint
+import org.apache.spark.mllib.clustering.StreamingKMeans
+import org.apache.spark.SparkConf
+import org.apache.spark.streaming.{Seconds, StreamingContext}
+
+/**
+ * Estimate clusters on one stream of data and make predictions
+ * on another stream, where the data streams arrive as text files
+ * into two different directories.
+ *
+ * The rows of the training text files must be vector data in the form
+ * `[x1,x2,x3,...,xn]`
+ * Where n is the number of dimensions.
+ *
+ * The rows of the test text files must be labeled data in the form
+ * `(y,[x1,x2,x3,...,xn])`
+ * Where y is some identifier. n must be the same for train and test.
+ *
+ * Usage: StreamingKmeans <trainingDir> <testDir> <batchDuration> <numClusters> <numDimensions>
+ *
+ * To run on your local machine using the two directories `trainingDir` and `testDir`,
+ * with updates every 5 seconds, 2 dimensions per data point, and 3 clusters, call:
+ *    $ bin/run-example \
+ *        org.apache.spark.examples.mllib.StreamingKMeans trainingDir testDir 5 3 2
+ *
+ * As you add text files to `trainingDir` the clusters will continuously update.
+ * Anytime you add text files to `testDir`, you'll see predicted labels using the current model.
+ *
+ */
+object StreamingKMeans {
+
+  def main(args: Array[String]) {
+    if (args.length != 5) {
+      System.err.println(
+        "Usage: StreamingKMeans " +
+          "<trainingDir> <testDir> <batchDuration> <numClusters> <numDimensions>")
+      System.exit(1)
+    }
+
+    val conf = new SparkConf().setMaster("local").setAppName("StreamingLinearRegression")
+    val ssc = new StreamingContext(conf, Seconds(args(2).toLong))
+
+    val trainingData = ssc.textFileStream(args(0)).map(Vectors.parse)
+    val testData = ssc.textFileStream(args(1)).map(LabeledPoint.parse)
+
+    val model = new StreamingKMeans()
+      .setK(args(3).toInt)
+      .setDecayFactor(1.0)
+      .setRandomCenters(args(4).toInt, 0.0)
+
+    model.trainOn(trainingData)
+    model.predictOnValues(testData.map(lp => (lp.label, lp.features))).print()
+
+    ssc.start()
+    ssc.awaitTermination()
+  }
+}