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sebastic-guest pushed a commit to branch upstream-master
in repository pktools.
commit f113dc399809d7f0507a2a6846c1f333f4ea1256
Author: Pieter Kempeneers <kempe...@gmail.com>
Date: Fri Jun 27 12:12:46 2014 +0200
support for nodata in model
---
src/apps/pkkalman.cc | 210 ++++++++++++++++++++++++++++++++++-----------------
1 file changed, 140 insertions(+), 70 deletions(-)
diff --git a/src/apps/pkkalman.cc b/src/apps/pkkalman.cc
index 61d93ef..ceb0f1b 100644
--- a/src/apps/pkkalman.cc
+++ b/src/apps/pkkalman.cc
@@ -267,7 +267,7 @@ int main(int argc,char **argv) {
vector<double> uncertWriteBuffer(ncol);
imgWriterEst.image2geo(0,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
try{
imgReaderModel1.readData(estReadBuffer,GDT_Float64,modRow);
//simple nearest neighbor
@@ -295,7 +295,7 @@ int main(int argc,char **argv) {
vector<double> estReadBuffer;
imgWriterEst.image2geo(0,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
imgReaderModel1.readData(estReadBuffer,GDT_Float64,modRow);
vector<double> estWriteBuffer(ncol);
vector<double> uncertWriteBuffer(ncol);
@@ -307,8 +307,11 @@ int main(int argc,char **argv) {
if(imgReaderObs.isNoData(estWriteBuffer[icol])){
imgWriterEst.image2geo(icol,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
- estWriteBuffer[icol]=estReadBuffer[modCol];
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
+ if(imgReaderModel1.isNoData(estReadBuffer[modCol]))//if both obs
and model are no-data, set obs to nodata
+ estWriteBuffer[icol]=obsnodata_opt[0];
+ else
+ estWriteBuffer[icol]=estReadBuffer[modCol];
uncertWriteBuffer[icol]=uncertModel_opt[0]*stdDev;
}
else{
@@ -318,13 +321,16 @@ int main(int argc,char **argv) {
if(uncertModel_opt[0]*stdDev+uncertObs>eps_opt[0]){
imgWriterEst.image2geo(icol,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
// double noemer=uncertObs*uncertObs+stdDev*stdDev;//todo:
multiply stdDev with uncertModel_opt[0]
// estWriteBuffer[icol]*=uncertModel_opt[0]*stdDev*stdDev/noemer;
//
estWriteBuffer[icol]+=uncertModel_opt[0]*uncertObs*uncertObs/noemer;//todo:check!
error?
- double
kalmanGain=uncertModel_opt[0]*stdDev/(uncertModel_opt[0]*stdDev+uncertObs);
- assert(kalmanGain<=1);
-
estWriteBuffer[icol]=estReadBuffer[modCol]+kalmanGain*(estWriteBuffer[icol]-estReadBuffer[modCol]);
+ double kalmanGain=1;
+ if(!imgReaderModel1.isNoData(estReadBuffer[modCol])){
+ //if model is no-data, retain observation value
+
kalmanGain=uncertModel_opt[0]*stdDev/(uncertModel_opt[0]*stdDev+uncertObs);
+
estWriteBuffer[icol]=estReadBuffer[modCol]+kalmanGain*(estWriteBuffer[icol]-estReadBuffer[modCol]);
+ }
uncertWriteBuffer[icol]=uncertModel_opt[0]*stdDev*(1-kalmanGain);
}
else{
@@ -410,8 +416,10 @@ int main(int argc,char **argv) {
input=outputstream.str();
}
ImgReaderGdal imgReaderEst(input);
+ imgReaderEst.setNoData(obsnodata_opt);
vector<double> obsBuffer;
+ vector<double> modelBuffer;
vector<double> uncertObsBuffer;
vector<double> estReadBuffer;
vector<double> uncertReadBuffer;
@@ -422,6 +430,11 @@ int main(int argc,char **argv) {
assert(irow<imgReaderEst.nrOfRow());
imgReaderEst.readData(estReadBuffer,GDT_Float64,irow,0);
imgReaderEst.readData(uncertReadBuffer,GDT_Float64,irow,1);
+ //read model2 in case current estimate is nodata
+ imgReaderEst.image2geo(0,irow,x,y);
+ imgReaderModel2.geo2image(x,y,modCol,modRow);
+ assert(modRow>=0&&modRow<imgReaderModel2.nrOfRow());
+ imgReaderModel2.readData(modelBuffer,GDT_Float64,modRow,0);
if(update){
imgReaderObs.readData(obsBuffer,GDT_Float64,irow,0);
if(imgReaderObs.nrOfBand()>1)
@@ -429,24 +442,39 @@ int main(int argc,char **argv) {
}
for(int icol=0;icol<imgWriterEst.nrOfCol();++icol){
double estValue=estReadBuffer[icol];
- double uncertValue=uncertReadBuffer[icol];
//time update
- double certNorm=(errMod*errMod+errObs*errObs);
- double certMod=errObs*errObs/certNorm;
- double certObs=errMod*errMod/certNorm;
- double regTime=(c0mod+c1mod*estValue)*certMod;
- double regSensor=(c0obs+c1obs*estValue)*certObs;
- estWriteBuffer[icol]=regTime+regSensor;
- double totalUncertainty=0;
- if(errMod<eps_opt[0])
- totalUncertainty=errObs;
- else if(errObs<eps_opt[0])
- totalUncertainty=errMod;
+ if(imgReaderEst.isNoData(estValue)){
+ //pk: in case we have not found any valid data yet, better here to
take the current model value
+ imgReaderEst.image2geo(icol,irow,x,y);
+ imgReaderModel2.geo2image(x,y,modCol,modRow);
+ assert(modRow>=0&&modRow<imgReaderModel2.nrOfRow());
+ if(imgReaderModel2.isNoData(modelBuffer[modCol])){//if both
estimate and model are no-data, set obs to nodata
+ estWriteBuffer[icol]=obsnodata_opt[0];
+ uncertWriteBuffer[icol]=uncertNodata_opt[0];
+ }
+ else{
+ estWriteBuffer[icol]=modelBuffer[modCol];
+ uncertWriteBuffer[icol]=uncertModel_opt[0]*stdDev;
+ }
+ }
else{
- totalUncertainty=1.0/errMod/errMod+1/errObs/errObs;
- totalUncertainty=sqrt(1.0/totalUncertainty);
+ double certNorm=(errMod*errMod+errObs*errObs);
+ double certMod=errObs*errObs/certNorm;
+ double certObs=errMod*errMod/certNorm;
+ double regTime=(c0mod+c1mod*estValue)*certMod;
+ double regSensor=(c0obs+c1obs*estValue)*certObs;
+ estWriteBuffer[icol]=regTime+regSensor;
+ double totalUncertainty=0;
+ if(errMod<eps_opt[0])
+ totalUncertainty=errObs;
+ else if(errObs<eps_opt[0])
+ totalUncertainty=errMod;
+ else{
+ totalUncertainty=1.0/errMod/errMod+1/errObs/errObs;
+ totalUncertainty=sqrt(1.0/totalUncertainty);
+ }
+ uncertWriteBuffer[icol]=totalUncertainty+uncertReadBuffer[icol];
}
- uncertWriteBuffer[icol]=totalUncertainty+uncertReadBuffer[icol];
//observation update
if(update&&!imgReaderObs.isNoData(obsBuffer[icol])){
double kalmanGain=1;
@@ -537,7 +565,7 @@ int main(int argc,char **argv) {
vector<double> uncertWriteBuffer(ncol);
imgWriterEst.image2geo(0,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
try{
imgReaderModel1.readData(estReadBuffer,GDT_Float64,irow);
//simple nearest neighbor
@@ -565,7 +593,7 @@ int main(int argc,char **argv) {
vector<double> estReadBuffer;
imgWriterEst.image2geo(0,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
imgReaderModel1.readData(estReadBuffer,GDT_Float64,modRow);
vector<double> estWriteBuffer(ncol);
vector<double> uncertWriteBuffer(ncol);
@@ -577,8 +605,11 @@ int main(int argc,char **argv) {
if(imgReaderObs.isNoData(estWriteBuffer[icol])){
imgWriterEst.image2geo(icol,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
- estWriteBuffer[icol]=estReadBuffer[modCol];
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
+ if(imgReaderModel1.isNoData(estReadBuffer[modCol]))//if both obs
and model are no-data, set obs to nodata
+ estWriteBuffer[icol]=obsnodata_opt[0];
+ else
+ estWriteBuffer[icol]=estReadBuffer[modCol];
uncertWriteBuffer[icol]=uncertModel_opt[0]*stdDev;
}
else{
@@ -588,13 +619,16 @@ int main(int argc,char **argv) {
if(uncertModel_opt[0]*stdDev+uncertObs>eps_opt[0]){
imgWriterEst.image2geo(icol,irow,x,y);
imgReaderModel1.geo2image(x,y,modCol,modRow);
- assert(modRow>=0||modRow<imgReaderModel1.nrOfRow());
+ assert(modRow>=0&&modRow<imgReaderModel1.nrOfRow());
// double noemer=uncertObs*uncertObs+stdDev*stdDev;//todo:
multiply stdDev with uncertModel_opt[0]
// estWriteBuffer[icol]*=uncertModel_opt[0]*stdDev*stdDev/noemer;
//
estWriteBuffer[icol]+=uncertModel_opt[0]*uncertObs*uncertObs/noemer;//todo:check!
error?
- double
kalmanGain=uncertModel_opt[0]*stdDev/(uncertModel_opt[0]*stdDev+uncertObs);
- assert(kalmanGain<=1);
-
estWriteBuffer[icol]=estReadBuffer[modCol]+kalmanGain*(estWriteBuffer[icol]-estReadBuffer[modCol]);
+ double kalmanGain=1;
+ if(!imgReaderModel1.isNoData(estReadBuffer[modCol])){
+ //if model is no-data, retain observation value
+
kalmanGain=uncertModel_opt[0]*stdDev/(uncertModel_opt[0]*stdDev+uncertObs);
+
estWriteBuffer[icol]=estReadBuffer[modCol]+kalmanGain*(estWriteBuffer[icol]-estReadBuffer[modCol]);
+ }
uncertWriteBuffer[icol]=uncertModel_opt[0]*stdDev*(1-kalmanGain);
}
else{
@@ -680,8 +714,10 @@ int main(int argc,char **argv) {
input=outputstream.str();
}
ImgReaderGdal imgReaderEst(input);
+ imgReaderEst.setNoData(obsnodata_opt);
vector<double> obsBuffer;
+ vector<double> modelBuffer;
vector<double> uncertObsBuffer;
vector<double> estReadBuffer;
vector<double> uncertReadBuffer;
@@ -692,6 +728,10 @@ int main(int argc,char **argv) {
assert(irow<imgReaderEst.nrOfRow());
imgReaderEst.readData(estReadBuffer,GDT_Float64,irow,0);
imgReaderEst.readData(uncertReadBuffer,GDT_Float64,irow,1);
+ //read model2 in case current estimate is nodata
+ imgReaderEst.image2geo(0,irow,x,y);
+ imgReaderModel2.geo2image(x,y,modCol,modRow);
+ assert(modRow>=0&&modRow<imgReaderModel2.nrOfRow());
if(update){
imgReaderObs.readData(obsBuffer,GDT_Float64,irow,0);
if(imgReaderObs.nrOfBand()>1)
@@ -699,24 +739,39 @@ int main(int argc,char **argv) {
}
for(int icol=0;icol<imgWriterEst.nrOfCol();++icol){
double estValue=estReadBuffer[icol];
- double uncertValue=uncertReadBuffer[icol];
//time update
- double certNorm=(errMod*errMod+errObs*errObs);
- double certMod=errObs*errObs/certNorm;
- double certObs=errMod*errMod/certNorm;
- double regTime=(c0mod+c1mod*estValue)*certMod;
- double regSensor=(c0obs+c1obs*estValue)*certObs;
- estWriteBuffer[icol]=regTime+regSensor;
- double totalUncertainty=0;
- if(errMod<eps_opt[0])
- totalUncertainty=errObs;
- else if(errObs<eps_opt[0])
- totalUncertainty=errObs;
+ if(imgReaderEst.isNoData(estValue)){
+ //pk: in case we have not found any valid data yet, better here to
take the current model value
+ imgReaderEst.image2geo(icol,irow,x,y);
+ imgReaderModel2.geo2image(x,y,modCol,modRow);
+ assert(modRow>=0&&modRow<imgReaderModel2.nrOfRow());
+ if(imgReaderModel2.isNoData(modelBuffer[modCol])){//if both
estimate and model are no-data, set obs to nodata
+ estWriteBuffer[icol]=obsnodata_opt[0];
+ uncertWriteBuffer[icol]=uncertNodata_opt[0];
+ }
+ else{
+ estWriteBuffer[icol]=modelBuffer[modCol];
+ uncertWriteBuffer[icol]=uncertModel_opt[0]*stdDev;
+ }
+ }
else{
- totalUncertainty=1.0/errMod/errMod+1/errObs/errObs;
- totalUncertainty=sqrt(1.0/totalUncertainty);
+ double certNorm=(errMod*errMod+errObs*errObs);
+ double certMod=errObs*errObs/certNorm;
+ double certObs=errMod*errMod/certNorm;
+ double regTime=(c0mod+c1mod*estValue)*certMod;
+ double regSensor=(c0obs+c1obs*estValue)*certObs;
+ estWriteBuffer[icol]=regTime+regSensor;
+ double totalUncertainty=0;
+ if(errMod<eps_opt[0])
+ totalUncertainty=errObs;
+ else if(errObs<eps_opt[0])
+ totalUncertainty=errObs;
+ else{
+ totalUncertainty=1.0/errMod/errMod+1/errObs/errObs;
+ totalUncertainty=sqrt(1.0/totalUncertainty);
+ }
+ uncertWriteBuffer[icol]=totalUncertainty+uncertReadBuffer[icol];
}
- uncertWriteBuffer[icol]=totalUncertainty+uncertReadBuffer[icol];
//observation update
if(update&&!imgReaderObs.isNoData(obsBuffer[icol])){
double kalmanGain=1;
@@ -796,8 +851,9 @@ int main(int argc,char **argv) {
}
ImgReaderGdal imgReaderForward(inputfw);
ImgReaderGdal imgReaderBackward(inputbw);
+ imgReaderForward.setNoData(obsnodata_opt);
+ imgReaderBackward.setNoData(obsnodata_opt);
- vector<double> obsBuffer;
vector<double> estForwardBuffer;
vector<double> estBackwardBuffer;
vector<double> uncertObsBuffer;
@@ -832,7 +888,7 @@ int main(int argc,char **argv) {
imgReaderBackward.readData(uncertBackwardBuffer,GDT_Float64,irow,1);
if(update){
- imgReaderObs.readData(obsBuffer,GDT_Float64,irow,0);
+ imgReaderObs.readData(estWriteBuffer,GDT_Float64,irow,0);
if(imgReaderObs.nrOfBand()>1)
imgReaderObs.readData(uncertObsBuffer,GDT_Float64,irow,1);
}
@@ -844,33 +900,47 @@ int main(int argc,char **argv) {
double D=uncertBackwardBuffer[icol]*uncertBackwardBuffer[icol];
double uncertObs=uncertObs_opt[0];
- if(update){//check for nodata in observation
- if(imgReaderObs.isNoData(estWriteBuffer[icol]))
- uncertObs=uncertNodata_opt[0];
- else if(uncertObsBuffer.size()>icol)
- uncertObs=uncertObsBuffer[icol];
- }
+ // if(update){//check for nodata in observation
+ // if(imgReaderObs.isNoData(estWriteBuffer[icol]))
+ // uncertObs=uncertNodata_opt[0];
+ // else if(uncertObsBuffer.size()>icol)
+ // uncertObs=uncertObsBuffer[icol];
+ // }
double noemer=(C+D);
//todo: consistently check for division by zero...
- if(noemer<eps_opt[0]){//simple average if both uncertainties are ~>0
- estWriteBuffer[icol]=0.5*(A+B);
- uncertWriteBuffer[icol]=uncertObs;
+ if(imgReaderForward.isNoData(A)&&imgReaderBackward.isNoData(B)){
+ estWriteBuffer[icol]=obsnodata_opt[0];
+ uncertWriteBuffer[icol]=uncertNodata_opt[0];
+ }
+ else if(imgReaderForward.isNoData(A)){
+ estWriteBuffer[icol]=B;
+ uncertWriteBuffer[icol]=uncertBackwardBuffer[icol];
+ }
+ else if(imgReaderForward.isNoData(B)){
+ estWriteBuffer[icol]=A;
+ uncertWriteBuffer[icol]=uncertForwardBuffer[icol];
}
else{
- estWriteBuffer[icol]=(A*D+B*C)/noemer;
- double P=0;
- if(C>eps_opt[0])
- P+=1.0/C;
- if(D>eps_opt[0])
- P+=1.0/D;
- if(uncertObs*uncertObs>eps_opt[0])
- P-=1.0/uncertObs/uncertObs;
- if(P>eps_opt[0])
- P=sqrt(1.0/P);
- else
- P=0;
- uncertWriteBuffer[icol]=P;
+ if(noemer<eps_opt[0]){//simple average if both uncertainties are ~>0
+ estWriteBuffer[icol]=0.5*(A+B);
+ uncertWriteBuffer[icol]=uncertObs;
+ }
+ else{
+ estWriteBuffer[icol]=(A*D+B*C)/noemer;
+ double P=0;
+ if(C>eps_opt[0])
+ P+=1.0/C;
+ if(D>eps_opt[0])
+ P+=1.0/D;
+ if(uncertObs*uncertObs>eps_opt[0])
+ P-=1.0/uncertObs/uncertObs;
+ if(P>eps_opt[0])
+ P=sqrt(1.0/P);
+ else
+ P=0;
+ uncertWriteBuffer[icol]=P;
+ }
}
}
imgWriterEst.writeData(estWriteBuffer,GDT_Float64,irow,0);
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