def estimate_Kriging(self,p,coord): ##
Pow=self.SensorPowers
Pos=self.get_sensor_locations()
A, B= generate_matrices(p, self.PairwiseDist, Pos, coord)
W = solve(A, B)
W=W[0:Pow.shape[1],0].T
Pow_est = np.sum(np.sum(W*Pow))
return Pow_est
def estimate_map(Prx, Locations):
Pow = Prx
tdist, tmean = find_pairwise_distance(Locations)
Dist = tdist
## pbp method
rij = np.zeros((Pow.shape[1], Pow.shape[1]))
for i in range(0, Pow.shape[1]):
rij[i, :] = 0.5 * (Pow[0, i] - Pow) * (Pow[0, i] - Pow)
dij = Dist
# # calculate variogram directly
dd=dij.reshape(1,Pow.shape[1]*Pow.shape[1])
semi=rij.reshape(1,Pow.shape[1]*Pow.shape[1])
Bin_bound = dd[0]
Variogram = semi[0]
# ### bin method
# VarResolution = 1
# rang = Range
# MaxDist = get_distance(np.array([rang[0], rang[2]]), np.array([rang[1], rang[3]]))
# bins = np.arange(0, MaxDist + VarResolution, VarResolution) + VarResolution
# Pow = Pow
# Variogram, Bin_bound = find_variogram(Dist, Pow, bins)
# get coefficients for the Gaussian model
#, bounds=([0,0,0],[np.inf,np.inf,np.inf]),method='trf'
pg1, pg2, pg3 = opt.curve_fit(Exponent_modul, Bin_bound, Variogram, bounds=([0,0,0],[np.inf,np.inf,np.inf]),method='trf')[0]#bounds=([-np.inf,0,-np.inf,], [np.inf,np.inf,np.inf])
#pg1, pg2, pg3 = opt.curve_fit(Spherical_modul, Bin_bound, Variogram)[0]
p = [pg1, pg2, pg3]
rang = PixelRange
# to get the estimated map
img = np.zeros((int(rang[1]) - int(rang[0]) + 1, int(rang[3]) - int(rang[2]) + 1))
for i in range(0, img.shape[0]):
tx = rang[0] + i
for j in range(0, img.shape[1]):
ty = rang[2] + j
pxcoord = np.array([tx, ty])
coord = pixel2coord(pxcoord)
# Kriging_method
# Pow = Prx
Pos = Locations
A, B = generate_matrices(p, Dist, Pos, coord)
W = solve(A, B)
W = W[0:Pow.shape[1], 0].T
# print(np.sum(np.sum(W)))
Pow_est = np.sum(np.sum(W * Pow))
img[i, j] = Pow_est
Img = img
return Img
def estimate_map_nearst_method(self, N): # for each point, use nearst N sensors
self.update_sensor_powers()
Pos = self.get_sensor_locations()
Pow = self.SensorPowers
rang = self.Clust.PixelRange
img = np.zeros((int(rang[1]) - int(rang[0]) + 1, int(rang[3]) - int(rang[2]) + 1))
for i in range(0, img.shape[0]):
tx = rang[0] + i
for j in range(0, img.shape[1]):
ty = rang[2] + j
pxcoord = np.array([tx, ty])
coord = pixel2coord(pxcoord)
sen_dis = []
flag=0
for ii in range(0, Pos.shape[0]):
dis = get_distance(coord, Pos[ii, :])
sen_dis.append(dis)
sen_dis = np.array(sen_dis)
num = np.argsort(sen_dis)
pos = np.zeros((N, 2))
pow = np.zeros((1, N))
for kk in range(0, N):
pos[kk, :] = Pos[num[kk], :]
pow[0, kk] = Pow[0, num[kk]]
dij, tmean = find_pairwise_distance(pos)
rij = np.zeros((pow.shape[1], pow.shape[1]))
for k in range(0, pow.shape[1]):
rij[k, :] = 0.5 * (pow[0, k] - pow) * (pow[0, k] - pow)
# # calculate variogram directly
dd = dij.reshape(1, pow.shape[1] * pow.shape[1])
semi = rij.reshape(1, pow.shape[1] * pow.shape[1])
Bin_bound = dd[0]
Variogram = semi[0]
pg1, pg2, pg3 = \
opt.curve_fit(Exponent_modul, Bin_bound, Variogram, bounds=([0, 0, 0], [np.inf, np.inf, np.inf]),
method='trf')[0]
#pg1, pg2, pg3 = opt.curve_fit(Spherical_modul, Bin_bound, Variogram)[0]
p = [pg1, pg2, pg3]
A, B = generate_matrices(p, dij, pos, coord)
W = solve(A, B)
W = W[0:pow.shape[1], 0].T
img[i, j] = sum(sum(W * pow))
self.Img = img
def estimate_map_nearst_method(self, N): # for each point, use nearst N sensors
self.update_sensor_powers()
Pos = self.get_sensor_locations()
Pow = self.SensorPowers
rang = self.Clust.PixelRange
img = np.zeros((int(rang[1]) - int(rang[0]) + 1, int(rang[3]) - int(rang[2]) + 1))
for i in range(0, img.shape[0]):
tx = rang[0] + i
for j in range(0, img.shape[1]):
ty = rang[2] + j
pxcoord = np.array([tx, ty])
coord = pixel2coord(pxcoord)
sen_dis = []
flag=0
for ii in range(0, Pos.shape[0]):
dis = get_distance(coord, Pos[ii, :])
# if dis==0:
# flag=1
# img[i,j]=Pow[0,ii]
# break
#if dis==0:
# dis=0.00000000001
sen_dis.append(dis)
# if flag==1:
# continue
# sen_dis = np.array(sen_dis)
# sen_dis1 = np.sort(sen_dis)
# pos = np.zeros((N, 2))
# pow = np.zeros((1, N))
#
# for jj in range(0, N):
# lo = np.argwhere(sen_dis == sen_dis1[jj])[0][0]
# #print(pos)
# pos[jj,:] = Pos[lo,:]
#
# pow[0,jj] = Pow[0,lo]
# tdist, tmean = find_pairwise_distance(pos)
# dij = tdist
sen_dis = np.array(sen_dis)
num = np.argsort(sen_dis)
pos = np.zeros((N, 2))
pow = np.zeros((1, N))
for kk in range(0, N):
pos[kk, :] = Pos[num[kk], :]
pow[0, kk] = Pow[0, num[kk]]
dij, tmean = find_pairwise_distance(pos)
rij = np.zeros((pow.shape[1], pow.shape[1]))
for k in range(0, pow.shape[1]):
rij[k, :] = 0.5 * (pow[0, k] - pow) * (pow[0, k] - pow)
# #
# dd = []
# semi = []
# for n in range(0, dij.shape[0]):
# for m in range(0, dij.shape[1]):
# if n == m:
# continue
# else:
# lo = np.argwhere(dij == dij[n, m])
# dd.append(dij[n, m])
# se = []
# for l in range(0, lo.shape[0]):
# se.append(rij[lo[l, 0], lo[l, 1]])
# semi.append(np.sum(se) / lo.shape[0])
# Bin_bound = dd
# Variogram = semi
# # calculate variogram directly
dd = dij.reshape(1, pow.shape[1] * pow.shape[1])
semi = rij.reshape(1, pow.shape[1] * pow.shape[1])
Bin_bound = dd[0]
Variogram = semi[0]
pg1, pg2, pg3 = \
opt.curve_fit(Exponent_modul, Bin_bound, Variogram, bounds=([0, 0, 0], [np.inf, np.inf, np.inf]),
method='trf')[0]
#pg1, pg2, pg3 = opt.curve_fit(Spherical_modul, Bin_bound, Variogram)[0]
p = [pg1, pg2, pg3]
A, B = generate_matrices(p, dij, pos, coord)
W = solve(A, B)
W = W[0:pow.shape[1], 0].T
img[i, j] = sum(sum(W * pow))
self.Img = img
def estimate_map(Prx, Dist, Locations, method,vari):
Pow = Prx
if vari=='pbp':
rij = np.zeros((Pow.shape[1], Pow.shape[1]))
for i in range(0, Pow.shape[1]):
rij[i, :] = 0.5 * (Pow[0, i] - Pow) * (Pow[0, i] - Pow)
dij = Dist
dd = []
semi = []
for n in range(0, dij.shape[0]):
for m in range(0, dij.shape[1]):
if n == m:
continue
else:
lo = np.argwhere(dij == dij[n, m])
dd.append(dij[n, m])
se = []
for l in range(0, lo.shape[0]):
se.append(rij[lo[l, 0], lo[l, 1]])
semi.append(np.sum(se) / lo.shape[0])
# Bin_bound = np.sort(dd)
# Variogram = np.sort(semi)
Bin_bound = dd
Variogram = semi
elif vari=='bin':
VarResolution = 1
rang = Range
MaxDist = get_distance(np.array([rang[0], rang[2]]), np.array([rang[1], rang[3]]))
bins = np.arange(0, MaxDist + VarResolution, VarResolution) + VarResolution
Pow = Pow
Variogram, Bin_bound = find_variogram(Dist, Pow, bins)
# plt.figure(30)
# plt.plot(Bin_bound, Variogram, 'b.-')
pg1, pg2, pg3 = opt.curve_fit(Gaussian_modul, Bin_bound, Variogram)[0]
# pg1, pg2, pg3 = opt.curve_fit(Spherical_modul, Bin_bound, Variogram)[0]
p = [pg1, pg2, pg3]
rang = PixelRange
img = np.zeros((int(rang[1]) - int(rang[0]) + 1, int(rang[3]) - int(rang[2]) + 1))
for i in range(0, img.shape[0]):
tx = rang[0] + i
for j in range(0, img.shape[1]):
ty = rang[2] + j
pxcoord = np.array([tx, ty])
coord = pixel2coord(pxcoord)
if method == 'kriging':
# Kriging_method
# Pow = Prx
Pos = Locations
A, B = generate_matrices(p, Dist, Pos, coord)
W = solve(A, B)
W = W[0:Pow.shape[1], 0].T
Pow_est = sum(sum(W * Pow))
img[i, j] = Pow_est
elif method == 'shepard':
Pos = Locations
PowerFactor = 2
flag = 1
n = Pow.shape[1]
W = np.zeros((1, n))
for nn in range(0, n):
td = get_distance(Pos[nn, :], coord)
if td == 0:
flag = 0
Pow_est = Pow[0, nn]
break
W[0, nn] = 1 / (td ** PowerFactor)
if flag == 1:
Pow_est = sum(sum(W * Pow)) / sum(sum(W))
img[i, j] = Pow_est
elif method == 'neighbour':
Pos = Locations
Pow = Prx
grid_z0 = griddata(Pos, Pow.T, coord, method='nearest')
# grid_z0 = naturalneighbor.griddata(Pos, Pow.T, coord)
img[i, j] = grid_z0
Img = img
return Img
def estimate_map(Prx, Dist, Locations, method, vari):
Pow = Prx
if vari == 'pbp':
rij = np.zeros((Pow.shape[1], Pow.shape[1]))
for i in range(0, Pow.shape[1]):
rij[i, :] = 0.5 * (Pow[0, i] - Pow) * (Pow[0, i] - Pow)
dij = Dist
# # # calculate mean-value of variogram that under same distance
# dd = []
# semi = []
# for n in range(0, dij.shape[0]):
# for m in range(0, dij.shape[1]):
# if n == m:
# continue
# else:
# lo = np.argwhere(dij == dij[n, m])
#
# dd.append(dij[n, m])
# se = []
# for l in range(0, lo.shape[0]):
# se.append(rij[lo[l, 0], lo[l, 1]])
#
# semi.append(np.sum(se) / lo.shape[0])
# Bin_bound=dd
# Variogram=semi
# # calculate variogram directly
dd = dij.reshape(1, Pow.shape[1] * Pow.shape[1])
semi = rij.reshape(1, Pow.shape[1] * Pow.shape[1])
Bin_bound = dd[0]
Variogram = semi[0]
plt.figure(30)
plt.plot(Bin_bound, Variogram, 'b.-')
plt.xlabel('distance/m')
plt.ylabel('semivariogram')
plt.title('equal space method')
plt.show()
elif vari == 'bin':
VarResolution = 1
rang = Range
MaxDist = get_distance(np.array([rang[0], rang[2]]),
np.array([rang[1], rang[3]]))
bins = np.arange(0, MaxDist + VarResolution,
VarResolution) + VarResolution
Pow = Pow
Variogram, Bin_bound = find_variogram(Dist, Pow, bins)
plt.figure(30)
plt.plot(Bin_bound, Variogram, 'b.-')
plt.xlabel('distance/m')
plt.ylabel('semivariogram')
plt.title('equal space method')
plt.show()
# sometimes the last value of Variogram is smaller than the first one.
# Then it can't fit'RuntimeError: Optimal parameters not found:
# The maximum number of function evaluations is exceeded.'
# if Variogram[len(Variogram)-1]<Variogram[0]:
# print(Variogram)
# print(Bin_bound)
# Variogram=Variogram[0:len(Variogram)-1]
# Bin_bound=Bin_bound[0:len(Bin_bound)-1]
pg1, pg2, pg3 = opt.curve_fit(
Exponent_modul,
Bin_bound,
Variogram,
bounds=([0, 0, 0], [np.inf, np.inf, np.inf]),
method='trf')[
0] #bounds=([-np.inf,0,-np.inf,], [np.inf,np.inf,np.inf])
#pg1, pg2, pg3 = opt.curve_fit(Spherical_modul, Bin_bound, Variogram)[0]
#pg1, pg2, pg3 = opt.curve_fit(Exponent_modul, Bin_bound, Variogram)[0]
p = [pg1, pg2, pg3]
#print(p)
rang = PixelRange
img = np.zeros(
(int(rang[1]) - int(rang[0]) + 1, int(rang[3]) - int(rang[2]) + 1))
for i in range(0, img.shape[0]):
tx = rang[0] + i
for j in range(0, img.shape[1]):
ty = rang[2] + j
pxcoord = np.array([tx, ty])
coord = pixel2coord(pxcoord)
if method == 'kriging':
# Kriging_method
# Pow = Prx
Pos = Locations
A, B = generate_matrices(p, Dist, Pos, coord)
W = np.linalg.solve(A, B)
W = W[0:Pow.shape[1], 0].T
Pow_est = sum(sum(W * Pow))
img[i, j] = Pow_est
elif method == 'shepard':
Pos = Locations
PowerFactor = 2
flag = 1
n = Pow.shape[1]
W = np.zeros((1, n))
for nn in range(0, n):
td = get_distance(Pos[nn, :], coord)
if td == 0:
flag = 0
Pow_est = Pow[0, nn]
break
W[0, nn] = 1 / (td**PowerFactor)
if flag == 1:
Pow_est = sum(sum(W * Pow)) / sum(sum(W))
img[i, j] = Pow_est
elif method == 'neighbour':
Pos = Locations
Pow = Prx
grid_z0 = griddata(Pos, Pow.T, coord, method='nearest')
# grid_z0 = naturalneighbor.griddata(Pos, Pow.T, coord)
img[i, j] = grid_z0
Img = img
return Img
def estimate_map_nearst_method(
N, Locations, Prx, PixelRange): # for each point, use nearst N sensors
Pos = Locations
flag = 0
Pow = Prx
rang = PixelRange
img = np.zeros(
(int(rang[1]) - int(rang[0]) + 1, int(rang[3]) - int(rang[2]) + 1))
for i in range(0, img.shape[0]):
tx = rang[0] + i
for j in range(0, img.shape[1]):
ty = rang[2] + j
pxcoord = np.array([tx, ty])
coord = pixel2coord(pxcoord)
sen_dis = []
for ii in range(0, Pos.shape[0]):
dis = get_distance(coord, Pos[ii, :])
# if dis==0:
# flag=1
# img[i,j]=Pow[0,ii]
# break
# if dis==0:
# dis=0.00000000001
sen_dis.append(dis)
# if flag==1:
# continue
sen_dis = np.array(sen_dis)
num = np.argsort(sen_dis)
pos = np.zeros((N, 2))
pow = np.zeros((1, N))
for kk in range(0, N):
pos[kk, :] = Pos[num[kk], :]
pow[0, kk] = Pow[0, num[kk]]
dij, tmean = find_pairwise_distance(pos)
rij = np.zeros((pow.shape[1], pow.shape[1]))
for k in range(0, pow.shape[1]):
rij[k, :] = 0.5 * (pow[0, k] - pow) * (pow[0, k] - pow)
# # # calculate mean-value of variogram that under same distance
# dd = []
# semi = []
# for n in range(0, dij.shape[0]):
# for m in range(0, dij.shape[1]):
# if n == m:
# continue
# else:
# lo = np.argwhere(dij == dij[n, m])
# dd.append(dij[n, m])
# se = []
# for l in range(0, lo.shape[0]):
# se.append(rij[lo[l, 0], lo[l, 1]])
# semi.append(np.sum(se) / lo.shape[0])
# Bin_bound = dd
# Variogram = semi
# # calculate variogram directly
dd = dij.reshape(1, pow.shape[1] * pow.shape[1])
semi = rij.reshape(1, pow.shape[1] * pow.shape[1])
Bin_bound = dd[0]
Variogram = semi[0]
###########
# if Variogram[len(Variogram) - 1] < Variogram[0]:
# Variogram = Variogram[0:len(Variogram) - 1]
# Bin_bound = Bin_bound[0:len(Bin_bound) - 1]
###########
pg1, pg2, pg3 = opt.curve_fit(Exponent_modul,
Bin_bound,
Variogram,
bounds=([0, 0, 0],
[np.inf, np.inf, np.inf]),
method='trf')[0]
# pg1, pg2, pg3 = opt.curve_fit(Spherical_modul, Bin_bound, Variogram)[0]
p = [pg1, pg2, pg3]
A, B = generate_matrices(p, dij, pos, coord)
W = solve(A, B)
W = W[0:pow.shape[1], 0].T
img[i, j] = sum(sum(W * pow))
return img