knitr::opts_chunk$set(echo = TRUE, collapse = TRUE, dev = "png") suppressPackageStartupMessages(library(dplyr)) EVAL = suppressWarnings(require(starsdata, quietly = TRUE))
We will first fix the random number seed, to get identical results for procedures that involve random sampling. Remove this command if you want the random effect in outcomes.
set.seed(131)
The usual way of statistical modelling in R uses data.frame
s (or tibbles), and proceeds like
m = model(formula, data) pr = predict(m, newdata)
where model
is a function like lm
, glm
, randomForest
etc. that returns a classed object, such that the predict
generic can choose the right prediction function based on that class. formula
looks like y ~ x1+x2
and specifies the dependent variable (y
) and predictors (x1
, x2
), which are found as columns in data
. newdata
needs to have the predictors in its columns, and returns the predicted values for y
at these values for predictors.
The analogy of stars objects to data.frame
is this:
To see how this works with the 6-band example dataset, consider this:
library(stars) l7 = system.file("tif/L7_ETMs.tif", package = "stars") %>% read_stars() l7 as.data.frame(l7) %>% head()
We see that we get one single variable with the object (array) name, and
added columns with the dimension values (x, y, band). In a typical case, we
would like to have the six bands distributed over six variables, and have
a single observation (row) for each x/y pair.
For this, we could use e.g. utils::unstack
or dplyr::pivot_wider
on this data.frame, but
a more efficient way is to use the dedicated split
method for stars
objects,
which resolves a dimension and splits it over attributes, one for each dimension value:
l7 %>% split("band") %>% as.data.frame() %>% head()
The reason that split
is more efficient than the mentioned alternatives is that (i) split
does not have to match records based on dimensions (x/y), and (ii) it works for out-of-memory (stars_proxy) arrays, in the chunked process/write loop of write_stars()
.
stars
objectsThe pattern to obtain predictions for all pixels of a stars
objects is:
as.data.frame()
(possibly after a split
)predict(star_object, model)
to predict for all pixels of stars_object
, using the stars-wrapper of the predict
method for model
.predict
method for model
, provide one (see the kmeans
example below)This works both for stars
objects (in-memory) as stars_proxy
objects (out-of memory). For plotting stars_proxy
objects, downsampling is done before prediction (predicting only the pixels that are shown), full rasters can be written to disk with write_stars()
, which will carry out predictions on chunks being read and written.
We can run models in many different ways on array data. One way is to run a single model to all pixels, where the model operates e.g. on the spectral (band) or temporal dimension. An example was given in vignette 2, where NDVI was computed from the red and near infrared band. NDVI does not involve estimating parameters, but reducing two bands to one.
An example where we fit a model to every pixel would be fit a time series model to each pixel time series, and output one or more model coefficients for each pixel; this is shown next.
We can read in the avhrr dataset, containing only 9 days:
library(stars) x = c("avhrr-only-v2.19810901.nc", "avhrr-only-v2.19810902.nc", "avhrr-only-v2.19810903.nc", "avhrr-only-v2.19810904.nc", "avhrr-only-v2.19810905.nc", "avhrr-only-v2.19810906.nc", "avhrr-only-v2.19810907.nc", "avhrr-only-v2.19810908.nc", "avhrr-only-v2.19810909.nc") file_list = system.file(paste0("netcdf/", x), package = "starsdata") y = read_stars(file_list, sub = "sst", quiet = TRUE, proxy = TRUE) (t = st_get_dimension_values(y, 4))
We will use a function that computes the slope of the regression
line for temperature with time. We get temperatures as a vector in
the first argument of the function supplied to st_apply
, and have
t
already defined. The function could look like
slope = function(x) { if (any(is.na(x))) NA_real_ else coeffients(lm(x~t))[2] }
but we will optimize this a bit, using anyNA
and lm.fit
rather than lm
:
slope = function(x) { if (anyNA(x)) NA_real_ else lm.fit(cbind(1, t), x)$coefficients[2] }
The result is lazily defined by (adrop
drops the singular dimension)
out = st_apply(adrop(y), c(1,2), slope)
but only computed by the following command, where the computations are restricted to the pixels plotted:
plot(out, breaks = "equal", main = "9-day time trend (slope)")
An interesting pattern appears (despite the very short time series!): where SST reveals a main signal of colder when getting further from the equator, changes in SST show much more fine grained structures of areas going up, and others going down. A diverging color ramp would be a better choice here, to distinguish positive from negative trends.
In the first example, we build principal components on the entire dataset, because it is rather small.
tif = system.file("tif/L7_ETMs.tif", package = "stars") r = split(read_stars(tif)) pc = prcomp(as.data.frame(r)[,-(1:2)]) # based on all data out = predict(r, pc) plot(merge(out), breaks = "equal", join_zlim = FALSE)
We see, amongst others, that PC1 picks up the difference between sea (dark) and land, and PC2 and 3 structures in sea and coastal waters.
In the second example, we build principal components from a sample
of the entire dataset, because the entire dataset is rather large.
We apply it, using predict
, to pixels shown in the plot (i.e. at
reduced rather than full resolution)
granule = system.file("sentinel/S2A_MSIL1C_20180220T105051_N0206_R051_T32ULE_20180221T134037.zip", package = "starsdata") s2 = paste0("SENTINEL2_L1C:/vsizip/", granule, "/S2A_MSIL1C_20180220T105051_N0206_R051_T32ULE_20180221T134037.SAFE/MTD_MSIL1C.xml:10m:EPSG_32632") p = read_stars(s2, proxy = TRUE, NA_value = 0) %>% split() r = st_sample(p, 1000) pc = prcomp(na.omit(as.data.frame(r))[,-(1:2)]) # based on all data out = predict(p, pc)
Before plotting this, we'll add country borders that delineate sea, obtained from the mapdata
package:
bb = st_bbox(p) %>% st_as_sfc() %>% st_transform(4326) %>% st_bbox() library(maps) library(mapdata) m = map("worldHires", xlim = bb[c(1,3)], ylim = bb[c(2,4)], plot=F,fill=TRUE) %>% st_as_sfc() %>% st_transform(st_crs(r))
We plot the results with independent color ranges, so every PC is stretched over the entire grey scale.
plt_boundary = function() plot(m, border = 'orange', add = TRUE) plot(merge(out), hook = plt_boundary, join_zlim = FALSE)
This suggests that PC1 picks up the difference cloud signal (difference between clouds and non-clouds), PC2 the difference between sea and land areas, and PC4 some sensor artefacts (striping in swath direction).
To compute full resolution (10000 x 10000 pixels) results and write them to a file, use
write_stars(merge(out), "out.tif")
library(clue) predict.kmeans = function(object, newdata, ...) { unclass(clue::cl_predict(object, newdata[, -c(1:2)], ...)) }
For a small dataset:
tif = system.file("tif/L7_ETMs.tif", package = "stars") i = read_stars(tif, proxy = TRUE) %>% split() nclus = 5 sam = st_sample(i, 1000) k = kmeans(na.omit(as.data.frame(sam)[, -c(1:2)]), nclus) out = predict(i, k) plot(out, col = sf.colors(nclus, categorical=TRUE))
This seems to pick up a fair number of land cover classes: water (5), rural (3), and densely populated (1, 2).
For the large(r) dataset:
i = read_stars(s2, proxy = TRUE, NA_value = 0) %>% split() sam = st_sample(i, 1000) k = kmeans(na.omit(as.data.frame(sam)[, -c(1:2)]), nclus) out = predict(i, k) plot(out, col = sf.colors(nclus, categorical=TRUE), reset = FALSE) plot(m, add = TRUE)
we see that class 1 and 3 identify with the unclouded area, 3 with land, the other classes seem to mainly catch aspects of the cloud signal.
The following example is purely for educational purposes; the classified "land use" is just a rough approximation from what seems to be easily visible on the image: sea, land, and areas with both but partially covered by clouds. We opted therefore for four classes: sea, land, clouds over sea, clouds over land.
We have polygon areas where the land use was classified, residing in a GeoPackage file. (This file was created using QGIS, using the instructions found here.)
# for all, multi-resolution, use: bands = c("B04", "B03", "B02", "B08", "B01", "B05", "B06", "B07", "B8A", "B09", "B10", "B11", "B12") # bands = c("B04", "B03", "B02", "B08") s2 = paste0("/vsizip/", granule, "/S2A_MSIL1C_20180220T105051_N0206_R051_T32ULE_20180221T134037.SAFE/GRANULE/L1C_T32ULE_A013919_20180220T105539/IMG_DATA/T32ULE_20180220T105051_", bands, ".jp2") r = read_stars(s2, proxy = TRUE, NA_value = 0) %>% setNames(bands) cl = read_sf(system.file("gpkg/s2.gpkg", package = "stars")) %>% st_transform(st_crs(r)) plot(r, reset = FALSE) plot(cl, add = TRUE) plot(m, add = TRUE, border = 'orange')
Next, we need points, sampled inside these polygons, for which we need to extract the satellite spectral data
pts = st_sample(cl, 1000, "regular") %>% st_as_sf() %>% st_intersection(cl) train = st_extract(r, pts) train$use = as.factor(pts$use) # no need for join, since the order did not change train
library(randomForest) train = as.data.frame(train) train$x = NULL # remove geometry rf = randomForest(use ~ ., train) # ~ . : use all other attributes pr = predict(r, rf) plot(pr, reset = FALSE, key.pos = 1) # add country outline: plot(m, add = TRUE)
This comes with the rather trivial finding that land and sea can be well predicted when there are no clouds, and the less trivial finding that they can be reasonably distinguished through patchy clouds of this kind. Note that predictions of this kind are pure pixel-based: for each prediction only the spectral bands for this pixel are considered, not for instance of any neighboring pixels.
Some machine learning models support multithreading by default (e.g., ranger
and xgboost
), but this is not the rule.
R is single-threaded, but using appropriate packages we can easily parallelize the calculations, which will reduce the data processing time.
An example tutorial showing step-by-step unsupervised classification using multithreading can be found on the R-Spatial blog.
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