Package 'Xcertainty' reference manual

Title:	Estimating Lengths and Uncertainty from Photogrammetric Imagery
Description:	Implementation of Bayesian models for estimating object lengths and morphological relationships between object lengths using photographic data collected from drones. The Bayesian model is described in "Bayesian approach for predicting photogrammetric uncertainty in morphometric measurements derived from drones" (Bierlich et al., 2021, <doi:10.3354/meps13814>).
Authors:	Joshua Hewitt [aut], K.C. Bierlich [aut, cre], Enrico Pirotta [aut]
Maintainer:	K.C. Bierlich <[email protected]>
License:	MIT + file LICENSE
Version:	1.0.1
Built:	2025-02-26 05:32:11 UTC
Source:	https://github.com/mmi-codex/xcertainty

Compute body condition metrics for a set of measurements

Description

Function that post-processes posterior samples from a sampler, such as independent_length_sampler().

Usage

body_condition(
  data,
  output,
  length_name,
  width_names,
  width_increments,
  summary.burn = 0.5,
  height_ratios = rep(1, length(width_names)),
  metric = c("surface_area", "body_area_index", "body_volume", "standardized_widths")
)
body_condition(
  data,
  output,
  length_name,
  width_names,
  width_increments,
  summary.burn = 0.5,
  height_ratios = rep(1, length(width_names)),
  metric = c("surface_area", "body_area_index", "body_volume", "standardized_widths")
)

Arguments

`data`	The output from parse_observations
`output`	The return object from a sampler
`length_name`	The name of the total-length measurement in the dataset
`width_names`	Character vector with the names of the width measurements in the dataset
`width_increments`	Numeric vector indicating which perpendicular width segment each `width_names` entry corresponds to, reported as a percentage along an animal's total length (i.e., `5` for "5%", etc.)
`summary.burn`	proportion of posterior samples to discard before computing posterior summary statistics
`height_ratios`	numeric vector used to compute `'body_volume'` metric. the `'body_volume'` metric assumes the animal's height at a `width_increment` is the measured width (estimate) times the corresponding entry in `height_ratios`. By default, all `height_ratios` are assumed to equal 1, which reflects a default assumption that an animal's vertical cross sections are circular rather than elliptical.
`metric`	Character vector of the body condition metrics to compute

Value

outputs a list with five elements:

surface_area: a list containing the surface area samples and summaries for each Subject
body_area_index: a list containing the body area index samples and summaries for each Subject
body_volume: a list containing the body volume samples and summaries for each Subject
standardized_widths: a list containing the standardized width samples and summaries for each Subject
summaries: a list for each body condition metric containing summaries for each Subject

Examples

library(stringr)
library(dplyr)

#
# parse data for Xcertainty
#

data("calibration2")
data("body_condition_measurements")

body_condition_measurements <- body_condition_measurements %>% 
  select(!c(TL.10.0..Width, TL.15.0..Width, TL.5.0..Width, TL.90.0..Width,
            TL.95.0..Width))

# parse calibration study
calibration_data = parse_observations(
  x = calibration2, 
  subject_col = 'L_train',
  meas_col = 'RRR.pix', 
  tlen_col = 'L_train', 
  image_col = 'Images', 
  barometer_col = 'Baro...Ht',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal.length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'Aircraft'
)

# identify the width columns in the dataset
width_names = grep(
  pattern = 'TL\\..*', 
  x = colnames(body_condition_measurements),
  value = TRUE
)

# parse whale data
whale_data = parse_observations(
  x = body_condition_measurements, #[1:5,], 
  subject_col = 'Animal_ID', 
  meas_col = c('TL', width_names), 
  image_col = 'Image', 
  barometer_col = 'BaroAlt',
  laser_col = 'LaserAlt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw', 
  uas_col = 'Aircraft', 
  alt_conversion_col = 'BaroAlt'
)

#
# fit a basic model or load model output
# 

if(interactive()) {
  
  # build sampler
  sampler = independent_length_sampler(
    data = combine_observations(calibration_data, whale_data),
    priors = list(
      image_altitude = c(min = 0.1, max = 130),
      altimeter_bias = rbind(
        data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
        data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
      ),
      altimeter_variance = rbind(
        data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
        data.frame(altimeter = 'Laser', shape = .01, rate = .01)
      ),
      altimeter_scaling = rbind(
        data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
        data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
      ),
      pixel_variance = c(shape = .01, rate = .01),
      object_lengths = c(min = .01, max = 20)
    )
  )
  
  # run sampler
  body_condition_measurement_estimates = sampler(niter = 1e4, thin = 100)
  
} else {
  data("body_condition_measurement_estimates")
}


#
# post-process data
#

# enumerate the width locations along the animal's length
width_increments = as.numeric(
  str_extract(
    string = width_names, 
    pattern = '[0-9]+'
  )
)

# compute body condition scores
body_condition_output = body_condition(
  data = whale_data, 
  output = body_condition_measurement_estimates,
  length_name = 'TL',
  width_names = width_names,
  width_increments = width_increments,
  summary.burn = .5
)


body_condition_output$summaries
library(stringr)
library(dplyr)

#
# parse data for Xcertainty
#

data("calibration2")
data("body_condition_measurements")

body_condition_measurements <- body_condition_measurements %>% 
  select(!c(TL.10.0..Width, TL.15.0..Width, TL.5.0..Width, TL.90.0..Width,
            TL.95.0..Width))

# parse calibration study
calibration_data = parse_observations(
  x = calibration2, 
  subject_col = 'L_train',
  meas_col = 'RRR.pix', 
  tlen_col = 'L_train', 
  image_col = 'Images', 
  barometer_col = 'Baro...Ht',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal.length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'Aircraft'
)

# identify the width columns in the dataset
width_names = grep(
  pattern = 'TL\\..*', 
  x = colnames(body_condition_measurements),
  value = TRUE
)

# parse whale data
whale_data = parse_observations(
  x = body_condition_measurements, #[1:5,], 
  subject_col = 'Animal_ID', 
  meas_col = c('TL', width_names), 
  image_col = 'Image', 
  barometer_col = 'BaroAlt',
  laser_col = 'LaserAlt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw', 
  uas_col = 'Aircraft', 
  alt_conversion_col = 'BaroAlt'
)

#
# fit a basic model or load model output
# 

if(interactive()) {
  
  # build sampler
  sampler = independent_length_sampler(
    data = combine_observations(calibration_data, whale_data),
    priors = list(
      image_altitude = c(min = 0.1, max = 130),
      altimeter_bias = rbind(
        data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
        data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
      ),
      altimeter_variance = rbind(
        data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
        data.frame(altimeter = 'Laser', shape = .01, rate = .01)
      ),
      altimeter_scaling = rbind(
        data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
        data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
      ),
      pixel_variance = c(shape = .01, rate = .01),
      object_lengths = c(min = .01, max = 20)
    )
  )
  
  # run sampler
  body_condition_measurement_estimates = sampler(niter = 1e4, thin = 100)
  
} else {
  data("body_condition_measurement_estimates")
}


#
# post-process data
#

# enumerate the width locations along the animal's length
width_increments = as.numeric(
  str_extract(
    string = width_names, 
    pattern = '[0-9]+'
  )
)

# compute body condition scores
body_condition_output = body_condition(
  data = whale_data, 
  output = body_condition_measurement_estimates,
  length_name = 'TL',
  width_names = width_names,
  width_increments = width_increments,
  summary.burn = .5
)


body_condition_output$summaries

Sample MCMC output

Description

Posterior estimates for lengths and widths of a whale. See help("body_condition") for computation details.

Usage

body_condition_measurement_estimates
body_condition_measurement_estimates

Format

A list with 5 elements:

altimeters: Posterior samples and summaries for altimeters
images: Posterior samples and summaries for images
pixel_error: Posterior samples and summaries for pixel error component of measurement error model
objects: Posterior samples and summaries for unknown object lengths that were estimated
summaries: data.frames with posterior summaries, collated from all other list elements.

Humpback whale measurement data from Duke University's Marine Robotics and Remote Sensing (MaRRS) Lab

Description

Photogrammetric measurements of humpback whales to estimate total body length and body condition.

Usage

body_condition_measurements
body_condition_measurements

Format

A data frame with 29 rows and 28 columns:

Animal_ID: unique ID for the individual whale
TL: total body length measurement (m)
TL.10.0..Width: Width of whale (m), pre-computed from pixels using the reported laser altimeter measurement. Width is taken at a cross-section perpendicular to the whale's center line, running from the middle of the rostrum (loosely, the whale's beak/nose) to the middle of the peduncle (the point where the tail connects to the rest of the body). The cross-section is taken 10 from the animal's rostrum to its peduncle.
TL.15.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 15 to its peduncle.
TL.20.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 20 to its peduncle.
TL.25.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 25 to its peduncle.
TL.30.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 30 to its peduncle.
TL.35.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 35 to its peduncle.
TL.40.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 40 to its peduncle.
TL.45.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 45 to its peduncle.
TL.50.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 50 to its peduncle.
TL.55.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 55 to its peduncle.
TL.60.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 60 to its peduncle.
TL.65.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 65 to its peduncle.
TL.70.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 70 to its peduncle.
TL.75.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 75 to its peduncle.
TL.80.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 80 to its peduncle.
TL.85.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 85 to its peduncle.
TL.90.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 90 to its peduncle.
TL.95.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 95 to its peduncle.
TL.5.0..Width: Same as TL.10.0..Width, but taken at a cross-section that is 5 to its peduncle.
Image: image name
BaroAlt: the barometer altitude adjusted for the launch height of the drone
LaserAlt: the altitude recorded by the laser (LiDAR) altimeter
Focal_Length: focal length of the camera (mm)
Iw: image width (px)
Sw: sensor width (mm)
Aircraft: the unoccupied aircraft system (UAS), or drone, used in data collection

Source

<https://doi.org/10.3389/fmars.2021.749943>

Break function (required in models)

Description

Implements Heaviside step function for use in nimble models, H(B) = 1 if B <= delta. For internal use only. Not intended to be called directly by users.

Usage

breakFun(B, delta)
breakFun(B, delta)

Arguments

`B`	argument to evaluate function at
`delta`	breakpoint location

Value

1 if B <= delta, and 0 otherwise

Examples

breakFun(B = 1, delta = 0) 

breakFun(B = 1, delta = 0)

Calibration (training) data

Description

Photogrammetric measurements of known-sized calibration objects to be used as training data.

Usage

calibration
calibration

Format

A data frame with 657 rows and 10 columns:

CO.ID: the calibration object ID in training data
Lpix: length measurement (px)
CO.L: the true length of the calibration object (m)
image: image name
Baro_Alt: the barometer altitude adjusted for the launch height of the drone: Baro_raw + Launch_Ht
Laser_Alt: the altitude recorded by the laser (LiDAR) altimeter
Focal_Length: focal length of the camera (mm)
Iw: image width (px)
Sw: sensor width (mm)
uas: the unoccupied aircraft system (UAS), or drone, used in data collection

Source

<https://doi.org/10.1111/gcb.17366>

MCMC sampler for calibration data

Description

Build an MCMC sampler that only uses calibration data to estimate measurement error parameters

Usage

calibration_sampler(data, priors, package_only = FALSE)
calibration_sampler(data, priors, package_only = FALSE)

Arguments

`data`	Photogrammetric data formatted for Xcertainty models, required to be an object with class `obs.parsed`, which can be obtained by running `parse_observations()`
`priors`	`list` with components that define the model's prior distribution. See `help("flatten_data")` for more details.
`package_only`	`TRUE` to return the formatted data used to build the sampler, otherwise `FALSE` to return the sampler

Value

outputs a function to run a sampler, the function arguments are:

niter: set the number of iterations
burn: set the number samples to discard
thin: set the thinning rate

Examples

# load example wide-format data
data("calibration")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# build sampler
sampler_data = calibration_sampler(
  data = calibration_data,
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01)
  ),
  # set to false to return sampler function
  package_only = TRUE
)
# load example wide-format data
data("calibration")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# build sampler
sampler_data = calibration_sampler(
  data = calibration_data,
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01)
  ),
  # set to false to return sampler function
  package_only = TRUE
)

Calibration (training) data from Duke University's Marine Robotics and Remote Sensing (MaRRS) Lab

Description

Photogrammetric measurements of known-sized calibration objects to be used as training data.

Usage

calibration2
calibration2

Format

A data frame with 46 rows and 9 columns:

L_train: the true length of the calibration object (m)
RRR.pix: length measurement (px)
Images: image name
Baro...Ht: the barometer altitude adjusted for the launch height of the dronet
Laser_Alt: the altitude recorded by the laser (LiDAR) altimeter
Focal.length: focal length of the camera (mm)
Iw: image width (px)
Sw: sensor width (mm)
Aircraft: the unoccupied aircraft system (UAS), or drone, used in data collection

Source

<https://doi.org/10.3389/fmars.2021.749943>

Calibration (training) data for gray whale example

Description

Photogrammetric measurements of known-sized calibration objects to be used as training data.

Usage

co_data
co_data

Format

A data frame with 118 rows and 15 columns:

uas: the unoccupied aircraft system (UAS), or drone, used in data collection
CO.ID: the calibration object ID in training data
CO.L: the true length of the calibration object (m)
year: Year
image: image name
date: Date
Sw: sensor width (mm)
Iw: image width (px)
Focal_Length: focal length of the camera (mm)
Focal_Length_adj: the adjusted focal length (mm) to account for internal processing that corrects for barrel distortion
Baro_raw: raw altitude recorded by the barometer altimeter
Launch_Ht: the launch height of the drone
Baro_Alt: the barometer altitude adjusted for the launch height of the drone: Baro_raw + Launch_Ht
Laser_Alt: the altitude recorded by the laser (LiDAR) altimeter
Lpix: length measurement (px)

Source

<https://doi.org/10.1139/dsa-2023-0051>

Combine parsed observations into a single parsed object

Description

Combine parsed observations, such as calibration and observation (whale) data into a single parsed object. This combined, single parsed object can then be used as the data input for one of the samplers.

Usage

combine_observations(...)
combine_observations(...)

Arguments

...

Parsed datasets to combine (i.e., outputs from Xcertainty::parsed_observations)

Value

outputs a list with four elements:

pixel_counts: a tibble containing the measurements in pixels linked with Subject, Measurement description, Image, and the Timepoint
training_objects: a tibble containing the Subject, Measurement, Length, and Timepoint. NULL if no training objects were included
prediction_objects: a tibble containing the Subject, Measurement, and Timepoint. NULL if no prediction data included
image_info: a tibble containing the Image, Barometer, Laser, FocalLength, ImageWidth, SensorWidth, and UAS

Examples

# load example wide-format data
data("calibration")
data("whales")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# combine parsed calibration and observation (whale) data
combined_data = combine_observations(calibration_data, whale_data)
# load example wide-format data
data("calibration")
data("whales")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# combine parsed calibration and observation (whale) data
combined_data = combine_observations(calibration_data, whale_data)

Reformat photogrammetric data for model-based analysis

Description

For internal use only. Not intended to be called directly by users.

Usage

flatten_data(
  data = NULL,
  priors,
  pixel_counts = data$pixel_counts,
  training_objects = data$training_objects,
  image_info = data$image_info,
  prediction_objects = data$prediction_objects
)
flatten_data(
  data = NULL,
  priors,
  pixel_counts = data$pixel_counts,
  training_objects = data$training_objects,
  image_info = data$image_info,
  prediction_objects = data$prediction_objects
)

Arguments

`data`	A `list` object, or similar that includes components that describe observations to analyze. Components are automatically extracted into this function's other arguments. See the remaining documentation for details about required components.
`priors`	`list` with elements `altitude`, `lengths`, `bias`, and `sigma` that parameterize the prior distributions for the Bayesian model. The bias components may specify separate priors for each UAS/altimeter type combination, or for all barometers at once based on the information provided for joining.
`pixel_counts`	`data.frame` with columns `Subject`, `Measurement`, `Image`, and `PixelCount` that describe the length measurements taken from images
`training_objects`	`data.frame` with columns `Subject`, `Measurement`, and `Length` that describe the known lengths of the objects used to calibrate the photogrammetric model
`image_info`	`data.frame` with columns `Image`, `Barometer`, `Laser`, `FocalLength`, `ImageWidth`, and `SensorWidth` that describe the images used in the photogrammetric study
`prediction_objects`	`data.frame` with elements `Subject`, `Measurement`, and `Timepoint` that describe the unknown lengths of objects that should be estimated

Details

Assemble data.frame objects into a format that can be analyzed using numerical methods. This function is analagous to stats::model.matrix, which generates design matrices for models that are specified via formulas.

Examples

# load example wide-format data
data("calibration")
data("whales")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# combine parsed calibration and observation (whale) data
combined_data = combine_observations(calibration_data, whale_data)
# load example wide-format data
data("calibration")
data("whales")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# combine parsed calibration and observation (whale) data
combined_data = combine_observations(calibration_data, whale_data)

MCMC sampler for measurements of individuals with replicates and age information to generate growth curve

Description

Build an MCMC sampler that uses calibration data to estimate the total length of animals. The total lengths are assumed to follow a growth curve model, so replicates across time points that include age information are required to fit the model. The length model is a von-Bertalanffy-Putter growth model, following Pirotta & Bierlich et al., (in revision).

Usage

growth_curve_sampler(data, priors, subject_info, package_only = FALSE)
growth_curve_sampler(data, priors, subject_info, package_only = FALSE)

Arguments

`data`	Photogrammetric data formatted for Xcertainty models, required to be an object with class `obs.parsed`, which can be obtained by running `parse_observations()`
`priors`	`list` with components that define the model's prior distribution. See `help("flatten_data")` for more details.
`subject_info`	`data.frame` with elements `Year`, `Subject`, `Group`, `ObservedAge`, and `AgeType`. See `help("whale_info")` for descriptions of `data.frame` columns.
`package_only`	`TRUE` to return the formatted data used to build the sampler, otherwise `FALSE` to return the sampler

Value

outputs a function to run a sampler, the function arguments are:

niter: set the number of iterations
burn: set the number samples to discard
thin: set the thinning rate

Examples

# load example wide-format data
data("calibration")
data("whales")
data("whale_info")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# build sampler
sampler_data = growth_curve_sampler(
  data = combine_observations(calibration_data, whale_data),
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01),
    # priors from Agbayani et al. 
    zero_length_age = c(mean = -5.09, sd = 0.4),
    growth_rate = c(mean = .18, sd = .01),
    # additional priors
    group_asymptotic_size = rbind(
      Female = c(mean = 12, sd = .5),
      Male = c(mean = 12, sd = .5)
    ),
    group_asymptotic_size_trend = rbind(
      Female = c(mean = 0, sd = 1),
      Male = c(mean = 0, sd = 1)
    ),
    subject_group_distribution = c(Female = .5, Male = .5),
    asymptotic_size_sd = c(min = 0, max = 10),
    min_calf_length = 3.5,
    # To model break points between 1990 and 2015
    group_size_shift_start_year = c(min = 1990, max = 2015)
  ),
  subject_info = whale_info,
  # set to false to return sampler function
  package_only = TRUE
)
# load example wide-format data
data("calibration")
data("whales")
data("whale_info")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# build sampler
sampler_data = growth_curve_sampler(
  data = combine_observations(calibration_data, whale_data),
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01),
    # priors from Agbayani et al. 
    zero_length_age = c(mean = -5.09, sd = 0.4),
    growth_rate = c(mean = .18, sd = .01),
    # additional priors
    group_asymptotic_size = rbind(
      Female = c(mean = 12, sd = .5),
      Male = c(mean = 12, sd = .5)
    ),
    group_asymptotic_size_trend = rbind(
      Female = c(mean = 0, sd = 1),
      Male = c(mean = 0, sd = 1)
    ),
    subject_group_distribution = c(Female = .5, Male = .5),
    asymptotic_size_sd = c(min = 0, max = 10),
    min_calf_length = 3.5,
    # To model break points between 1990 and 2015
    group_size_shift_start_year = c(min = 1990, max = 2015)
  ),
  subject_info = whale_info,
  # set to false to return sampler function
  package_only = TRUE
)

Gray whale measurement data

Description

An example dataset of gray whale measurements from drone-based photogrammetry.

Usage

gw_data
gw_data

Format

A tibble with 15 rows and 34 columns:

whale_ID: unique individual
image: image name
year: Year
DOY: Day of Year
uas: the unoccupied aircraft system (UAS), or drone, used in data collection
Focal_Length: focal length of the camera (mm)
Focal_Length_adj: the adjusted focal length (mm) to account for internal processing that corrects for barrel distortion
Sw: sensor width (mm)
Iw: image width (px)
Baro_raw: raw altitude recorded by the barometer altimeter
Launch_Ht: the launch height of the drone
Baro_Alt: the barometer altitude adjusted for the launch height of the drone: Baro_raw + Launch_Ht
Laser_Alt: the altitude recorded by the laser (LiDAR) altimeter
CO.ID: the calibration object ID in training data
TL_px: total body length measurement (px)
TL_w05.00_px: Body width measurement (px) at 5% of total length
TL_w10.00_px: Body width measurement (px) at 10% of total length
TL_w15.00_px: Body width measurement (px) at 15% of total length
TL_w20.00_px: Body width measurement (px) at 20% of total length
TL_w25.00_px: Body width measurement (px) at 25% of total length
TL_w30.00_px: Body width measurement (px) at 30% of total length
TL_w35.00_px: Body width measurement (px) at 35% of total length
TL_w40.00_px: Body width measurement (px) at 40% of total length
TL_w45.00_px: Body width measurement (px) at 45% of total length
TL_w50.00_px: Body width measurement (px) at 50% of total length
TL_w55.00_px: Body width measurement (px) at 55% of total length
TL_w60.00_px: Body width measurement (px) at 60% of total length
TL_w65.00_px: Body width measurement (px) at 65% of total length
TL_w70.00_px: Body width measurement (px) at 70% of total length
TL_w75.00_px: Body width measurement (px) at 75% of total length
TL_w80.00_px: Body width measurement (px) at 80% of total length
TL_w85.00_px: Body width measurement (px) at 85% of total length
TL_w90.00_px: Body width measurement (px) at 90% of total length
TL_w95.00_px: Body width measurement (px) at 95% of total length

Source

<https://mmi.oregonstate.edu/gemm-lab>

MCMC sampler for individuals with independent measurements.

Description

Build an MCMC sampler that uses calibration data to estimate independent, unknown measurements. This model assumes all Subject/Measurement/Timepoint combinations are independent. So, this sample is well suited for data containing individuals that either have no replicate samples or have replicate samples that are independent over time, such as body condition which can increase or decrease over time, as opposed to length which should be stable or increase over time. It can also be used to estimate lengths when there are replicate measurements. However, since the model assumes all Subject/Measurement/Timepoint combinations are independent, no strength will be borrowed across temporal replication of a subject's measurements, for example.

Usage

independent_length_sampler(data, priors, package_only = FALSE)
independent_length_sampler(data, priors, package_only = FALSE)

Arguments

`data`	Photogrammetric data formatted for Xcertainty models, required to be an object with class `obs.parsed`, which can be obtained by running `parse_observations()`
`priors`	`list` with components that define the model's prior distribution. See `help("flatten_data")` for more details.
`package_only`	`TRUE` to return the formatted data used to build the sampler, otherwise `FALSE` to return the sampler

Value

outputs a function to run a sampler, the function arguments are:

niter: set the number of iterations
burn: set the number samples to discard
thin: set the thinning rate

Examples

# load example wide-format data
data("calibration")
data("whales")
data("whale_info")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# build sampler
sampler_data = independent_length_sampler(
  data = combine_observations(calibration_data, whale_data),
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01),
    object_lengths = c(min = .01, max = 20)
  ),
  # set to false to return sampler function
  package_only = TRUE
)
# load example wide-format data
data("calibration")
data("whales")
data("whale_info")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# build sampler
sampler_data = independent_length_sampler(
  data = combine_observations(calibration_data, whale_data),
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01),
    object_lengths = c(min = .01, max = 20)
  ),
  # set to false to return sampler function
  package_only = TRUE
)

MCMC sampler for measurements of individuals with replicates but no age information.

Description

Build an MCMC sampler that uses calibration data to estimate measurements that are assumed to be non-decreasing in time. This sampler is well suited for when individuals have replicate measurements across time points but do not have age information. The model estimates changes in unique combinations of Subject/Measurement pairs over Timepoints.

Usage

nondecreasing_length_sampler(data, priors, package_only = FALSE)
nondecreasing_length_sampler(data, priors, package_only = FALSE)

Arguments

`data`	Photogrammetric data formatted for Xcertainty models, required to be an object with class `obs.parsed`, which can be obtained by running `parse_observations()`
`priors`	`list` with components that define the model's prior distribution. See `help("flatten_data")` for more details.
`package_only`	`TRUE` to return the formatted data used to build the sampler, otherwise `FALSE` to return the sampler

Value

outputs a function to run a sampler, the function arguments are:

niter: set the number of iterations
burn: set the number samples to discard
thin: set the thinning rate

Examples

# load example wide-format data
data("calibration")
data("whales")
data("whale_info")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# build sampler
sampler_data = nondecreasing_length_sampler(
  data = combine_observations(calibration_data, whale_data),
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01),
    object_lengths = c(min = .01, max = 20)
  ),
  # set to false to return sampler function
  package_only = TRUE
)
# load example wide-format data
data("calibration")
data("whales")
data("whale_info")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# build sampler
sampler_data = nondecreasing_length_sampler(
  data = combine_observations(calibration_data, whale_data),
  priors = list(
    image_altitude = c(min = 0.1, max = 130),
    altimeter_bias = rbind(
      data.frame(altimeter = 'Barometer', mean = 0, sd = 1e2),
      data.frame(altimeter = 'Laser', mean = 0, sd = 1e2)
    ),
    altimeter_variance = rbind(
      data.frame(altimeter = 'Barometer', shape = .01, rate = .01),
      data.frame(altimeter = 'Laser', shape = .01, rate = .01)
    ),
    altimeter_scaling = rbind(
      data.frame(altimeter = 'Barometer', mean = 1, sd = 1e1),
      data.frame(altimeter = 'Laser', mean = 1, sd = 1e1)
    ),
    pixel_variance = c(shape = .01, rate = .01),
    object_lengths = c(min = .01, max = 20)
  ),
  # set to false to return sampler function
  package_only = TRUE
)

Pre-process training and experimental data from wide-format to long-format

Description

Photogrammetric data are often recorded in a wide-format data.frame, in which each row contains all measurement information for a single animal. The row contains the image information (i.e., observed altitude and sensor information) as well as all measurements for a given subject. This function parses the wide-format data into a normalized list of data.frame objects that separately describe the image and measurement data. This function can process observations of calibration data as well as experimental data.

Usage

parse_observations(
  x,
  subject_col,
  meas_col,
  tlen_col = NULL,
  image_col,
  barometer_col = NULL,
  laser_col = NULL,
  flen_col,
  iwidth_col,
  swidth_col,
  uas_col,
  timepoint_col = NULL,
  alt_conversion_col = NULL
)
parse_observations(
  x,
  subject_col,
  meas_col,
  tlen_col = NULL,
  image_col,
  barometer_col = NULL,
  laser_col = NULL,
  flen_col,
  iwidth_col,
  swidth_col,
  uas_col,
  timepoint_col = NULL,
  alt_conversion_col = NULL
)

Arguments

`x`	Wide-format `data.frame` describing images and measurements
`subject_col`	column name in `x` for subject IDs
`meas_col`	character vector of column names in `x` with pixel-counts for each measurement of a subject
`tlen_col`	column name in `x` with the true length value (i.e., in meters) of a measurement; primarily used to specify the true length value for an observation of a calibration object. If `NULL`, then no true length will be associated with the measurement.
`image_col`	column name in `x` containing names of images from which measurements are taken
`barometer_col`	column name in `x` with Barometer altimeter values
`laser_col`	column name in `x` with Laser altimeter values
`flen_col`	column name in `x` with camera focal lengths (mm)
`iwidth_col`	column name in `x` with image widths (pixels)
`swidth_col`	column name in `x` with camera sensor widths (mm)
`uas_col`	column names in `x` with UAS name or ID
`timepoint_col`	column name in `x` with a timepoint value of a measurement. If `NULL`, then all measurements are assumed to be at the same timepoint, or equivalently, that time does not matter for the analysis
`alt_conversion_col`	if not `NULL`, column name in `x` with an altitude used to convert measurement columns from lengths to pixels

Value

outputs a list with four elements:

pixel_counts: a tibble containing the measurements in pixels linked with Subject, Measurement description, Image, and the Timepoint
training_objects: a tibble containing the Subject, Measurement, Length, and Timepoint. NULL if no training objects were included
prediction_objects: a tibble containing the Subject, Measurement, and Timepoint. NULL if no prediction data included
image_info: a tibble containing the Image, Barometer, Laser, FocalLength, ImageWidth, SensorWidth, and UAS

Examples

# load example wide-format data
data("calibration")
data("whales")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# combine parsed calibration and observation (whale) data
combined_data = combine_observations(calibration_data, whale_data)
# load example wide-format data
data("calibration")
data("whales")

# parse calibration study
calibration_data = parse_observations(
  x = calibration, 
  subject_col = 'CO.ID',
  meas_col = 'Lpix', 
  tlen_col = 'CO.L', 
  image_col = 'image', 
  barometer_col = 'Baro_Alt',
  laser_col = 'Laser_Alt', 
  flen_col = 'Focal_Length', 
  iwidth_col = 'Iw', 
  swidth_col = 'Sw',
  uas_col = 'uas'
)

# parse field study
whale_data = parse_observations(
  x = whales, 
  subject_col = 'whale_ID',
  meas_col = 'TL.pix', 
  image_col = 'Image', 
  barometer_col = 'AltitudeBarometer',
  laser_col = 'AltitudeLaser', 
  flen_col = 'FocalLength', 
  iwidth_col = 'ImageWidth', 
  swidth_col = 'SensorWidth', 
  uas_col = 'UAS',
  timepoint_col = 'year'
)

# combine parsed calibration and observation (whale) data
combined_data = combine_observations(calibration_data, whale_data)

Gray whale metadata

Description

Gray whale information and metadata that pairs with 'whales' data by "Subject"

Usage

whale_info
whale_info

Format

A data frame with 293 rows and 5 columns:

Year: year
Subject: unique ID for individuals
Group: sex; Male, Female (F), or NA
ObservedAge: age in years
AgeType: either 'known age' if individual was seen as a calf, or 'min age' from the date of date sighting

Source

<https://doi.org/10.1111/gcb.17366>

Gray whale metadata

Description

Gray whale information and metadata that pairs with 'whales' data by "Subject"

Usage

whales
whales

Format

A data frame with 826 rows and 14 columns:

whale_ID: unique individual
sex: Female, Male, or NA
Age: age in years
AgeType: either 'known age' if individual was seen as a calf, or 'min age' from the date of date sighting
year: Year
date: Date
Image: image name
AltitudeBarometer: the barometer altitude adjusted for the launch height of the drone
AltitudeLaser: the altitude recorded by the laser (LiDAR) altimeter
FocalLength: focal length of the camera (mm)
ImageWidth: image width (px)
SensorWidth: sensor width (mm)
UAS: the unoccupied aircraft system (UAS), or drone, used in data collection
TL.pix: the total body length measurement in pixels

Source

<https://doi.org/10.1111/gcb.17366>

Package 'Xcertainty'

Help Index

Compute body condition metrics for a set of measurements

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Sample MCMC output

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Humpback whale measurement data from Duke University's Marine Robotics and Remote Sensing (MaRRS) Lab

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Break function (required in models)

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Calibration (training) data

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MCMC sampler for calibration data

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Calibration (training) data from Duke University's Marine Robotics and Remote Sensing (MaRRS) Lab

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Calibration (training) data for gray whale example

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Combine parsed observations into a single parsed object

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Reformat photogrammetric data for model-based analysis

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MCMC sampler for measurements of individuals with replicates and age information to generate growth curve

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Gray whale measurement data

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MCMC sampler for individuals with independent measurements.

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MCMC sampler for measurements of individuals with replicates but no age information.

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Pre-process training and experimental data from wide-format to long-format