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feat(offroute): Phase O2c — PAD-US barriers with three-mode boundary respect
- Add barriers.py: PAD-US raster reader + build_barriers_raster() function - Rasterize PAD-US Pub_Access=XA (Closed) polygons to CONUS GeoTIFF - Modify cost.py: boundary_mode parameter (strict/pragmatic/emergency) - strict: private land = impassable (np.inf) - pragmatic: private land = 5x friction penalty (default) - emergency: private land barriers ignored - Modify prototype.py: three-way comparison output - Output: padus_barriers.tif at /mnt/nav/worldcover/ (144MB, ~33m resolution) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
This commit is contained in:
parent
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3 changed files with 711 additions and 393 deletions
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@ -1,18 +1,16 @@
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#!/usr/bin/env python3
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"""
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OFFROUTE Phase O2b Prototype
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OFFROUTE Phase O2c Prototype
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Validates the PMTiles decoder, Tobler cost function, WorldCover friction
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integration, and MCP pathfinder on a real Idaho bounding box.
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Validates the PMTiles decoder, Tobler cost function, WorldCover friction,
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PAD-US barriers integration, and MCP pathfinder on a real Idaho bounding box.
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Now includes friction layer to avoid water bodies like Murtaugh Lake.
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Runs THREE pathfinding passes with different boundary modes:
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1. boundary_mode="strict" - private land is impassable
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2. boundary_mode="pragmatic" - private land has 5x friction penalty
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3. boundary_mode="emergency" - private land barriers ignored
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Test bbox (four Idaho towns as corners):
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SW: Rogerson, ID (~42.21, -114.60)
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NW: Buhl, ID (~42.60, -114.76)
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NE: Burley, ID (~42.54, -113.79)
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SE: Oakley, ID (~42.24, -113.88)
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Approximate bbox: south=42.21, north=42.60, west=-114.76, east=-113.79
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Outputs comparison showing impact of boundary mode on routing.
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"""
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import json
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import time
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@ -28,8 +26,9 @@ sys.path.insert(0, str(Path(__file__).parent.parent.parent))
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from lib.offroute.dem import DEMReader
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from lib.offroute.cost import compute_cost_grid
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from lib.offroute.friction import FrictionReader, friction_to_multiplier
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from lib.offroute.barriers import BarrierReader, DEFAULT_BARRIERS_PATH
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# Test bounding box
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# Test bounding box - Idaho area known to have mixed public/private land
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BBOX = {
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"south": 42.21,
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"north": 42.60,
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@ -38,26 +37,25 @@ BBOX = {
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}
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# Start point: wilderness area south of Twin Falls
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# (in the Sawtooth National Forest foothills)
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START_LAT = 42.35
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START_LON = -114.50
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START_LAT = 42.36
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START_LON = -114.55
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# End point: near Burley, ID (on road network)
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END_LAT = 42.52
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END_LON = -113.85
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# Murtaugh Lake - actual water extent from WorldCover
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LAKE_BOUNDS = {
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"south": 42.44,
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"north": 42.50,
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"west": -114.20,
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"east": -114.10,
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}
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LAKE_CENTER = (42.465, -114.155) # Verified water in WorldCover
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END_LAT = 42.55
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END_LON = -114.25
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# Output files
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OUTPUT_PATH_O1 = Path("/opt/recon/data/offroute-test.geojson")
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OUTPUT_PATH_FRICTION = Path("/opt/recon/data/offroute-test-friction.geojson")
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OUTPUT_PATHS = {
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"strict": Path("/opt/recon/data/offroute-test-strict.geojson"),
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"pragmatic": Path("/opt/recon/data/offroute-test-pragmatic.geojson"),
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"emergency": Path("/opt/recon/data/offroute-test-emergency.geojson"),
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}
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# Old files to delete
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OLD_FILES = [
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Path("/opt/recon/data/offroute-test-barriers-on.geojson"),
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Path("/opt/recon/data/offroute-test-barriers-off.geojson"),
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]
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# Memory limit in GB
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MEMORY_LIMIT_GB = 12
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@ -77,40 +75,139 @@ def check_memory_usage():
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return 0
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def path_crosses_lake(coordinates, lake_bounds):
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"""Check if any path coordinates fall within the lake bounding box."""
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for lon, lat in coordinates:
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if (lake_bounds["south"] <= lat <= lake_bounds["north"] and
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lake_bounds["west"] <= lon <= lake_bounds["east"]):
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return True, (lat, lon)
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return False, None
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def run_pathfinder(
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elevation: np.ndarray,
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meta: dict,
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friction_mult: np.ndarray,
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barriers: np.ndarray,
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boundary_mode: str,
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start_row: int,
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start_col: int,
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end_row: int,
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end_col: int,
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dem_reader: DEMReader,
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) -> dict:
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"""
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Run the MCP pathfinder with given parameters.
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Returns dict with path info and stats.
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"""
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# Compute cost grid
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cost = compute_cost_grid(
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elevation,
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cell_size_m=meta["cell_size_m"],
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friction=friction_mult,
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barriers=barriers,
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boundary_mode=boundary_mode,
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)
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# Count impassable cells
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impassable_count = np.sum(np.isinf(cost))
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barrier_count = np.sum(barriers == 255) if barriers is not None else 0
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# Run MCP
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mcp = MCP_Geometric(cost, fully_connected=True)
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cumulative_costs, traceback = mcp.find_costs([(start_row, start_col)])
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end_cost = cumulative_costs[end_row, end_col]
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if np.isinf(end_cost):
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return {
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"success": False,
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"reason": "No path found (blocked by impassable terrain)",
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"impassable_cells": int(impassable_count),
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"barrier_cells": int(barrier_count),
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}
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# Traceback path
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path_indices = mcp.traceback((end_row, end_col))
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# Convert to coordinates
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coordinates = []
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elevations = []
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barrier_values = []
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for row, col in path_indices:
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lat, lon = dem_reader.pixel_to_latlon(row, col, meta)
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elev = elevation[row, col]
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barr = barriers[row, col] if barriers is not None else 0
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coordinates.append([lon, lat])
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elevations.append(elev)
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barrier_values.append(barr)
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# Compute distance
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total_distance_m = 0
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for i in range(1, len(coordinates)):
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lon1, lat1 = coordinates[i-1]
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lon2, lat2 = coordinates[i]
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R = 6371000
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dlat = np.radians(lat2 - lat1)
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dlon = np.radians(lon2 - lon1)
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a = np.sin(dlat/2)**2 + np.cos(np.radians(lat1)) * np.cos(np.radians(lat2)) * np.sin(dlon/2)**2
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c = 2 * np.arctan2(np.sqrt(a), np.sqrt(1-a))
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total_distance_m += R * c
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# Elevation stats
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elev_arr = np.array(elevations)
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elev_diff = np.diff(elev_arr)
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elev_gain = np.sum(elev_diff[elev_diff > 0])
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elev_loss = np.sum(np.abs(elev_diff[elev_diff < 0]))
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# Barrier crossings on path
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barr_arr = np.array(barrier_values)
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barrier_crossings = np.sum(barr_arr == 255)
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return {
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"success": True,
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"coordinates": coordinates,
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"total_time_seconds": float(end_cost),
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"total_time_minutes": float(end_cost / 60),
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"total_distance_m": float(total_distance_m),
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"total_distance_km": float(total_distance_m / 1000),
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"elevation_gain_m": float(elev_gain),
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"elevation_loss_m": float(elev_loss),
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"min_elevation_m": float(np.min(elev_arr)),
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"max_elevation_m": float(np.max(elev_arr)),
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"cell_count": len(path_indices),
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"impassable_cells": int(impassable_count),
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"barrier_cells": int(barrier_count),
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"barrier_crossings": int(barrier_crossings),
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}
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def main():
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print("=" * 60)
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print("OFFROUTE Phase O2b Prototype (with Friction)")
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print("=" * 60)
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print("=" * 80)
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print("OFFROUTE Phase O2c Prototype (Three-Mode Boundary Respect)")
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print("=" * 80)
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t0 = time.time()
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# Delete old output files
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for old_file in OLD_FILES:
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if old_file.exists():
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old_file.unlink()
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print(f"Deleted old file: {old_file}")
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# Check if barrier raster exists
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if not DEFAULT_BARRIERS_PATH.exists():
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print(f"\nERROR: Barrier raster not found at {DEFAULT_BARRIERS_PATH}")
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print(f"Run first: python /opt/recon/lib/offroute/barriers.py build")
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sys.exit(1)
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# Step 1: Load elevation data
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print(f"\n[1] Loading DEM for bbox: {BBOX}")
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dem_reader = DEMReader()
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t1 = time.time()
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elevation, meta = dem_reader.get_elevation_grid(
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south=BBOX["south"],
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north=BBOX["north"],
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west=BBOX["west"],
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east=BBOX["east"],
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)
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t2 = time.time()
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print(f" Elevation grid shape: {elevation.shape}")
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print(f" Cell count: {elevation.size:,}")
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print(f" Cell size: {meta['cell_size_m']:.1f} m")
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print(f" Elevation range: {np.nanmin(elevation):.0f} - {np.nanmax(elevation):.0f} m")
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print(f" Load time: {t2 - t1:.1f}s")
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mem = check_memory_usage()
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if mem > 0:
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# Step 2: Load friction data
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print(f"\n[2] Loading WorldCover friction layer...")
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t2a = time.time()
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friction_reader = FrictionReader()
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# Validate lake is marked as impassable
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lake_friction = friction_reader.sample_point(LAKE_CENTER[0], LAKE_CENTER[1])
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print(f" Murtaugh Lake center ({LAKE_CENTER[0]}, {LAKE_CENTER[1]}): friction = {lake_friction}")
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if lake_friction != 255:
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print(f" WARNING: Lake not marked as water (expected 255, got {lake_friction})")
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else:
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print(f" Lake correctly marked as impassable (255)")
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# Load friction grid matching elevation shape
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friction_raw = friction_reader.get_friction_grid(
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south=BBOX["south"],
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north=BBOX["north"],
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east=BBOX["east"],
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target_shape=elevation.shape
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)
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t2b = time.time()
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# Convert to multipliers
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friction_mult = friction_to_multiplier(friction_raw)
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impassable_count = np.sum(np.isinf(friction_mult))
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print(f" Friction grid shape: {friction_raw.shape}")
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print(f" Unique friction values: {np.unique(friction_raw[friction_raw > 0])}")
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print(f" Impassable cells (water/nodata): {impassable_count:,} ({100*impassable_count/friction_raw.size:.1f}%)")
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print(f" Load time: {t2b - t2a:.1f}s")
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print(f" Water/impassable cells: {np.sum(np.isinf(friction_mult)):,}")
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mem = check_memory_usage()
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if mem > 0:
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print(f" Memory usage: {mem:.1f} GB")
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# Step 3: Load barrier data
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print(f"\n[3] Loading PAD-US barrier layer...")
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barrier_reader = BarrierReader()
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# Step 3: Compute cost grid with friction
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print(f"\n[3] Computing Tobler cost grid with friction...")
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t3 = time.time()
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cost = compute_cost_grid(
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elevation,
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cell_size_m=meta["cell_size_m"],
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friction=friction_mult
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barriers = barrier_reader.get_barrier_grid(
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south=BBOX["south"],
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north=BBOX["north"],
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west=BBOX["west"],
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east=BBOX["east"],
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target_shape=elevation.shape
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)
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t4 = time.time()
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finite_cost = cost[~np.isinf(cost)]
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total_impassable = np.sum(np.isinf(cost))
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print(f" Cost range: {finite_cost.min():.1f} - {finite_cost.max():.1f} s/cell")
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print(f" Total impassable cells: {total_impassable:,} ({100*total_impassable/cost.size:.1f}%)")
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print(f" Compute time: {t4 - t3:.1f}s")
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closed_cells = np.sum(barriers == 255)
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print(f" Barrier grid shape: {barriers.shape}")
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print(f" Closed/restricted cells: {closed_cells:,} ({100*closed_cells/barriers.size:.2f}%)")
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if closed_cells == 0:
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print("\n WARNING: No closed/restricted areas in this bbox.")
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print(" The test may not show meaningful differences between modes.")
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mem = check_memory_usage()
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if mem > 0:
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@ -190,196 +270,122 @@ def main():
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print(f"ERROR: End point outside grid bounds")
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sys.exit(1)
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start_elev = elevation[start_row, start_col]
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end_elev = elevation[end_row, end_col]
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print(f" Start elevation: {start_elev:.0f} m")
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print(f" End elevation: {end_elev:.0f} m")
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# Step 5: Run pathfinder THREE times
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results = {}
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modes = ["strict", "pragmatic", "emergency"]
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# Step 5: Run MCP pathfinder
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print(f"\n[5] Running MCP_Geometric pathfinder...")
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t5 = time.time()
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for i, mode in enumerate(modes, start=5):
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print(f"\n[{i}] Running pathfinder (boundary_mode=\"{mode}\")...")
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t_start = time.time()
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results[mode] = run_pathfinder(
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elevation, meta, friction_mult, barriers,
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boundary_mode=mode,
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start_row=start_row, start_col=start_col,
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end_row=end_row, end_col=end_col,
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dem_reader=dem_reader,
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)
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t_end = time.time()
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print(f" Completed in {t_end - t_start:.1f}s")
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mcp = MCP_Geometric(cost, fully_connected=True)
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cumulative_costs, traceback = mcp.find_costs([(start_row, start_col)])
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t6 = time.time()
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# Step 6: Save GeoJSON outputs
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print(f"\n[8] Saving GeoJSON outputs...")
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print(f" Dijkstra completed in {t6 - t5:.1f}s")
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OUTPUT_PATHS["strict"].parent.mkdir(parents=True, exist_ok=True)
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end_cost = cumulative_costs[end_row, end_col]
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print(f" Total cost to endpoint: {end_cost:.0f} seconds ({end_cost/60:.1f} minutes)")
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for mode, result in results.items():
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output_path = OUTPUT_PATHS[mode]
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if result["success"]:
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geojson = {
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"type": "Feature",
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"properties": {
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"type": f"offroute_{mode}",
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"phase": "O2c",
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"boundary_mode": mode,
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"start": {"lat": START_LAT, "lon": START_LON},
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"end": {"lat": END_LAT, "lon": END_LON},
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**{k: v for k, v in result.items() if k not in ["success", "coordinates"]},
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},
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"geometry": {
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"type": "LineString",
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"coordinates": result["coordinates"],
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}
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}
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with open(output_path, "w") as f:
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json.dump(geojson, f, indent=2)
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print(f" Saved: {output_path}")
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else:
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print(f" SKIPPED ({mode}): {result['reason']}")
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if np.isinf(end_cost):
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print("ERROR: No path found to endpoint (blocked by impassable terrain)")
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sys.exit(1)
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t_total = time.time()
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t7 = time.time()
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path_indices = mcp.traceback((end_row, end_col))
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t8 = time.time()
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# Final report - three-way comparison
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print(f"\n" + "=" * 80)
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print("THREE-WAY COMPARISON")
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print("=" * 80)
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print(f" Traceback completed in {t8 - t7:.2f}s")
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print(f" Path length: {len(path_indices)} cells")
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# Check how many succeeded
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success_count = sum(1 for r in results.values() if r["success"])
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mem = check_memory_usage()
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if mem > 0:
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print(f" Memory usage: {mem:.1f} GB")
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if success_count == 3:
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print(f"{'Metric':<22} {'STRICT':<18} {'PRAGMATIC':<18} {'EMERGENCY':<18}")
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print("-" * 80)
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# Step 6: Convert path to coordinates and compute stats
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print(f"\n[6] Converting path to GeoJSON...")
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metrics = [
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("Distance (km)", "total_distance_km", ".2f"),
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("Effort time (min)", "total_time_minutes", ".1f"),
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("Cell count", "cell_count", "d"),
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("Elevation gain (m)", "elevation_gain_m", ".0f"),
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("Elevation loss (m)", "elevation_loss_m", ".0f"),
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("Barrier crossings", "barrier_crossings", "d"),
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("Impassable cells", "impassable_cells", ",d"),
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]
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coordinates = []
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elevations = []
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friction_values = []
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for label, key, fmt in metrics:
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vals = [results[m][key] for m in modes]
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print(f"{label:<22} {vals[0]:<18{fmt}} {vals[1]:<18{fmt}} {vals[2]:<18{fmt}}")
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for row, col in path_indices:
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lat, lon = dem_reader.pixel_to_latlon(row, col, meta)
|
||||
elev = elevation[row, col]
|
||||
fric = friction_raw[row, col]
|
||||
coordinates.append([lon, lat])
|
||||
elevations.append(elev)
|
||||
friction_values.append(fric)
|
||||
# Analysis
|
||||
print(f"\n" + "-" * 80)
|
||||
print("ANALYSIS")
|
||||
print("-" * 80)
|
||||
|
||||
# Compute path distance
|
||||
total_distance_m = 0
|
||||
for i in range(1, len(coordinates)):
|
||||
lon1, lat1 = coordinates[i-1]
|
||||
lon2, lat2 = coordinates[i]
|
||||
R = 6371000
|
||||
dlat = np.radians(lat2 - lat1)
|
||||
dlon = np.radians(lon2 - lon1)
|
||||
a = np.sin(dlat/2)**2 + np.cos(np.radians(lat1)) * np.cos(np.radians(lat2)) * np.sin(dlon/2)**2
|
||||
c = 2 * np.arctan2(np.sqrt(a), np.sqrt(1-a))
|
||||
total_distance_m += R * c
|
||||
strict_crossings = results["strict"]["barrier_crossings"]
|
||||
pragmatic_crossings = results["pragmatic"]["barrier_crossings"]
|
||||
emergency_crossings = results["emergency"]["barrier_crossings"]
|
||||
|
||||
# Compute elevation gain/loss
|
||||
elev_arr = np.array(elevations)
|
||||
elev_diff = np.diff(elev_arr)
|
||||
elev_gain = np.sum(elev_diff[elev_diff > 0])
|
||||
elev_loss = np.sum(np.abs(elev_diff[elev_diff < 0]))
|
||||
print(f"Barrier crossings: strict={strict_crossings}, pragmatic={pragmatic_crossings}, emergency={emergency_crossings}")
|
||||
|
||||
# Friction stats along path
|
||||
fric_arr = np.array(friction_values)
|
||||
valid_fric = fric_arr[(fric_arr > 0) & (fric_arr < 255)]
|
||||
if strict_crossings == 0 and pragmatic_crossings == 0 and emergency_crossings == 0:
|
||||
print("No path crosses private land - terrain naturally avoids barriers.")
|
||||
else:
|
||||
if emergency_crossings > pragmatic_crossings:
|
||||
print(f"Pragmatic mode reduces barrier crossings vs emergency: {emergency_crossings} -> {pragmatic_crossings}")
|
||||
if pragmatic_crossings > 0 and strict_crossings == 0:
|
||||
print(f"Strict mode completely avoids private land (pragmatic crosses {pragmatic_crossings} cells)")
|
||||
|
||||
# Build GeoJSON
|
||||
geojson = {
|
||||
"type": "Feature",
|
||||
"properties": {
|
||||
"type": "offroute_prototype_friction",
|
||||
"phase": "O2b",
|
||||
"start": {"lat": START_LAT, "lon": START_LON},
|
||||
"end": {"lat": END_LAT, "lon": END_LON},
|
||||
"total_time_seconds": float(end_cost),
|
||||
"total_time_minutes": float(end_cost / 60),
|
||||
"total_distance_m": float(total_distance_m),
|
||||
"total_distance_km": float(total_distance_m / 1000),
|
||||
"elevation_gain_m": float(elev_gain),
|
||||
"elevation_loss_m": float(elev_loss),
|
||||
"min_elevation_m": float(np.min(elev_arr)),
|
||||
"max_elevation_m": float(np.max(elev_arr)),
|
||||
"friction_min": int(valid_fric.min()) if len(valid_fric) > 0 else 0,
|
||||
"friction_max": int(valid_fric.max()) if len(valid_fric) > 0 else 0,
|
||||
"friction_mean": float(valid_fric.mean()) if len(valid_fric) > 0 else 0,
|
||||
"cell_count": len(path_indices),
|
||||
"cell_size_m": meta["cell_size_m"],
|
||||
},
|
||||
"geometry": {
|
||||
"type": "LineString",
|
||||
"coordinates": coordinates,
|
||||
}
|
||||
}
|
||||
# Time/distance comparison
|
||||
if results["strict"]["total_time_minutes"] > results["emergency"]["total_time_minutes"]:
|
||||
time_penalty = results["strict"]["total_time_minutes"] - results["emergency"]["total_time_minutes"]
|
||||
print(f"Time cost of strict boundary respect: +{time_penalty:.1f} min")
|
||||
|
||||
# Write output
|
||||
OUTPUT_PATH_FRICTION.parent.mkdir(parents=True, exist_ok=True)
|
||||
with open(OUTPUT_PATH_FRICTION, "w") as f:
|
||||
json.dump(geojson, f, indent=2)
|
||||
|
||||
t_end = time.time()
|
||||
|
||||
# Final report
|
||||
print(f"\n" + "=" * 60)
|
||||
print("RESULTS (Phase O2b with Friction)")
|
||||
print("=" * 60)
|
||||
print(f"Start: ({START_LAT:.4f}, {START_LON:.4f})")
|
||||
print(f"End: ({END_LAT:.4f}, {END_LON:.4f})")
|
||||
print(f"Total effort: {end_cost/60:.1f} minutes ({end_cost/3600:.2f} hours)")
|
||||
print(f"Distance: {total_distance_m/1000:.2f} km")
|
||||
print(f"Elevation gain: {elev_gain:.0f} m")
|
||||
print(f"Elevation loss: {elev_loss:.0f} m")
|
||||
print(f"Elevation range: {np.min(elev_arr):.0f} - {np.max(elev_arr):.0f} m")
|
||||
if len(valid_fric) > 0:
|
||||
print(f"Friction (path): min={valid_fric.min()}, max={valid_fric.max()}, mean={valid_fric.mean():.1f}")
|
||||
print(f"Path cells: {len(path_indices):,}")
|
||||
print(f"Wall time: {t_end - t0:.1f}s")
|
||||
print(f"\nOutput saved to: {OUTPUT_PATH_FRICTION}")
|
||||
|
||||
# Validation
|
||||
print(f"\n" + "-" * 60)
|
||||
print("VALIDATION")
|
||||
print("-" * 60)
|
||||
|
||||
# Check coordinates are within bbox
|
||||
lons = [c[0] for c in coordinates]
|
||||
lats = [c[1] for c in coordinates]
|
||||
lon_ok = BBOX["west"] <= min(lons) and max(lons) <= BBOX["east"]
|
||||
lat_ok = BBOX["south"] <= min(lats) and max(lats) <= BBOX["north"]
|
||||
print(f"Coordinates within bbox: {'PASS' if lon_ok and lat_ok else 'FAIL'}")
|
||||
|
||||
# Check path is not trivial
|
||||
is_nontrivial = len(path_indices) > 10 and total_distance_m > 1000
|
||||
print(f"Path is non-trivial: {'PASS' if is_nontrivial else 'FAIL'}")
|
||||
|
||||
# Check sinuosity
|
||||
straight_line_dist = np.sqrt(
|
||||
(coordinates[-1][0] - coordinates[0][0])**2 +
|
||||
(coordinates[-1][1] - coordinates[0][1])**2
|
||||
) * 111000
|
||||
sinuosity = total_distance_m / max(straight_line_dist, 1)
|
||||
print(f"Sinuosity: {sinuosity:.2f} (>1.0 means path curves around obstacles)")
|
||||
|
||||
# CRITICAL: Check no water cells (friction=255) on path
|
||||
# This is the authoritative test - friction layer prevents water crossings
|
||||
print(f"\n--- Water Avoidance Check ---")
|
||||
water_on_path = np.sum(fric_arr == 255)
|
||||
if water_on_path > 0:
|
||||
print(f"FAIL: Path crosses {water_on_path} water cells (friction=255)")
|
||||
sys.exit(1)
|
||||
else:
|
||||
print(f"PASS: No water cells (friction=255) on path")
|
||||
print(f"Only {success_count}/3 modes found a path:")
|
||||
for mode, result in results.items():
|
||||
if result["success"]:
|
||||
print(f" {mode}: {result['total_distance_km']:.2f} km, {result['total_time_minutes']:.1f} min")
|
||||
else:
|
||||
print(f" {mode}: FAILED - {result.get('reason', 'unknown')}")
|
||||
|
||||
# Informational: Check if path goes through lake bounding box
|
||||
# Path may go through land cells within the bbox, which is fine
|
||||
print(f"\n--- Lake Bounding Box Check (informational) ---")
|
||||
print(f"Murtaugh Lake bounds: {LAKE_BOUNDS}")
|
||||
crosses_lake, crossing_point = path_crosses_lake(coordinates, LAKE_BOUNDS)
|
||||
if crosses_lake:
|
||||
print(f"INFO: Path passes through lake bbox at {crossing_point}")
|
||||
print(f" (This is OK if friction check passed - path uses land cells)")
|
||||
else:
|
||||
print(f"PASS: Path does not enter lake bounding box")
|
||||
|
||||
# Compare with Phase O1 if available
|
||||
print(f"\n" + "-" * 60)
|
||||
print("COMPARISON: Phase O1 vs O2b")
|
||||
print("-" * 60)
|
||||
|
||||
if OUTPUT_PATH_O1.exists():
|
||||
with open(OUTPUT_PATH_O1) as f:
|
||||
o1_data = json.load(f)
|
||||
o1_props = o1_data["properties"]
|
||||
|
||||
print(f"{'Metric':<20} {'O1 (no friction)':<20} {'O2b (with friction)':<20}")
|
||||
print("-" * 60)
|
||||
print(f"{'Distance (km)':<20} {o1_props['total_distance_km']:<20.2f} {total_distance_m/1000:<20.2f}")
|
||||
print(f"{'Effort (min)':<20} {o1_props['total_time_minutes']:<20.1f} {end_cost/60:<20.1f}")
|
||||
print(f"{'Cell count':<20} {o1_props['cell_count']:<20} {len(path_indices):<20}")
|
||||
print(f"{'Elev gain (m)':<20} {o1_props['elevation_gain_m']:<20.0f} {elev_gain:<20.0f}")
|
||||
else:
|
||||
print(f"Phase O1 output not found at {OUTPUT_PATH_O1}")
|
||||
print(f"Run the O1 prototype first to enable comparison.")
|
||||
print(f"\n" + "-" * 80)
|
||||
print(f"Total wall time: {t_total - t0:.1f}s")
|
||||
print(f"Closed cells in bbox: {closed_cells:,}")
|
||||
|
||||
# Cleanup
|
||||
dem_reader.close()
|
||||
friction_reader.close()
|
||||
print("\nPrototype completed successfully.")
|
||||
barrier_reader.close()
|
||||
|
||||
print("\nPrototype completed.")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue