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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>
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3 changed files with 711 additions and 393 deletions
266
lib/offroute/barriers.py
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266
lib/offroute/barriers.py
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@ -0,0 +1,266 @@
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"""
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PAD-US barrier layer for OFFROUTE.
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Provides access to the PAD-US land ownership raster for routing decisions.
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Cells with value 255 represent closed/restricted areas (Pub_Access = XA).
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Build function rasterizes PAD-US geodatabase to aligned GeoTIFF.
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Runtime functions read the raster and resample to match elevation grids.
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"""
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import numpy as np
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from pathlib import Path
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from typing import Tuple, Optional
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import subprocess
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import tempfile
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import os
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try:
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import rasterio
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from rasterio.windows import from_bounds
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from rasterio.enums import Resampling
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except ImportError:
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raise ImportError("rasterio is required for barriers layer support")
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# Paths
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DEFAULT_BARRIERS_PATH = Path("/mnt/nav/worldcover/padus_barriers.tif")
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PADUS_GDB_PATH = Path("/mnt/nav/padus/PADUS4_0_Geodatabase.gdb")
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PADUS_LAYER = "PADUS4_0Combined_Proclamation_Marine_Fee_Designation_Easement"
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# CONUS bounding box in WGS84
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CONUS_BOUNDS = {
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"west": -125.0,
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"east": -66.0,
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"south": 24.0,
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"north": 50.0,
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}
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# Resolution in degrees (~30m at mid-latitudes)
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PIXEL_SIZE = 0.0003 # ~33m
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class BarrierReader:
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"""Reader for PAD-US barrier raster."""
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def __init__(self, barrier_path: Path = DEFAULT_BARRIERS_PATH):
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self.barrier_path = barrier_path
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self._dataset = None
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def _open(self):
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"""Lazy open the dataset."""
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if self._dataset is None:
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if not self.barrier_path.exists():
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raise FileNotFoundError(
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f"Barrier raster not found at {self.barrier_path}. "
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f"Run build_barriers_raster() first."
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)
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self._dataset = rasterio.open(self.barrier_path)
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return self._dataset
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def get_barrier_grid(
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self,
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south: float,
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north: float,
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west: float,
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east: float,
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target_shape: Tuple[int, int]
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) -> np.ndarray:
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"""
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Get barrier values for a bounding box, resampled to target shape.
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Args:
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south, north, west, east: Bounding box coordinates (WGS84)
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target_shape: (rows, cols) to resample to (matches elevation grid)
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Returns:
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np.ndarray of uint8 barrier values:
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255 = closed/restricted (impassable when respect_boundaries=True)
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0 = public/accessible
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"""
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ds = self._open()
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# Create a window from the bounding box
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window = from_bounds(west, south, east, north, ds.transform)
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# Read with resampling to target shape
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barriers = ds.read(
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1,
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window=window,
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out_shape=target_shape,
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resampling=Resampling.nearest
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)
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return barriers
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def sample_point(self, lat: float, lon: float) -> int:
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"""Sample barrier value at a single point."""
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ds = self._open()
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# Get pixel coordinates
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row, col = ds.index(lon, lat)
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# Check bounds
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if row < 0 or row >= ds.height or col < 0 or col >= ds.width:
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return 0 # Out of bounds = accessible
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# Read single pixel
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window = rasterio.windows.Window(col, row, 1, 1)
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value = ds.read(1, window=window)
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return int(value[0, 0])
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def close(self):
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"""Close the dataset."""
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if self._dataset is not None:
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self._dataset.close()
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self._dataset = None
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def build_barriers_raster(
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output_path: Path = DEFAULT_BARRIERS_PATH,
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gdb_path: Path = PADUS_GDB_PATH,
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pixel_size: float = PIXEL_SIZE,
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bounds: dict = CONUS_BOUNDS,
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) -> Path:
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"""
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Build the PAD-US barriers raster from the source geodatabase.
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Extracts polygons where Pub_Access = 'XA' (Closed) and rasterizes them.
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Args:
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output_path: Output GeoTIFF path
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gdb_path: Path to PAD-US geodatabase
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pixel_size: Pixel size in degrees
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bounds: CONUS bounding box
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Returns:
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Path to the created raster
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"""
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import shutil
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if not gdb_path.exists():
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raise FileNotFoundError(f"PAD-US geodatabase not found at {gdb_path}")
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# Check for required tools
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if not shutil.which('ogr2ogr'):
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raise RuntimeError("ogr2ogr not found. Install GDAL.")
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if not shutil.which('gdal_rasterize'):
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raise RuntimeError("gdal_rasterize not found. Install GDAL.")
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output_path.parent.mkdir(parents=True, exist_ok=True)
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print(f"Building PAD-US barriers raster...")
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print(f" Source: {gdb_path}")
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print(f" Output: {output_path}")
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print(f" Pixel size: {pixel_size} degrees (~{pixel_size * 111000:.0f}m)")
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print(f" Bounds: {bounds}")
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with tempfile.TemporaryDirectory() as tmpdir:
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# Step 1: Extract closed areas and reproject to WGS84
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closed_gpkg = Path(tmpdir) / "closed_areas.gpkg"
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print(f"\n[1/3] Extracting closed areas (Pub_Access = 'XA')...")
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ogr_cmd = [
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"ogr2ogr",
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"-f", "GPKG",
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str(closed_gpkg),
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str(gdb_path),
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PADUS_LAYER,
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"-where", "Pub_Access = 'XA'",
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"-t_srs", "EPSG:4326",
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"-nlt", "MULTIPOLYGON",
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"-nln", "closed_areas",
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]
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result = subprocess.run(ogr_cmd, capture_output=True, text=True)
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if result.returncode != 0:
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print(f"STDERR: {result.stderr}")
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raise RuntimeError(f"ogr2ogr failed: {result.stderr}")
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# Check feature count
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info_cmd = ["ogrinfo", "-so", str(closed_gpkg), "closed_areas"]
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info_result = subprocess.run(info_cmd, capture_output=True, text=True)
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print(f" Extraction result:\n{info_result.stdout}")
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# Step 2: Create empty raster
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print(f"\n[2/3] Creating raster grid...")
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width = int((bounds['east'] - bounds['west']) / pixel_size)
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height = int((bounds['north'] - bounds['south']) / pixel_size)
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print(f" Grid size: {width} x {height} pixels")
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print(f" Memory estimate: {width * height / 1e6:.1f} MB")
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# Step 3: Rasterize
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print(f"\n[3/3] Rasterizing closed areas...")
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rasterize_cmd = [
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"gdal_rasterize",
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"-burn", "255",
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"-init", "0",
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"-a_nodata", "0", # No nodata - 0 means accessible
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"-te", str(bounds['west']), str(bounds['south']),
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str(bounds['east']), str(bounds['north']),
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"-tr", str(pixel_size), str(pixel_size),
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"-ot", "Byte",
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"-co", "COMPRESS=LZW",
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"-co", "TILED=YES",
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"-l", "closed_areas",
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str(closed_gpkg),
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str(output_path),
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]
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result = subprocess.run(rasterize_cmd, capture_output=True, text=True)
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if result.returncode != 0:
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print(f"STDERR: {result.stderr}")
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raise RuntimeError(f"gdal_rasterize failed: {result.stderr}")
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# Verify output
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print(f"\n[Done] Verifying output...")
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with rasterio.open(output_path) as ds:
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print(f" Size: {ds.width} x {ds.height}")
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print(f" CRS: {ds.crs}")
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print(f" Bounds: {ds.bounds}")
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# Sample a few tiles to check
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sample = ds.read(1, window=rasterio.windows.Window(0, 0, 1000, 1000))
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closed_count = np.sum(sample == 255)
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print(f" Sample (1000x1000): {closed_count} closed cells")
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file_size = output_path.stat().st_size / (1024**2)
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print(f" File size: {file_size:.1f} MB")
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return output_path
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if __name__ == "__main__":
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import sys
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if len(sys.argv) > 1 and sys.argv[1] == "build":
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# Build the raster
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print("="*60)
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print("PAD-US Barriers Raster Build")
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print("="*60)
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build_barriers_raster()
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else:
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# Test the reader
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print("Testing BarrierReader...")
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if not DEFAULT_BARRIERS_PATH.exists():
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print(f"Barrier raster not found at {DEFAULT_BARRIERS_PATH}")
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print(f"Run: python barriers.py build")
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sys.exit(1)
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reader = BarrierReader()
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# Test grid read for Idaho area
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barriers = reader.get_barrier_grid(
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south=42.2, north=42.6, west=-114.8, east=-113.8,
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target_shape=(400, 1000)
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)
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print(f"\nGrid test shape: {barriers.shape}")
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print(f"Unique values: {np.unique(barriers)}")
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closed_cells = np.sum(barriers == 255)
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print(f"Closed cells: {closed_cells} ({100*closed_cells/barriers.size:.2f}%)")
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reader.close()
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print("\nBarrierReader test complete.")
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@ -3,11 +3,11 @@ Tobler off-path hiking cost function for OFFROUTE.
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Computes travel time cost based on terrain slope using Tobler's
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hiking function with off-trail penalty. Optionally applies friction
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multipliers from land cover data.
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multipliers from land cover data and barrier grids from PAD-US.
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"""
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import math
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import numpy as np
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from typing import Optional
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from typing import Optional, Literal
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# Maximum passable slope in degrees
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MAX_SLOPE_DEG = 40.0
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@ -16,6 +16,9 @@ MAX_SLOPE_DEG = 40.0
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TOBLER_BASE_SPEED = 6.0
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TOBLER_OFF_TRAIL_MULT = 0.6
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# Pragmatic mode friction multiplier for private land
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PRAGMATIC_BARRIER_MULTIPLIER = 5.0
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def tobler_speed(grade: float) -> float:
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"""
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@ -33,7 +36,9 @@ def compute_cost_grid(
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cell_size_m: float,
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cell_size_lat_m: float = None,
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cell_size_lon_m: float = None,
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friction: Optional[np.ndarray] = None
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friction: Optional[np.ndarray] = None,
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barriers: Optional[np.ndarray] = None,
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boundary_mode: Literal["strict", "pragmatic", "emergency"] = "pragmatic"
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) -> np.ndarray:
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"""
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Compute isotropic travel cost grid from elevation data.
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@ -50,11 +55,23 @@ def compute_cost_grid(
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Values should be float (1.0 = baseline, 2.0 = 2x slower).
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np.inf marks impassable cells.
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If None, no friction is applied (backward compatible).
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barriers: Optional 2D array of barrier values (uint8).
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255 = closed/restricted area (from PAD-US Pub_Access = XA).
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0 = accessible.
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If None, no barriers are applied.
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boundary_mode: How to handle private/restricted land barriers:
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"strict" - cells with barrier=255 become impassable (np.inf)
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"pragmatic" - cells with barrier=255 get 5.0x friction penalty
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"emergency" - barriers are ignored entirely
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Default: "pragmatic"
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Returns:
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2D array of travel cost in seconds per cell.
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np.inf for impassable cells.
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"""
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if boundary_mode not in ("strict", "pragmatic", "emergency"):
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raise ValueError(f"boundary_mode must be 'strict', 'pragmatic', or 'emergency', got '{boundary_mode}'")
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if cell_size_lat_m is None:
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cell_size_lat_m = cell_size_m
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if cell_size_lon_m is None:
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@ -103,6 +120,22 @@ def compute_cost_grid(
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# Multiply cost by friction (inf * anything = inf, which is correct)
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cost = cost * friction
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# Apply barriers based on boundary_mode
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if barriers is not None and boundary_mode != "emergency":
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if barriers.shape != elevation.shape:
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raise ValueError(
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f"Barriers shape {barriers.shape} does not match elevation shape {elevation.shape}"
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)
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barrier_mask = barriers == 255
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if boundary_mode == "strict":
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# Mark closed/restricted areas as impassable
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cost[barrier_mask] = np.inf
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elif boundary_mode == "pragmatic":
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# Apply friction penalty to closed/restricted areas
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cost[barrier_mask] = cost[barrier_mask] * PRAGMATIC_BARRIER_MULTIPLIER
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return cost
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@ -112,7 +145,7 @@ if __name__ == "__main__":
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speed = tobler_speed(grade)
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print(f" Grade {grade:+.2f}: {speed:.2f} km/h")
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print("\nTesting cost grid computation (no friction):")
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print("\nTesting cost grid computation (no friction, no barriers):")
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elev = np.arange(100).reshape(10, 10).astype(np.float32) * 10
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cost = compute_cost_grid(elev, cell_size_m=30.0)
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print(f" Elevation range: {elev.min():.0f} - {elev.max():.0f} m")
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@ -130,3 +163,16 @@ if __name__ == "__main__":
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print(f" Base cost (flat, 30m cell): {30 * 3.6 / (0.6 * 6.0 * np.exp(-3.5 * 0.05)):.1f} s")
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print(f" With 1.5x friction: {cost[0, 0]:.1f} s")
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print(f" Impassable cells: {np.sum(np.isinf(cost))}")
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print("\nTesting cost grid with barriers (three modes):")
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elev = np.ones((10, 10), dtype=np.float32) * 1000 # flat terrain
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barriers = np.zeros((10, 10), dtype=np.uint8)
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barriers[3:7, 3:7] = 255 # 4x4 closed area in center
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base_cost = 30 * 3.6 / (0.6 * 6.0 * np.exp(-3.5 * 0.05))
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for mode in ["strict", "pragmatic", "emergency"]:
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cost = compute_cost_grid(elev, cell_size_m=30.0, barriers=barriers, boundary_mode=mode)
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impassable = np.sum(np.isinf(cost))
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barrier_cost = cost[5, 5] if not np.isinf(cost[5, 5]) else "inf"
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print(f" {mode:10s}: {impassable} impassable, barrier cell cost = {barrier_cost}")
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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,
|
||||
"west": -114.20,
|
||||
"east": -114.10,
|
||||
}
|
||||
LAKE_CENTER = (42.465, -114.155) # Verified water in WorldCover
|
||||
END_LAT = 42.55
|
||||
END_LON = -114.25
|
||||
|
||||
# Output files
|
||||
OUTPUT_PATH_O1 = Path("/opt/recon/data/offroute-test.geojson")
|
||||
OUTPUT_PATH_FRICTION = Path("/opt/recon/data/offroute-test-friction.geojson")
|
||||
OUTPUT_PATHS = {
|
||||
"strict": Path("/opt/recon/data/offroute-test-strict.geojson"),
|
||||
"pragmatic": Path("/opt/recon/data/offroute-test-pragmatic.geojson"),
|
||||
"emergency": Path("/opt/recon/data/offroute-test-emergency.geojson"),
|
||||
}
|
||||
|
||||
# Old files to delete
|
||||
OLD_FILES = [
|
||||
Path("/opt/recon/data/offroute-test-barriers-on.geojson"),
|
||||
Path("/opt/recon/data/offroute-test-barriers-off.geojson"),
|
||||
]
|
||||
|
||||
# Memory limit in GB
|
||||
MEMORY_LIMIT_GB = 12
|
||||
|
|
@ -77,40 +75,139 @@ def check_memory_usage():
|
|||
return 0
|
||||
|
||||
|
||||
def path_crosses_lake(coordinates, lake_bounds):
|
||||
"""Check if any path coordinates fall within the lake bounding box."""
|
||||
for lon, lat in coordinates:
|
||||
if (lake_bounds["south"] <= lat <= lake_bounds["north"] and
|
||||
lake_bounds["west"] <= lon <= lake_bounds["east"]):
|
||||
return True, (lat, lon)
|
||||
return False, None
|
||||
def run_pathfinder(
|
||||
elevation: np.ndarray,
|
||||
meta: dict,
|
||||
friction_mult: np.ndarray,
|
||||
barriers: np.ndarray,
|
||||
boundary_mode: str,
|
||||
start_row: int,
|
||||
start_col: int,
|
||||
end_row: int,
|
||||
end_col: int,
|
||||
dem_reader: DEMReader,
|
||||
) -> dict:
|
||||
"""
|
||||
Run the MCP pathfinder with given parameters.
|
||||
|
||||
Returns dict with path info and stats.
|
||||
"""
|
||||
# Compute cost grid
|
||||
cost = compute_cost_grid(
|
||||
elevation,
|
||||
cell_size_m=meta["cell_size_m"],
|
||||
friction=friction_mult,
|
||||
barriers=barriers,
|
||||
boundary_mode=boundary_mode,
|
||||
)
|
||||
|
||||
# Count impassable cells
|
||||
impassable_count = np.sum(np.isinf(cost))
|
||||
barrier_count = np.sum(barriers == 255) if barriers is not None else 0
|
||||
|
||||
# Run MCP
|
||||
mcp = MCP_Geometric(cost, fully_connected=True)
|
||||
cumulative_costs, traceback = mcp.find_costs([(start_row, start_col)])
|
||||
|
||||
end_cost = cumulative_costs[end_row, end_col]
|
||||
|
||||
if np.isinf(end_cost):
|
||||
return {
|
||||
"success": False,
|
||||
"reason": "No path found (blocked by impassable terrain)",
|
||||
"impassable_cells": int(impassable_count),
|
||||
"barrier_cells": int(barrier_count),
|
||||
}
|
||||
|
||||
# Traceback path
|
||||
path_indices = mcp.traceback((end_row, end_col))
|
||||
|
||||
# Convert to coordinates
|
||||
coordinates = []
|
||||
elevations = []
|
||||
barrier_values = []
|
||||
|
||||
for row, col in path_indices:
|
||||
lat, lon = dem_reader.pixel_to_latlon(row, col, meta)
|
||||
elev = elevation[row, col]
|
||||
barr = barriers[row, col] if barriers is not None else 0
|
||||
coordinates.append([lon, lat])
|
||||
elevations.append(elev)
|
||||
barrier_values.append(barr)
|
||||
|
||||
# Compute 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
|
||||
|
||||
# Elevation stats
|
||||
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]))
|
||||
|
||||
# Barrier crossings on path
|
||||
barr_arr = np.array(barrier_values)
|
||||
barrier_crossings = np.sum(barr_arr == 255)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"coordinates": coordinates,
|
||||
"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)),
|
||||
"cell_count": len(path_indices),
|
||||
"impassable_cells": int(impassable_count),
|
||||
"barrier_cells": int(barrier_count),
|
||||
"barrier_crossings": int(barrier_crossings),
|
||||
}
|
||||
|
||||
|
||||
def main():
|
||||
print("=" * 60)
|
||||
print("OFFROUTE Phase O2b Prototype (with Friction)")
|
||||
print("=" * 60)
|
||||
print("=" * 80)
|
||||
print("OFFROUTE Phase O2c Prototype (Three-Mode Boundary Respect)")
|
||||
print("=" * 80)
|
||||
|
||||
t0 = time.time()
|
||||
|
||||
# Delete old output files
|
||||
for old_file in OLD_FILES:
|
||||
if old_file.exists():
|
||||
old_file.unlink()
|
||||
print(f"Deleted old file: {old_file}")
|
||||
|
||||
# Check if barrier raster exists
|
||||
if not DEFAULT_BARRIERS_PATH.exists():
|
||||
print(f"\nERROR: Barrier raster not found at {DEFAULT_BARRIERS_PATH}")
|
||||
print(f"Run first: python /opt/recon/lib/offroute/barriers.py build")
|
||||
sys.exit(1)
|
||||
|
||||
# Step 1: Load elevation data
|
||||
print(f"\n[1] Loading DEM for bbox: {BBOX}")
|
||||
dem_reader = DEMReader()
|
||||
|
||||
t1 = time.time()
|
||||
elevation, meta = dem_reader.get_elevation_grid(
|
||||
south=BBOX["south"],
|
||||
north=BBOX["north"],
|
||||
west=BBOX["west"],
|
||||
east=BBOX["east"],
|
||||
)
|
||||
t2 = time.time()
|
||||
|
||||
print(f" Elevation grid shape: {elevation.shape}")
|
||||
print(f" Cell count: {elevation.size:,}")
|
||||
print(f" Cell size: {meta['cell_size_m']:.1f} m")
|
||||
print(f" Elevation range: {np.nanmin(elevation):.0f} - {np.nanmax(elevation):.0f} m")
|
||||
print(f" Load time: {t2 - t1:.1f}s")
|
||||
|
||||
mem = check_memory_usage()
|
||||
if mem > 0:
|
||||
|
|
@ -118,19 +215,8 @@ def main():
|
|||
|
||||
# Step 2: Load friction data
|
||||
print(f"\n[2] Loading WorldCover friction layer...")
|
||||
t2a = time.time()
|
||||
|
||||
friction_reader = FrictionReader()
|
||||
|
||||
# Validate lake is marked as impassable
|
||||
lake_friction = friction_reader.sample_point(LAKE_CENTER[0], LAKE_CENTER[1])
|
||||
print(f" Murtaugh Lake center ({LAKE_CENTER[0]}, {LAKE_CENTER[1]}): friction = {lake_friction}")
|
||||
if lake_friction != 255:
|
||||
print(f" WARNING: Lake not marked as water (expected 255, got {lake_friction})")
|
||||
else:
|
||||
print(f" Lake correctly marked as impassable (255)")
|
||||
|
||||
# Load friction grid matching elevation shape
|
||||
friction_raw = friction_reader.get_friction_grid(
|
||||
south=BBOX["south"],
|
||||
north=BBOX["north"],
|
||||
|
|
@ -138,36 +224,30 @@ def main():
|
|||
east=BBOX["east"],
|
||||
target_shape=elevation.shape
|
||||
)
|
||||
t2b = time.time()
|
||||
|
||||
# Convert to multipliers
|
||||
friction_mult = friction_to_multiplier(friction_raw)
|
||||
|
||||
impassable_count = np.sum(np.isinf(friction_mult))
|
||||
print(f" Friction grid shape: {friction_raw.shape}")
|
||||
print(f" Unique friction values: {np.unique(friction_raw[friction_raw > 0])}")
|
||||
print(f" Impassable cells (water/nodata): {impassable_count:,} ({100*impassable_count/friction_raw.size:.1f}%)")
|
||||
print(f" Load time: {t2b - t2a:.1f}s")
|
||||
print(f" Water/impassable cells: {np.sum(np.isinf(friction_mult)):,}")
|
||||
|
||||
mem = check_memory_usage()
|
||||
if mem > 0:
|
||||
print(f" Memory usage: {mem:.1f} GB")
|
||||
# Step 3: Load barrier data
|
||||
print(f"\n[3] Loading PAD-US barrier layer...")
|
||||
barrier_reader = BarrierReader()
|
||||
|
||||
# Step 3: Compute cost grid with friction
|
||||
print(f"\n[3] Computing Tobler cost grid with friction...")
|
||||
t3 = time.time()
|
||||
cost = compute_cost_grid(
|
||||
elevation,
|
||||
cell_size_m=meta["cell_size_m"],
|
||||
friction=friction_mult
|
||||
barriers = barrier_reader.get_barrier_grid(
|
||||
south=BBOX["south"],
|
||||
north=BBOX["north"],
|
||||
west=BBOX["west"],
|
||||
east=BBOX["east"],
|
||||
target_shape=elevation.shape
|
||||
)
|
||||
t4 = time.time()
|
||||
|
||||
finite_cost = cost[~np.isinf(cost)]
|
||||
total_impassable = np.sum(np.isinf(cost))
|
||||
print(f" Cost range: {finite_cost.min():.1f} - {finite_cost.max():.1f} s/cell")
|
||||
print(f" Total impassable cells: {total_impassable:,} ({100*total_impassable/cost.size:.1f}%)")
|
||||
print(f" Compute time: {t4 - t3:.1f}s")
|
||||
closed_cells = np.sum(barriers == 255)
|
||||
print(f" Barrier grid shape: {barriers.shape}")
|
||||
print(f" Closed/restricted cells: {closed_cells:,} ({100*closed_cells/barriers.size:.2f}%)")
|
||||
|
||||
if closed_cells == 0:
|
||||
print("\n WARNING: No closed/restricted areas in this bbox.")
|
||||
print(" The test may not show meaningful differences between modes.")
|
||||
|
||||
mem = check_memory_usage()
|
||||
if mem > 0:
|
||||
|
|
@ -190,196 +270,122 @@ def main():
|
|||
print(f"ERROR: End point outside grid bounds")
|
||||
sys.exit(1)
|
||||
|
||||
start_elev = elevation[start_row, start_col]
|
||||
end_elev = elevation[end_row, end_col]
|
||||
print(f" Start elevation: {start_elev:.0f} m")
|
||||
print(f" End elevation: {end_elev:.0f} m")
|
||||
# Step 5: Run pathfinder THREE times
|
||||
results = {}
|
||||
modes = ["strict", "pragmatic", "emergency"]
|
||||
|
||||
# Step 5: Run MCP pathfinder
|
||||
print(f"\n[5] Running MCP_Geometric pathfinder...")
|
||||
t5 = time.time()
|
||||
for i, mode in enumerate(modes, start=5):
|
||||
print(f"\n[{i}] Running pathfinder (boundary_mode=\"{mode}\")...")
|
||||
t_start = time.time()
|
||||
results[mode] = run_pathfinder(
|
||||
elevation, meta, friction_mult, barriers,
|
||||
boundary_mode=mode,
|
||||
start_row=start_row, start_col=start_col,
|
||||
end_row=end_row, end_col=end_col,
|
||||
dem_reader=dem_reader,
|
||||
)
|
||||
t_end = time.time()
|
||||
print(f" Completed in {t_end - t_start:.1f}s")
|
||||
|
||||
mcp = MCP_Geometric(cost, fully_connected=True)
|
||||
cumulative_costs, traceback = mcp.find_costs([(start_row, start_col)])
|
||||
t6 = time.time()
|
||||
# Step 6: Save GeoJSON outputs
|
||||
print(f"\n[8] Saving GeoJSON outputs...")
|
||||
|
||||
print(f" Dijkstra completed in {t6 - t5:.1f}s")
|
||||
OUTPUT_PATHS["strict"].parent.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
end_cost = cumulative_costs[end_row, end_col]
|
||||
print(f" Total cost to endpoint: {end_cost:.0f} seconds ({end_cost/60:.1f} minutes)")
|
||||
|
||||
if np.isinf(end_cost):
|
||||
print("ERROR: No path found to endpoint (blocked by impassable terrain)")
|
||||
sys.exit(1)
|
||||
|
||||
t7 = time.time()
|
||||
path_indices = mcp.traceback((end_row, end_col))
|
||||
t8 = time.time()
|
||||
|
||||
print(f" Traceback completed in {t8 - t7:.2f}s")
|
||||
print(f" Path length: {len(path_indices)} cells")
|
||||
|
||||
mem = check_memory_usage()
|
||||
if mem > 0:
|
||||
print(f" Memory usage: {mem:.1f} GB")
|
||||
|
||||
# Step 6: Convert path to coordinates and compute stats
|
||||
print(f"\n[6] Converting path to GeoJSON...")
|
||||
|
||||
coordinates = []
|
||||
elevations = []
|
||||
friction_values = []
|
||||
|
||||
for row, col in path_indices:
|
||||
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)
|
||||
|
||||
# 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
|
||||
|
||||
# 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]))
|
||||
|
||||
# Friction stats along path
|
||||
fric_arr = np.array(friction_values)
|
||||
valid_fric = fric_arr[(fric_arr > 0) & (fric_arr < 255)]
|
||||
|
||||
# Build GeoJSON
|
||||
for mode, result in results.items():
|
||||
output_path = OUTPUT_PATHS[mode]
|
||||
if result["success"]:
|
||||
geojson = {
|
||||
"type": "Feature",
|
||||
"properties": {
|
||||
"type": "offroute_prototype_friction",
|
||||
"phase": "O2b",
|
||||
"type": f"offroute_{mode}",
|
||||
"phase": "O2c",
|
||||
"boundary_mode": mode,
|
||||
"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"],
|
||||
**{k: v for k, v in result.items() if k not in ["success", "coordinates"]},
|
||||
},
|
||||
"geometry": {
|
||||
"type": "LineString",
|
||||
"coordinates": coordinates,
|
||||
"coordinates": result["coordinates"],
|
||||
}
|
||||
}
|
||||
|
||||
# Write output
|
||||
OUTPUT_PATH_FRICTION.parent.mkdir(parents=True, exist_ok=True)
|
||||
with open(OUTPUT_PATH_FRICTION, "w") as f:
|
||||
with open(output_path, "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)
|
||||
print(f" Saved: {output_path}")
|
||||
else:
|
||||
print(f"PASS: No water cells (friction=255) on path")
|
||||
print(f" SKIPPED ({mode}): {result['reason']}")
|
||||
|
||||
# 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)")
|
||||
t_total = time.time()
|
||||
|
||||
# Final report - three-way comparison
|
||||
print(f"\n" + "=" * 80)
|
||||
print("THREE-WAY COMPARISON")
|
||||
print("=" * 80)
|
||||
|
||||
# Check how many succeeded
|
||||
success_count = sum(1 for r in results.values() if r["success"])
|
||||
|
||||
if success_count == 3:
|
||||
print(f"{'Metric':<22} {'STRICT':<18} {'PRAGMATIC':<18} {'EMERGENCY':<18}")
|
||||
print("-" * 80)
|
||||
|
||||
metrics = [
|
||||
("Distance (km)", "total_distance_km", ".2f"),
|
||||
("Effort time (min)", "total_time_minutes", ".1f"),
|
||||
("Cell count", "cell_count", "d"),
|
||||
("Elevation gain (m)", "elevation_gain_m", ".0f"),
|
||||
("Elevation loss (m)", "elevation_loss_m", ".0f"),
|
||||
("Barrier crossings", "barrier_crossings", "d"),
|
||||
("Impassable cells", "impassable_cells", ",d"),
|
||||
]
|
||||
|
||||
for label, key, fmt in metrics:
|
||||
vals = [results[m][key] for m in modes]
|
||||
print(f"{label:<22} {vals[0]:<18{fmt}} {vals[1]:<18{fmt}} {vals[2]:<18{fmt}}")
|
||||
|
||||
# Analysis
|
||||
print(f"\n" + "-" * 80)
|
||||
print("ANALYSIS")
|
||||
print("-" * 80)
|
||||
|
||||
strict_crossings = results["strict"]["barrier_crossings"]
|
||||
pragmatic_crossings = results["pragmatic"]["barrier_crossings"]
|
||||
emergency_crossings = results["emergency"]["barrier_crossings"]
|
||||
|
||||
print(f"Barrier crossings: strict={strict_crossings}, pragmatic={pragmatic_crossings}, emergency={emergency_crossings}")
|
||||
|
||||
if strict_crossings == 0 and pragmatic_crossings == 0 and emergency_crossings == 0:
|
||||
print("No path crosses private land - terrain naturally avoids barriers.")
|
||||
else:
|
||||
print(f"PASS: Path does not enter lake bounding box")
|
||||
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)")
|
||||
|
||||
# Compare with Phase O1 if available
|
||||
print(f"\n" + "-" * 60)
|
||||
print("COMPARISON: Phase O1 vs O2b")
|
||||
print("-" * 60)
|
||||
# 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")
|
||||
|
||||
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"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')}")
|
||||
|
||||
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