mirror of
https://github.com/zvx-echo6/recon.git
synced 2026-05-20 06:34:40 +02:00
Matt
e0eedcedfd
- 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>
392 lines
13 KiB
Python
Executable file
392 lines
13 KiB
Python
Executable file
#!/usr/bin/env python3
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"""
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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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PAD-US barriers integration, and MCP pathfinder on a real Idaho bounding box.
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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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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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import sys
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from pathlib import Path
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import numpy as np
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from skimage.graph import MCP_Geometric
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# Add parent to path for imports
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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 - 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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"west": -114.76,
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"east": -113.79,
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}
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# Start point: wilderness area south of Twin Falls
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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 = 42.55
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END_LON = -114.25
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# Output files
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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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def check_memory_usage():
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"""Check current memory usage and abort if over limit."""
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try:
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import psutil
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process = psutil.Process()
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mem_gb = process.memory_info().rss / (1024**3)
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if mem_gb > MEMORY_LIMIT_GB:
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print(f"ERROR: Memory usage {mem_gb:.1f}GB exceeds {MEMORY_LIMIT_GB}GB limit")
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sys.exit(1)
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return mem_gb
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except ImportError:
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return 0
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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("=" * 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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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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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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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 2: Load friction data
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print(f"\n[2] Loading WorldCover friction layer...")
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friction_reader = FrictionReader()
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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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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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friction_mult = friction_to_multiplier(friction_raw)
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print(f" Friction grid shape: {friction_raw.shape}")
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print(f" Water/impassable cells: {np.sum(np.isinf(friction_mult)):,}")
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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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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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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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print(f" Memory usage: {mem:.1f} GB")
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# Step 4: Convert start/end to pixel coordinates
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print(f"\n[4] Converting coordinates...")
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start_row, start_col = dem_reader.latlon_to_pixel(START_LAT, START_LON, meta)
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end_row, end_col = dem_reader.latlon_to_pixel(END_LAT, END_LON, meta)
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print(f" Start: ({START_LAT}, {START_LON}) -> pixel ({start_row}, {start_col})")
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print(f" End: ({END_LAT}, {END_LON}) -> pixel ({end_row}, {end_col})")
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# Validate coordinates are within bounds
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rows, cols = elevation.shape
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if not (0 <= start_row < rows and 0 <= start_col < cols):
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print(f"ERROR: Start point outside grid bounds")
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sys.exit(1)
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if not (0 <= end_row < rows and 0 <= end_col < cols):
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print(f"ERROR: End point outside grid bounds")
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sys.exit(1)
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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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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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# Step 6: Save GeoJSON outputs
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print(f"\n[8] Saving GeoJSON outputs...")
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OUTPUT_PATHS["strict"].parent.mkdir(parents=True, exist_ok=True)
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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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t_total = 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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# Check how many succeeded
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success_count = sum(1 for r in results.values() if r["success"])
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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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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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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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# Analysis
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print(f"\n" + "-" * 80)
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print("ANALYSIS")
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print("-" * 80)
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strict_crossings = results["strict"]["barrier_crossings"]
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pragmatic_crossings = results["pragmatic"]["barrier_crossings"]
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emergency_crossings = results["emergency"]["barrier_crossings"]
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print(f"Barrier crossings: strict={strict_crossings}, pragmatic={pragmatic_crossings}, emergency={emergency_crossings}")
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if strict_crossings == 0 and pragmatic_crossings == 0 and emergency_crossings == 0:
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print("No path crosses private land - terrain naturally avoids barriers.")
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else:
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if emergency_crossings > pragmatic_crossings:
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print(f"Pragmatic mode reduces barrier crossings vs emergency: {emergency_crossings} -> {pragmatic_crossings}")
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if pragmatic_crossings > 0 and strict_crossings == 0:
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print(f"Strict mode completely avoids private land (pragmatic crosses {pragmatic_crossings} cells)")
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# Time/distance comparison
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if results["strict"]["total_time_minutes"] > results["emergency"]["total_time_minutes"]:
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time_penalty = results["strict"]["total_time_minutes"] - results["emergency"]["total_time_minutes"]
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print(f"Time cost of strict boundary respect: +{time_penalty:.1f} min")
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else:
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print(f"Only {success_count}/3 modes found a path:")
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for mode, result in results.items():
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if result["success"]:
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print(f" {mode}: {result['total_distance_km']:.2f} km, {result['total_time_minutes']:.1f} min")
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else:
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print(f" {mode}: FAILED - {result.get('reason', 'unknown')}")
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print(f"\n" + "-" * 80)
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print(f"Total wall time: {t_total - t0:.1f}s")
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print(f"Closed cells in bbox: {closed_cells:,}")
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# Cleanup
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dem_reader.close()
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friction_reader.close()
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barrier_reader.close()
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print("\nPrototype completed.")
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if __name__ == "__main__":
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main()
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