diff --git a/src/local_pathfinding/land/land_polygons_notebook.ipynb b/src/local_pathfinding/land/land_polygons_notebook.ipynb index 7d53714df..584783ffb 100644 --- a/src/local_pathfinding/land/land_polygons_notebook.ipynb +++ b/src/local_pathfinding/land/land_polygons_notebook.ipynb @@ -2,11 +2,57 @@ "cells": [ { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Defaulting to user installation because normal site-packages is not writeable\n", + "Requirement already satisfied: plotly in /home/ros/.local/lib/python3.10/site-packages (5.24.1)\n", + "Requirement already satisfied: folium in /home/ros/.local/lib/python3.10/site-packages (0.17.0)\n", + "Requirement already satisfied: mapclassify in /home/ros/.local/lib/python3.10/site-packages (2.8.1)\n", + "Requirement already satisfied: matplotlib in /usr/lib/python3/dist-packages (3.5.1)\n", + 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(1.16.0)\n", + "Installing collected packages: shapely, pyogrio, geopandas\n", + "Successfully installed geopandas-1.0.1 pyogrio-0.9.0 shapely-2.0.6\n" + ] + } + ], "source": [ - "!pip3 install plotly folium mapclassify matplotlib" + "!pip3 install plotly folium mapclassify matplotlib geopandas" ] }, { @@ -29,7 +75,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 1, "metadata": {}, "outputs": [ { @@ -46,8 +92,6 @@ "name": "stderr", "output_type": "stream", "text": [ - "/home/ros/.local/lib/python3.10/site-packages/matplotlib/projections/__init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.\n", - " warnings.warn(\"Unable to import Axes3D. This may be due to multiple versions of \"\n", "/usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.4\n", " warnings.warn(f\"A NumPy version >={np_minversion} and <{np_maxversion}\"\n" ] @@ -82,7 +126,7 @@ " <meta name="viewport" content="width=device-width,\n", " initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />\n", " <style>\n", - " #map_e527ed5db1e8524dc22a3db1d2b471c2 {\n", + " #map_3105175409fd4e12de8e8200f0e0eb23 {\n", " position: relative;\n", " width: 100.0%;\n", " height: 100.0%;\n", @@ -112,14 +156,14 @@ "<body>\n", " \n", " \n", - " <div class="folium-map" id="map_e527ed5db1e8524dc22a3db1d2b471c2" ></div>\n", + " <div class="folium-map" id="map_3105175409fd4e12de8e8200f0e0eb23" ></div>\n", " \n", "</body>\n", "<script>\n", " \n", " \n", - " var map_e527ed5db1e8524dc22a3db1d2b471c2 = L.map(\n", - " "map_e527ed5db1e8524dc22a3db1d2b471c2",\n", + " var map_3105175409fd4e12de8e8200f0e0eb23 = L.map(\n", + " "map_3105175409fd4e12de8e8200f0e0eb23",\n", " {\n", " center: [34.2876885, 0.0],\n", " crs: L.CRS.EPSG3857,\n", @@ -128,79 +172,79 @@ " preferCanvas: false,\n", " }\n", " );\n", - " L.control.scale().addTo(map_e527ed5db1e8524dc22a3db1d2b471c2);\n", + " L.control.scale().addTo(map_3105175409fd4e12de8e8200f0e0eb23);\n", "\n", " \n", "\n", " \n", " \n", - " var tile_layer_a174d98a362eba644c2e9027fff42947 = L.tileLayer(\n", + " var tile_layer_a0dcdb602a18fd9f8b70fcfc33284c62 = L.tileLayer(\n", " "https://tile.openstreetmap.org/{z}/{x}/{y}.png",\n", " {"attribution": "\\u0026copy; \\u003ca href=\\"https://www.openstreetmap.org/copyright\\"\\u003eOpenStreetMap\\u003c/a\\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}\n", " );\n", " \n", " \n", - " tile_layer_a174d98a362eba644c2e9027fff42947.addTo(map_e527ed5db1e8524dc22a3db1d2b471c2);\n", + " tile_layer_a0dcdb602a18fd9f8b70fcfc33284c62.addTo(map_3105175409fd4e12de8e8200f0e0eb23);\n", " \n", " \n", - " map_e527ed5db1e8524dc22a3db1d2b471c2.fitBounds(\n", + " map_3105175409fd4e12de8e8200f0e0eb23.fitBounds(\n", " [[-14.7608358, -180.0], [83.3362128, 180.0]],\n", " {}\n", " );\n", " \n", " \n", - " function geo_json_171e8c16abe9ca5137e2a084d0e97d70_styler(feature) {\n", + " function geo_json_39efad3ca9a488588c718e08c8304423_styler(feature) {\n", " switch(feature.id) {\n", " default:\n", " return {"fillOpacity": 0.5, "weight": 2};\n", " }\n", " }\n", - " function geo_json_171e8c16abe9ca5137e2a084d0e97d70_highlighter(feature) {\n", + " function geo_json_39efad3ca9a488588c718e08c8304423_highlighter(feature) {\n", " switch(feature.id) {\n", " default:\n", " return {"fillOpacity": 0.75};\n", " }\n", " }\n", - " function geo_json_171e8c16abe9ca5137e2a084d0e97d70_pointToLayer(feature, latlng) {\n", + " function geo_json_39efad3ca9a488588c718e08c8304423_pointToLayer(feature, latlng) {\n", " var opts = {"bubblingMouseEvents": true, "color": "#3388ff", "dashArray": null, "dashOffset": null, "fill": true, "fillColor": "#3388ff", "fillOpacity": 0.2, "fillRule": "evenodd", "lineCap": "round", "lineJoin": "round", "opacity": 1.0, "radius": 2, "stroke": true, "weight": 3};\n", " \n", - " let style = geo_json_171e8c16abe9ca5137e2a084d0e97d70_styler(feature)\n", + " let style = geo_json_39efad3ca9a488588c718e08c8304423_styler(feature)\n", " Object.assign(opts, style)\n", " \n", " return new L.CircleMarker(latlng, opts)\n", " }\n", "\n", - " function geo_json_171e8c16abe9ca5137e2a084d0e97d70_onEachFeature(feature, layer) {\n", + " function geo_json_39efad3ca9a488588c718e08c8304423_onEachFeature(feature, layer) {\n", " layer.on({\n", " mouseout: function(e) {\n", " if(typeof e.target.setStyle === "function"){\n", - " geo_json_171e8c16abe9ca5137e2a084d0e97d70.resetStyle(e.target);\n", + " geo_json_39efad3ca9a488588c718e08c8304423.resetStyle(e.target);\n", " }\n", " },\n", " mouseover: function(e) {\n", " if(typeof e.target.setStyle === "function"){\n", - " const highlightStyle = geo_json_171e8c16abe9ca5137e2a084d0e97d70_highlighter(e.target.feature)\n", + " const highlightStyle = geo_json_39efad3ca9a488588c718e08c8304423_highlighter(e.target.feature)\n", " e.target.setStyle(highlightStyle);\n", " }\n", " },\n", " });\n", " };\n", - " var geo_json_171e8c16abe9ca5137e2a084d0e97d70 = L.geoJson(null, {\n", - " onEachFeature: geo_json_171e8c16abe9ca5137e2a084d0e97d70_onEachFeature,\n", + " var geo_json_39efad3ca9a488588c718e08c8304423 = L.geoJson(null, {\n", + " onEachFeature: geo_json_39efad3ca9a488588c718e08c8304423_onEachFeature,\n", " \n", - " style: geo_json_171e8c16abe9ca5137e2a084d0e97d70_styler,\n", - " pointToLayer: geo_json_171e8c16abe9ca5137e2a084d0e97d70_pointToLayer,\n", + " style: geo_json_39efad3ca9a488588c718e08c8304423_styler,\n", + " pointToLayer: geo_json_39efad3ca9a488588c718e08c8304423_pointToLayer,\n", " });\n", "\n", - " function geo_json_171e8c16abe9ca5137e2a084d0e97d70_add (data) {\n", - " geo_json_171e8c16abe9ca5137e2a084d0e97d70\n", + " function geo_json_39efad3ca9a488588c718e08c8304423_add (data) {\n", + " geo_json_39efad3ca9a488588c718e08c8304423\n", " .addData(data);\n", " }\n", - " geo_json_171e8c16abe9ca5137e2a084d0e97d70_add({"bbox": [-180.0, -14.7608358, 180.0, 83.3362128], "features": [{"bbox": [-180.0, -14.7608358, 180.0, 71.5889534], "geometry": {"coordinates": [[[[-131.2240679, 54.69433], [-131.218328, 54.702724], [-131.2115994, 54.7060498], [-131.1897397, 54.7168479], [-131.1678684, 54.727642], [-131.1459855, 54.7384322], [-131.124091, 54.7492185], [-131.1021848, 54.7600008], [-131.080267, 54.770779], [-131.0773372, 54.7696621], [-131.05332, 54.760501], [-131.0433389, 54.7562067], [-131.0202663, 54.746273], [-130.997205, 54.736335], 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48.999928], [-119.794179, 49.0000199], [-119.7892606, 49.0000314], [-119.7572764, 49.0000792], [-119.7554973, 49.0000801], [-119.7364516, 49.0001037], [-119.7310507, 49.0001146], [-119.7298504, 49.0001154], [-119.7046059, 49.0001067], [-119.7010358, 49.0001103], [-119.6905911, 49.0001078], [-119.6541819, 49.0001056], [-119.6357981, 49.0001], [-119.626045, 49.0001006], [-119.5807661, 49.0001033], [-119.5234586, 49.0001069], [-119.5054942, 49.0000906], [-119.4628728, 49.00009], [-119.4625867, 49.00009], [-119.4624664, 49.00009], [-119.4618383, 49.0000897], [-119.4600883, 49.0000894], [-119.4423522, 49.0000893], [-119.4282989, 49.0000892], [-119.4029014, 49.0000914], [-119.3822331, 49.0000983], [-119.3414106, 49.0000922], [-119.3113833, 49.0000914], [-119.2950786, 49.0000884], [-119.2655881, 49.0000831], [-119.2241272, 49.0000811], [-119.1960369, 49.0000811], [-119.1831972, 49.0001394], [-119.1575347, 49.0000839], [-119.1288078, 49.0000892], [-119.1013117, 49.0000919], [-119.0742956, 49.0000836], [-119.0471125, 49.0000753], [-119.0168847, 49.0000781], [-119.0098278, 49.0000794], [-118.974055, 49.0000861], [-118.9571489, 49.0000917], [-118.9426375, 49.0000886], [-118.9102481, 49.0000886], [-118.8992983, 49.0000997], [-118.8800214, 49.0000775], [-118.8499013, 49.0000811], [-118.8366129, 49.0000786], [-118.8343478, 49.0000831], [-118.8323146, 49.0000837], [-118.8032078, 49.00008], [-118.8019259, 49.0000811], [-118.7938502, 49.0000881], [-118.7883432, 49.0000904], [-118.7874933, 49.0000908], [-118.7770292, 49.0000825], [-118.7733872, 49.0000824], [-118.7706517, 49.0000824], [-118.7698953, 49.0000823], [-118.7611675, 49.0000822], [-118.7596814, 49.0000822], [-118.750552, 49.0000801], [-118.7473253, 49.0000794], [-118.7348225, 49.0000797], [-118.7218003, 49.00008], [-118.7071806, 49.0000747], [-118.7065061, 49.0000743], [-118.6893306, 49.0000639], [-118.6658664, 49.0000756], [-118.6378158, 49.0000731], [-118.6149462, 49.0000732], [-118.6028302, 49.0000732], [-118.6008271, 49.0000732], [-118.5884397, 49.0000733], [-118.5511639, 49.0000683], [-118.5314834, 49.000073], [-118.5266831, 49.0000742], [-118.5217523, 49.0000742], [-118.5206795, 49.0000743], [-118.5049217, 49.0000744], [-118.5039736, 49.0000764], [-118.5035553, 49.0000747], [-118.5033522, 49.0000744], [-118.5029688, 49.0000744], [-118.498234, 49.0000746], [-118.4939072, 49.0000747], [-118.4834582, 49.0000807], [-118.4669806, 49.0000833], [-118.4528742, 49.0000919], [-118.4228639, 49.0000703], [-118.3897094, 49.0000431], [-118.3772672, 49.0000683], [-118.3252033, 49.0000717], [-118.2978954, 49.0000583], [-118.2868225, 49.0000528], [-118.2478081, 49.0000644], [-118.2303958, 49.0000731], [-118.2244147, 49.0000733], [-118.2240647, 49.0000733], [-118.2237731, 49.0000733], [-118.2168063, 49.000072], [-118.2075886, 49.0000708], [-118.1975386, 49.0000702], [-118.1970565, 49.0000702], [-118.1966538, 49.0000702], [-118.1730833, 49.0000689], [-118.1641911, 49.0000717], [-118.0952056, 49.0001575], [-118.0625256, 49.0001994], [-118.0390017, 49.0002275], [-118.0, 49.0002836], [-117.9921125, 49.000295], [-117.9360699, 49.0003735], [-117.9332206, 49.0003775], [-117.8941336, 49.0004128], [-117.875, 49.0004367], [-117.8317675, 49.0004897], [-117.8315286, 49.0004897], [-117.83117, 49.0004897], [-117.7862645, 49.0005185], [-117.7734322, 49.0005267], [-117.7376803, 49.0005969], [-117.7178892, 49.0006303], [-117.6974658, 49.0006647], [-117.657165, 49.0006994], [-117.6461222, 49.00072], [-117.6374936, 49.0007361], [-117.6313021, 49.0007363]]]], "type": "MultiPolygon"}, "id": "1", "properties": {"id": "relation/1428125"}, "type": "Feature"}], "type": "FeatureCollection"});\n", "\n", " \n", " \n", - " geo_json_171e8c16abe9ca5137e2a084d0e97d70.bindTooltip(\n", + " geo_json_39efad3ca9a488588c718e08c8304423.bindTooltip(\n", " function(layer){\n", " let div = L.DomUtil.create('div');\n", " \n", @@ -224,16 +268,16 @@ " ,{"className": "foliumtooltip", "sticky": true});\n", " \n", " \n", - " geo_json_171e8c16abe9ca5137e2a084d0e97d70.addTo(map_e527ed5db1e8524dc22a3db1d2b471c2);\n", + " geo_json_39efad3ca9a488588c718e08c8304423.addTo(map_3105175409fd4e12de8e8200f0e0eb23);\n", " \n", "</script>\n", "</html>\" style=\"position:absolute;width:100%;height:100%;left:0;top:0;border:none !important;\" allowfullscreen webkitallowfullscreen mozallowfullscreen>" ], "text/plain": [ - "" + "" ] }, - "execution_count": 2, + "execution_count": 1, "metadata": {}, "output_type": "execute_result" } @@ -260,16 +304,16 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 2, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "GeoDataframe Time: 0.011881634712219239\n", + "GeoDataframe Time: 0.01731357669830322\n", "58\n", - "MultiPolygon Time: 0.006774210453033448\n" + "MultiPolygon Time: 0.01019340705871582\n" ] } ], @@ -300,7 +344,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 3, "metadata": {}, "outputs": [ { @@ -312,7 +356,7 @@ "" ] }, - "execution_count": 4, + "execution_count": 3, "metadata": {}, "output_type": "execute_result" } @@ -323,7 +367,7 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 8, "metadata": {}, "outputs": [], "source": [ @@ -345,7 +389,7 @@ "\n", "# Slice off section of map_sel west of the International Date Line\n", "# transforming a polygon that crosses the IDL has undesired results\n", - "IDL = LineString([(-180, 90), (-180, -90)])\n", + "IDL = LineString([(-179.5, 90), (-179.5, -90)])\n", "map_sel_east = split(map_sel, IDL).geoms[0]\n", "\n", "# clip polygons in multi_poly to map_sel_east\n", @@ -354,7 +398,7 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 9, "metadata": {}, "outputs": [ { @@ -396,7 +440,7 @@ " <meta name="viewport" content="width=device-width,\n", " initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />\n", " <style>\n", - " #map_c1930441de5d7068985c203604ca4ba5 {\n", + " #map_ee24f8ee10f9c5cb5d558bcc550e11e0 {\n", " position: relative;\n", " width: 100.0%;\n", " height: 100.0%;\n", @@ -426,95 +470,95 @@ "<body>\n", " \n", " \n", - " <div class="folium-map" id="map_c1930441de5d7068985c203604ca4ba5" ></div>\n", + " <div class="folium-map" id="map_ee24f8ee10f9c5cb5d558bcc550e11e0" ></div>\n", " \n", "</body>\n", "<script>\n", " \n", " \n", - " var map_c1930441de5d7068985c203604ca4ba5 = L.map(\n", - " "map_c1930441de5d7068985c203604ca4ba5",\n", + " var map_ee24f8ee10f9c5cb5d558bcc550e11e0 = L.map(\n", + " "map_ee24f8ee10f9c5cb5d558bcc550e11e0",\n", " {\n", - " center: [39.525192149999995, -146.69525290214716],\n", + " center: [39.51401002837247, -146.4295156899724],\n", " crs: L.CRS.EPSG3857,\n", " zoom: 10,\n", " zoomControl: true,\n", " preferCanvas: false,\n", " }\n", " );\n", - " L.control.scale().addTo(map_c1930441de5d7068985c203604ca4ba5);\n", + " L.control.scale().addTo(map_ee24f8ee10f9c5cb5d558bcc550e11e0);\n", "\n", " \n", "\n", " \n", " \n", - " var tile_layer_f56c86c4681a6affd0957e4c91ba1707 = L.tileLayer(\n", + " var tile_layer_40bd058bcb06407a4b57bfc426e31c8a = L.tileLayer(\n", " "https://tile.openstreetmap.org/{z}/{x}/{y}.png",\n", " {"attribution": "\\u0026copy; \\u003ca href=\\"https://www.openstreetmap.org/copyright\\"\\u003eOpenStreetMap\\u003c/a\\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}\n", " );\n", " \n", " \n", - " tile_layer_f56c86c4681a6affd0957e4c91ba1707.addTo(map_c1930441de5d7068985c203604ca4ba5);\n", + " tile_layer_40bd058bcb06407a4b57bfc426e31c8a.addTo(map_ee24f8ee10f9c5cb5d558bcc550e11e0);\n", " \n", " \n", - " map_c1930441de5d7068985c203604ca4ba5.fitBounds(\n", - " [[16.5056303, -180.0], [62.544754, -113.3905058042943]],\n", + " map_ee24f8ee10f9c5cb5d558bcc550e11e0.fitBounds(\n", + " [[16.462565482636016, -179.51343483023726], [62.56545457410893, -113.34559654970754]],\n", " {}\n", " );\n", " \n", " \n", - " function geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_styler(feature) {\n", + " function geo_json_e436b84f0a9902bbffbd98930b8df5ac_styler(feature) {\n", " switch(feature.id) {\n", " default:\n", " return {"fillOpacity": 0.5, "weight": 2};\n", " }\n", " }\n", - " function geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_highlighter(feature) {\n", + " function geo_json_e436b84f0a9902bbffbd98930b8df5ac_highlighter(feature) {\n", " switch(feature.id) {\n", " default:\n", " return {"fillOpacity": 0.75};\n", " }\n", " }\n", - " function geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_pointToLayer(feature, latlng) {\n", + " function geo_json_e436b84f0a9902bbffbd98930b8df5ac_pointToLayer(feature, latlng) {\n", " var opts = {"bubblingMouseEvents": true, "color": "#3388ff", "dashArray": null, "dashOffset": null, "fill": true, "fillColor": "#3388ff", "fillOpacity": 0.2, "fillRule": "evenodd", "lineCap": "round", "lineJoin": "round", "opacity": 1.0, "radius": 2, "stroke": true, "weight": 3};\n", " \n", - " let style = geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_styler(feature)\n", + " let style = geo_json_e436b84f0a9902bbffbd98930b8df5ac_styler(feature)\n", " Object.assign(opts, style)\n", " \n", " return new L.CircleMarker(latlng, opts)\n", " }\n", "\n", - " function geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_onEachFeature(feature, layer) {\n", + " function geo_json_e436b84f0a9902bbffbd98930b8df5ac_onEachFeature(feature, layer) {\n", " layer.on({\n", " mouseout: function(e) {\n", " if(typeof e.target.setStyle === "function"){\n", - " geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3.resetStyle(e.target);\n", + " geo_json_e436b84f0a9902bbffbd98930b8df5ac.resetStyle(e.target);\n", " }\n", " },\n", " mouseover: function(e) {\n", " if(typeof e.target.setStyle === "function"){\n", - " const highlightStyle = geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_highlighter(e.target.feature)\n", + " const highlightStyle = geo_json_e436b84f0a9902bbffbd98930b8df5ac_highlighter(e.target.feature)\n", " e.target.setStyle(highlightStyle);\n", " }\n", " },\n", " });\n", " };\n", - " var geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3 = L.geoJson(null, {\n", - " onEachFeature: geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_onEachFeature,\n", + " var geo_json_e436b84f0a9902bbffbd98930b8df5ac = L.geoJson(null, {\n", + " onEachFeature: geo_json_e436b84f0a9902bbffbd98930b8df5ac_onEachFeature,\n", " \n", - " style: geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_styler,\n", - " pointToLayer: geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_pointToLayer,\n", + " style: geo_json_e436b84f0a9902bbffbd98930b8df5ac_styler,\n", + " pointToLayer: geo_json_e436b84f0a9902bbffbd98930b8df5ac_pointToLayer,\n", " });\n", "\n", - " function geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_add (data) {\n", - " geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3\n", + " function geo_json_e436b84f0a9902bbffbd98930b8df5ac_add (data) {\n", + " geo_json_e436b84f0a9902bbffbd98930b8df5ac\n", " .addData(data);\n", " }\n", - " geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3_add({"bbox": [-180.0, 16.5056303, -113.3905058042943, 62.544754], "features": [{"bbox": [-180.0, 16.5056303, -113.3905058042943, 62.544754], "geometry": {"coordinates": [[[[-133.1064977, 54.5537988], [-133.1094571, 54.5554686], [-133.1134681, 54.5576691], [-133.1177589, 54.5601028], [-133.1219763, 54.5625796], [-133.1261192, 54.5650986], [-133.1272103, 54.5657768], [-133.1303923, 54.5677876], [-133.1343825, 54.5703889], [-133.1382944, 54.5730301], [-133.1421269, 54.5757104], [-133.1454518, 54.5781147], [-133.1486926, 54.5804685], [-133.152363, 54.5832247], [-133.1559504, 54.5860175], [-133.1594538, 54.5888462], [-133.1628723, 54.5917099], [-133.1662046, 54.5946076], [-133.1694498, 54.5975386], [-133.1726069, 54.600502], [-133.1756749, 54.6034968], [-133.1786528, 54.6065222], [-133.1815397, 54.6095772], [-133.1843347, 54.6126609], [-133.1870371, 54.6157724], [-133.1896459, 54.6189108], [-133.1921603, 54.622075], [-133.1945795, 54.6252642], 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28.16044405431487], [-178.43895951369788, 28.16149682577569], [-178.43970650323882, 28.161711900344617], [-178.44345310323877, 28.162822690059066], [-178.44419856149136, 28.16305014476115], [-178.4479227614914, 28.164218852327945], [-178.44865907372647, 28.164456319692274], [-178.45235957372645, 28.165682144475173], [-178.45308985820935, 28.165930479281396], [-178.45676605820935, 28.167213120795438], [-178.4574962802161, 28.167474451700013], [-178.46114658021608, 28.168813809486693], [-178.4618680530975, 28.1690850676283], [-178.4654916530975, 28.170480541079574], [-178.46620905292596, 28.170763428752835], [-178.46980455292598, 28.172214617293854], [-178.470516371933, 28.172508582724138], [-178.47408297193297, 28.174015185806187], [-178.47459120206722, 28.174233347778163], [-178.47658870206723, 28.17510453691908], [-178.47713826762603, 28.17534836733637], [-178.48065906762605, 28.176937191055167], [-178.48135306529267, 28.177257128701555], [-178.48484226529266, 28.17889996534031], [-178.48553184254064, 28.179231502944056], [-178.48898814254068, 28.180927951868274], [-178.48967037945204, 28.181269725587065], [-178.49309287945204, 28.183019286138673], [-178.49376822082183, 28.183371497444917], [-178.49715592082183, 28.18517366895196], [-178.4978239212035, 28.185536076212994], [-178.5011757212035, 28.187390257965678], [-178.5018364283778, 28.1877628778764], [-178.50515122837777, 28.189668469155777], [-178.50580539310835, 28.19005175526146], [-178.50908229310838, 28.19200835539307], [-178.50972632928466, 28.192400155281955], [-178.51296442928464, 28.19440696349938], [-178.51360396997214, 28.19481073650568], [-178.5168019699721, 28.196867352092347], [-178.51742820032337, 28.19727746533021], [-178.52058550032336, 28.19938288749085], [-178.52120748755667, 28.199805235038653], [-178.52432288755665, 28.20195916306603], [-178.5249356767339, 28.202390497902222], [-178.52800827673389, 28.204592231027696], [-178.5286118900202, 28.205032519715836], [-178.5316407900202, 28.20728135716766], [-178.53178058909475, 28.20738558138632], [-178.53201548909476, 28.207561431062825], [-178.53232480950186, 28.207795129324396], [-178.53532010950184, 28.21007896952649], [-178.53543872660967, 28.210169731177434], [-178.53799822660966, 28.212135080469135], [-178.53854068111218, 28.212558439191415], [-178.54148508111223, 28.21489398273775], [-178.5420647341183, 28.215361922811482], [-178.5449624341183, 28.217742568406333], [-178.5455295351994, 28.218216667325972], [-178.54838023519937, 28.220641714248075], [-178.5489380025884, 28.22112452710436], [-178.5517406025884, 28.223593074522306], [-178.55229049976307, 28.22408595409432], [-178.55504409976308, 28.22659750124928], [-178.55558183301343, 28.227096569904703], [-178.55828573301343, 28.22965011599862], [-178.55881547627152, 28.230159230476005], [-178.56146877627148, 28.232754274747663], [-178.56198813240903, 28.233271217800073], [-178.56458983240904, 28.235906759416462], [-178.5650977314019, 28.23643039184072], [-178.56764733140187, 28.239105730074282], [-178.56814386974693, 28.239636035033424], [-178.57064056974693, 28.242350169089526], [-178.5711288592438, 28.242890549368425], [-178.57357175924378, 28.245642978486288], [-178.57404721689196, 28.24618837259187], [-178.57643561689198, 28.248977895983106], [-178.57690159892508, 28.249532111574275], [-178.57923479892503, 28.252358228515323], [-178.5795230432858, 28.252711428454564], [-178.58057444328585, 28.25401480868461], [-178.58090076071576, 28.25442479869123], [-178.58315776071575, 28.25729900564376], [-178.58359743961088, 28.257869473625636], [-178.58579743961087, 28.260778072335413], [-178.58622514186507, 28.261354328540122], [-178.5883676418651, 28.264296518316943], [-178.5887838137741, 28.26487910847566], [-178.5908680137741, 28.267853788562828], [-178.5912715961792, 28.26844113671793], [-178.59329719617918, 28.271447606490945], [-178.5936903139685, 28.27204282061841], [-178.59565631396848, 28.2750799792976], [-178.59603824021355, 28.275682126109917], [-178.59794404021358, 28.278749273025145], [-178.5983118640245, 28.279353609471585], [-178.6001571640245, 28.282449544009975], [-178.6002743105503, 28.282647437060334], [-178.6005723105503, 28.283154323641728], [-178.60078006139932, 28.283512138968444], [-178.60256976139928, 28.286633561683022], [-178.60291101572605, 28.28724163799747], [-178.60297653348948, 28.287360947669487], [-178.605862401663, 28.292270156220287]]]], "type": "MultiPolygon"}, "id": "0", "properties": {}, "type": "Feature"}], "type": "FeatureCollection"});\n", "\n", " \n", " \n", - " geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3.bindTooltip(\n", + " geo_json_e436b84f0a9902bbffbd98930b8df5ac.bindTooltip(\n", " function(layer){\n", " let div = L.DomUtil.create('div');\n", " \n", @@ -523,16 +567,16 @@ " ,{"className": "foliumtooltip", "sticky": true});\n", " \n", " \n", - " geo_json_5e2a1ea8e5ea3cf8ae38d2334752b2b3.addTo(map_c1930441de5d7068985c203604ca4ba5);\n", + " geo_json_e436b84f0a9902bbffbd98930b8df5ac.addTo(map_ee24f8ee10f9c5cb5d558bcc550e11e0);\n", " \n", "</script>\n", "</html>\" style=\"position:absolute;width:100%;height:100%;left:0;top:0;border:none !important;\" allowfullscreen webkitallowfullscreen mozallowfullscreen>" ], "text/plain": [ - "" + "" ] }, - "execution_count": 6, + "execution_count": 9, "metadata": {}, "output_type": "execute_result" } @@ -544,6 +588,17 @@ "\n", "# create a GeoDataFrame from the MultiPolygon\n", "gdf_clipped = gpd.GeoDataFrame(geometry=[multi_poly_clipped], crs=WGS84)\n", + "\n", + "# convert gdf_clipped to mercator\n", + "gdf_clipped.to_crs(\"EPSG:3857\", inplace=True)\n", + "\n", + "# buffer the geometry of gdf_clipped by 5000 meters\n", + "BUFFER_AMOUNT = 5000\n", + "gdf_clipped[\"geometry\"] = gdf_clipped.buffer(BUFFER_AMOUNT)\n", + "\n", + "# convert gdf_clipped back to WGS84\n", + "gdf_clipped.to_crs(WGS84, inplace=True)\n", + "\n", "print(gdf.head)\n", "\n", "gdf_clipped.explore()" @@ -572,14 +627,14 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 10, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "Land Data Init Time: 0.9333342552185059Seconds\n" + "Land Data Init Time: 0.8151312112808228Seconds\n" ] } ], @@ -601,7 +656,7 @@ " reader = csv.reader(f)\n", " reader.__next__()\n", " map_sel = Polygon([[float(row[1]), float(row[0])] for row in reader])\n", - " IDL = LineString([(-180, 90), (-180, -90)])\n", + " IDL = LineString([(-179.5, 90), (-179.5, -90)])\n", " map_sel_east = split(map_sel, IDL).geoms[0]\n", " multi_poly_clipped = multi_poly.intersection(map_sel_east)\n", "\n", @@ -615,7 +670,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 12, "metadata": {}, "outputs": [], "source": [ @@ -637,14 +692,14 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 14, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "Land Data PKL Load Time: 0.0010764360427856444Seconds\n" + "Land Data PKL Load Time: 0.00378878116607666Seconds\n" ] } ], @@ -665,7 +720,7 @@ " reader = csv.reader(f)\n", " reader.__next__()\n", " map_sel = Polygon([[float(row[1]), float(row[0])] for row in reader])\n", - " IDL = LineString([(-180, 90), (-180, -90)])\n", + " IDL = LineString([(-179.5, 90), (-179.5, -90)])\n", " map_sel_east = split(map_sel, IDL).geoms[0]\n", " multi_poly_clipped = multi_poly.intersection(map_sel_east)\n", " dump_pkl(\n", @@ -682,6 +737,13 @@ "end = time.time()\n", "print(\"Land Data PKL Load Time: \" + str((end - start) / 10.0) + \"Seconds\")" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { diff --git a/src/local_pathfinding/land/pkl/land.pkl b/src/local_pathfinding/land/pkl/land.pkl index 5ba424054..7395be157 100644 Binary files a/src/local_pathfinding/land/pkl/land.pkl and b/src/local_pathfinding/land/pkl/land.pkl differ diff --git a/src/local_pathfinding/package.xml b/src/local_pathfinding/package.xml index 955fcff39..e604fbd36 100644 --- a/src/local_pathfinding/package.xml +++ b/src/local_pathfinding/package.xml @@ -15,6 +15,7 @@ python3-numpy python3-pyproj python3-shapely + python3-geopandas ament_copyright