works! (for now lol)

columbiaspace · May 20, 2024 · a33af22 · a33af22
1 parent 526a7ec
commit a33af22
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diff --git a/server/json_databases/geojson/geological_sites.json b/server/json_databases/geojson/geological_sites.json
@@ -4,7 +4,7 @@
       {
         "type": "Feature",
         "properties": {
-          "Name": "C",
+          "Name": "Geolocigal Site C",
           "stroke": "#000000"
         },
         "geometry": {
@@ -19,7 +19,7 @@
       {
         "type": "Feature",
         "properties": {
-          "Name": "A"
+          "Name": "Geolocigal Site A"
         },
         "geometry": {
           "coordinates": [
@@ -33,7 +33,7 @@
       {
         "type": "Feature",
         "properties": {
-          "Name": "B"
+          "Name": "Geolocigal Site B"
         },
         "geometry": {
           "coordinates": [
@@ -47,7 +47,7 @@
       {
         "type": "Feature",
         "properties": {
-          "Name": "D"
+          "Name": "Geolocigal Site D"
         },
         "geometry": {
           "coordinates": [
@@ -61,7 +61,7 @@
       {
         "type": "Feature",
         "properties": {
-          "Name": "E"
+          "Name": "Geolocigal Site E"
         },
         "geometry": {
           "coordinates": [
@@ -75,7 +75,7 @@
       {
         "type": "Feature",
         "properties": {
-          "Name": "F"
+          "Name": "Geolocigal Site F"
         },
         "geometry": {
           "coordinates": [

diff --git a/server/json_databases/geojson/nav_path.json b/server/json_databases/geojson/nav_path.json
@@ -1 +1 @@
-{"type": "FeatureCollection", "features": [{"type": "Feature", "geometry": {"type": "LineString", "coordinates": [[-95.08182400577368, 29.56461201871982], [-95.08182407855739, 29.564615595699582], [-95.0818241515221, 29.564619172688516], [-95.08182422464876, 29.564622749685668], [-95.08182429791822, 29.56462632669005], [-95.0818243713114, 29.564629903700705], [-95.08182444480917, 29.564633480716665], [-95.08182451839245, 29.564637057736952], [-95.08182459204211, 29.564640634760607], [-95.08182466573903, 29.564644211786657], [-95.08182473946414, 29.56464778881413], [-95.08182481319831, 29.564651365842064], [-95.08182488692243, 29.56465494286948], [-95.08182496061742, 29.564658519895424], [-95.08182503426414, 29.564662096918916], [-95.0818251078435, 29.564665673938983], [-95.08182518133637, 29.56466925095467], [-95.08182525472368, 29.564672827964994], [-95.08182532798627, 29.564676404968996], [-95.0818254011051, 29.564679981965703], [-95.081825474061, 29.564683558954144], [-95.0818255468349, 29.564687135933358], [-95.08182561942999, 29.564690712903495], [-95.0818256919255, 29.564694289868584], [-95.08182576441702, 29.56469786683347], [-95.08182583700005, 29.564701443802992], [-95.08182590977016, 29.564705020781993], [-95.08182598282288, 29.564708597775326], [-95.08182605625372, 29.564712174787832], [-95.08182613015825, 29.564715751824355], [-95.08182620463198, 29.56471932888973], [-95.08182627977047, 29.564722905988816], [-95.08182635565441, 29.5647264831257], [-95.08182643212297, 29.564730060292227], [-95.08182650881882, 29.56473363747028], [-95.08182658537893, 29.564737214641436], [-95.08182666144026, 29.564740791787305], [-95.08182673663974, 29.56474436888947], [-95.08182681061436, 29.56474794592952], [-95.08182688300107, 29.564751522889043], [-95.08182695343683, 29.56475509974964], [-95.08182702155857, 29.56475867649289], [-95.08182708700363, 29.56476225310042], [-95.08182714979492, 29.564765829573364], [-95.08182721108376, 29.564769405970132], 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[-95.0817147794352, 29.56498657153774], [-95.08171123121762, 29.564985645949978], [-95.08170769351898, 29.56498487674253], [-95.08170416624462, 29.564984334173936], [-95.08170064929985, 29.564984088502747], [-95.08169714258999, 29.564984209987507], [-95.08169364602037, 29.564984768886756], [-95.08169015949633, 29.564985835459044], [-95.08168668292316, 29.56498747996291], [-95.08168321619787, 29.564989771590305], [-95.08167975864504, 29.56499270664391], [-95.08167630865965, 29.564996163014094], [-95.08167286455141, 29.56500000774252], [-95.08166942463008, 29.565004107870852], [-95.08166598720534, 29.565008330440747], [-95.08166255058701, 29.565012542493882], [-95.08165911308478, 29.565016611071904], [-95.08165567300843, 29.565020403216486], [-95.08165222866765, 29.565023785969288], [-95.0816487783722, 29.56502662637197], [-95.08164532048347, 29.56502881169437], [-95.08164185369672, 29.565030360032587], [-95.08163837684008, 29.565031341534706], [-95.081634888742, 29.56503182648216], [-95.08163138823097, 29.56503188515636], [-95.08162787413545, 29.56503158783873], [-95.08162434528391, 29.565031004810706], [-95.08162080050482, 29.565030206353697], [-95.08161723862665, 29.565029262749135], [-95.08161365847785, 29.56502824427844], [-95.08161005898327, 29.56502722103299], [-95.08160644361999, 29.56502625412606], [-95.08160282229261, 29.565025391994403], [-95.08159920539117, 29.565024682117354], [-95.08159560330571, 29.56502417197424], [-95.0815920264263, 29.565023909044402], [-95.08158848514297, 29.56502394080716], [-95.08158498984577, 29.565024314741848], [-95.08158155092472, 29.5650250783278], [-95.08157817876993, 29.565026279044346], [-95.08157488377138, 29.565027964370817], [-95.08157167073625, 29.565030168412143], [-95.08156851378574, 29.56503285176168], [-95.08156537655368, 29.565035949889168], [-95.08156222266479, 29.565039398242554], [-95.08155901574376, 29.5650431322698], [-95.08155571941538, 29.56504708741887], [-95.08155229730436, 29.565051199137706], 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[-95.08154259480935, 29.565142826899983], [-95.08154801943347, 29.56514638091153], [-95.08155329199522, 29.56514993225591], [-95.08155830930929, 29.565153479123353], [-95.08156296819028, 29.56515701970407], [-95.08156716545291, 29.565160552188285], [-95.0815707979118, 29.56516407476621], [-95.0815737623816, 29.56516758562806], [-95.08157595567697, 29.565171082964063], [-95.0815772746126, 29.565174564964423], [-95.0815776160031, 29.56517802981937]]}, "properties": {"name": "Rover Path"}}]}
+{"type": "FeatureCollection", "features": [{"type": "Feature", "geometry": {"type": "LineString", "coordinates": [[-95.08164208446321, 29.56472730070558], [-95.08161356493456, 29.56480359988391], [-95.08150795452629, 29.564804298595046], [-95.08140445834957, 29.56480707059295], [-95.08133804093758, 29.564846204597156], [-95.0813149165821, 29.564927794865536], [-95.08131329652393, 29.56496096200629]]}, "properties": {"name": "Rover Path"}}]}
diff --git a/server/json_databases/geojson/user_pins.json b/server/json_databases/geojson/user_pins.json
@@ -1 +1 @@
-{"type": "FeatureCollection", "features": [{"type": "Feature", "properties": {"Name": "Jonah"}, "geometry": {"coordinates": [-95.08157400428185, 29.565196984797694], "type": "Point"}, "id": 222}]}
+{"type": "FeatureCollection", "features": [{"type": "Feature", "properties": {"Name": "3"}, "geometry": {"coordinates": [-95.081745665659, 29.565204566954293], "type": "Point"}, "id": 333}]}
diff --git a/server/mapping.py b/server/mapping.py
@@ -1,4 +1,3 @@
-from types import NoneType
 import heapq
 import utm
 import json
@@ -38,19 +37,19 @@ def define_areas(grid, areas, weight):
             for j in range(start_y, end_y + 1):
                 grid[i][j] = weight
 
-grass_areas = [
+# Increase grass weight more
+define_areas(grid, [
     ('AA0', 'U16'), ('U0', 'T16'), ('T0', 'S13'), ('S0', 'R11'), ('R0', 'Q9'), ('Q0', 'P8'),
     ('O0', 'O7'), ('N0', 'M7'), ('M0', 'I3'), ('I0', 'G2'), ('G0', 'F2'), ('F0', 'A1'),
     ('C1', 'A5'), ('A5', 'A14'), ('AA16', 'AA28'), ('Z23', 'X28'), ('H15', 'D22'),
     ('D18', 'A22'), ('J19', 'H28'), ('L20', 'K24'), ('H25', 'A28'), ('I18', 'H18')
-]
-define_areas(grid, grass_areas, 3)
+], 5)
 
-mound_areas = [
+# Avoid mounds
+define_areas(grid, [
     ('M9', 'L17'), ('Q9', 'M18'), ('P8', 'M9'), ('R10', 'Q19'),
     ('S12', 'R19'), ('T13', 'S19')
-]
-define_areas(grid, mound_areas, 0)
+], 0)
 
 # Graph setup
 graph = {}
@@ -68,7 +67,7 @@ def initialize_graph():
         for col in range(grid_width):
             coord = index_to_letter(row) + str(col)
             distances[coord] = float('inf')
-            predecessors[coord] = None  # Initialize predecessor to None
+            predecessors[coord] = None
 
             neighbors = {}
             if row > 0:
@@ -80,22 +79,32 @@ def initialize_graph():
             if col < grid_width - 1:
                 neighbors[index_to_letter(row) + str(col + 1)] = grid[row][col]
 
-            # Add diagonal neighbors with a length of sqrt(2)
-            if row > 0 and col > 0:
-                neighbors[index_to_letter(row - 1) + str(col - 1)] = grid[row][col] * math.sqrt(2)
-            if row > 0 and col < grid_width - 1:
-                neighbors[index_to_letter(row - 1) + str(col + 1)] = grid[row][col] * math.sqrt(2)
-            if row < grid_height - 1 and col > 0:
-                neighbors[index_to_letter(row + 1) + str(col - 1)] = grid[row][col] * math.sqrt(2)
-            if row < grid_height - 1 and col < grid_width - 1:
-                neighbors[index_to_letter(row + 1) + str(col + 1)] = grid[row][col] * math.sqrt(2)
+            # Add more direct diagonals in the east/west direction
+            diagonals = [
+                (row - 1, col - 1), (row - 1, col + 1),
+                (row + 1, col - 1), (row + 1, col + 1),
+                (row - 1, col - 2), (row - 1, col + 2),
+                (row + 1, col - 2), (row + 1, col + 2),
+                (row - 2, col - 1), (row - 2, col + 1),
+                (row + 2, col - 1), (row + 2, col + 1),
+                (row - 2, col), (row + 2, col)
+            ]
+            for r, c in diagonals:
+                if 0 <= r < grid_height and 0 <= c < grid_width and grid[row][col] > 0 and grid[r][c] > 0:
+                    distance = math.sqrt((r - row) ** 2 + (c - col) ** 2)
+                    neighbors[index_to_letter(r) + str(c)] = grid[row][col] * distance
 
             graph[coord] = neighbors
 
 initialize_graph()
 
 # Dijkstra's algorithm
 def dijkstra(graph, startLat, startLong, endLat, endLong):
+    # Reset distances and predecessors
+    for key in distances.keys():
+        distances[key] = float('inf')
+        predecessors[key] = None
+
     Start_east, Start_north, _, _ = latlon_to_utm(startLat, startLong)
     start = indices_to_grid_coord(Start_east, Start_north)
 
@@ -105,18 +114,18 @@ def dijkstra(graph, startLat, startLong, endLat, endLong):
     pq = [(0, start)]
     visited = set()
     distances[start] = 0
-
+    
     while pq:
         dist, node = heapq.heappop(pq)
-
+        
         if node == end:
             break 
-
+        
         if node in visited:
             continue
-
+        
         visited.add(node)
-
+        
         for neighbor, weight in graph[node].items():
             if distances[node] + weight < distances[neighbor]:
                 distances[neighbor] = distances[node] + weight
@@ -133,11 +142,11 @@ def reconstruct_path(startLat, startLong, endLat, endLong):
     path = []
     node = end
 
-    coord_path = []
     while node is not None:
         path.append(node)
         node = predecessors[node]
 
+    coord_path = []
     for item in path[::-1]:
         east, north = grid_coord_to_indices(item)
         coord_path.append(utm_to_latlon(east, north))
@@ -177,7 +186,7 @@ def index_to_letter(index):
             return "AA"
         else:
             return chr(ord('A') + 26 - index - 1)
-
+    
     width_per_box = 100 / 28
     height_per_box = 108 / 26
 
@@ -199,6 +208,7 @@ def get_shortest_path_geojson(start_lat, start_long, end_lat, end_long):
 
 def convert_to_geojson_feature_collection(coordinates):
     smooth_path = smooth_coordinates(coordinates)
+    reduced_path = reduce_coordinates(smooth_path)
     geojson_feature_collection = {
         "type": "FeatureCollection",
         "features": [
@@ -207,7 +217,7 @@ def convert_to_geojson_feature_collection(coordinates):
                 "geometry": {
                     "type": "LineString",
                     "coordinates": [
-                        [longitude, latitude] for latitude, longitude in smooth_path
+                        [longitude, latitude] for latitude, longitude in reduced_path
                     ]
                 },
                 "properties": {
@@ -225,11 +235,28 @@ def smooth_coordinates(coordinates):
     latitudes = [coord[0] for coord in coordinates]
     longitudes = [coord[1] for coord in coordinates]
 
+    # Create cubic splines for latitude and longitude
     cs_lat = CubicSpline(range(len(latitudes)), latitudes)
     cs_lon = CubicSpline(range(len(longitudes)), longitudes)
 
-    xs = np.linspace(0, len(latitudes) - 1, len(latitudes) * 10)
+    # Generate a denser set of points for smoothing
+    xs = np.linspace(0, len(latitudes) - 1, len(latitudes) * 10)  # Adjust factor as needed for smoothing
     smoothed_lats = cs_lat(xs)
     smoothed_lons = cs_lon(xs)
 
-    return list(zip(smoothed_lats, smoothed_lons))
+    # Downsample the smoothed points to the original number of points
+    step = len(xs) // len(latitudes)
+    smoothed_coordinates = [(smoothed_lats[i], smoothed_lons[i]) for i in range(0, len(xs), step)]
+
+    return smoothed_coordinates
+
+def reduce_coordinates(coordinates):
+    if len(coordinates) < 3:
+        return coordinates  # Not enough points to reduce
+
+    # Select every third coordinate, but make sure to include the first and last
+    reduced_path = coordinates[::3]
+    if reduced_path[-1] != coordinates[-1]:
+        reduced_path.append(coordinates[-1])
+    return reduced_path
+