Getting LPM heatmaps to work

lpm_hikersim.py

@@ -25,7 +25,14 @@ def main(exp_name='test', start_idx=0, n_envs=1, n_iter=10):
     #Size in meters of GIS datasets
     test_extent = 20000
     download_extent = 40000
+    LL = [20000, 20000, 1]
 
+    #LPM Parameters
+    ts = 850    #walking speed
+    simT = 10 #hours
+    T = ts * simT
+    alpha = 0.55
+    p_behavior = [0.055,0.377,0.559,0.003,0.006,0.0]    #from nature paper
 
     #Pull incident locations
     listname = './lp_data/indexed_incidents.csv'
@@ -62,6 +69,7 @@ def main(exp_name='test', start_idx=0, n_envs=1, n_iter=10):
 
         #Iterate through search incidents
         for incident in range(0,len(i_area)):
+            #Get current IPP/Find pair
             cur_ipp = ipp_latlons[i_area[incident]]
             ipp_xy = lat_lon2meters(cur_ipp[0],cur_ipp[1])
             find_ll = find_latlons[i_area[incident]]
@@ -86,13 +94,23 @@ def main(exp_name='test', start_idx=0, n_envs=1, n_iter=10):
                 sub_inac = inac[x_index-half_test:x_index+half_test,y_index-half_test:y_index+half_test,:]
                 sub_elev = elev[x_index-half_test:x_index+half_test,y_index-half_test:y_index+half_test]
                 map_data = lf_format(sub_inac,sub_lf,sub_elev)
-                plot_env(map_data,ipp_xy,find_xy,exp_name,env,incident)
-                #run LPM
-                #run_replicate(ipp, find, map, T, p_behavior, alpha, LL)
             else:
                 map_data = lf_format(inac,lf,elev)
-                plot_env(map_data,ipp_xy,find_xy,exp_name,env,incident)
-                #run_replicate(ipp, find, map, T, p_behavior, alpha, LL)
+            #Run LPM
+            #plot_env(map_data,ipp_xy,find_xy,exp_name,env,incident)
+            start_t = time.time()
+            [x, y, behavior] = run_replicate(ipp_xy, find_xy, map_data, T, p_behavior, alpha, LL)
+            end_t = time.time()
+            end_t = end_t - start_t
+            print('Lost Person Simulation finished, it took %.2f seconds' % end_t)
+            behavior = behavior[0]
+            x = x[0]
+            y = y[0]
+            print('IPP = {}'.format(ipp_xy))
+            print('X values = {}'.format(x[0:20]))
+            print('Y values = {}'.format(y[0:20]))
+            print('Behaviors = {}'.format(behavior[0:20]))
+
 
         #Locate find position from IPP
         #Convert both to meters
@@ -184,7 +202,7 @@ def plot_env(map_data, ipp, find, exp_name='test', env=0, incident=0):
     #For visualizing all terrain features
     t = 'Area ' + str(env) + ' Incident ' + str(incident) + ' - Linear Features'
     plt.title(t)
-    plt.imshow(lf)
+    plt.imshow(lf,cmap='gray')
     #Show initial position and find point
     plt.plot(1500,1500,'g*',label='IPP', ms=10)
     plt.plot(x_index,y_index,'yX',label='Find Position', ms=10)
@@ -205,6 +223,42 @@ def plot_env(map_data, ipp, find, exp_name='test', env=0, incident=0):
 
     return
 
+#Fill in later, skeleton for comparing two models
+def comparison_plot():
+
+    fig, (ax1, ax2) = plt.subplots(1, 2)
+    # Scatter plot of path and track in the first subplot
+    ax1.scatter(x=np.array(path)[:,0], y=np.array(path)[:,1], label='Path')
+    ax1.imshow(heatmap)
+    ax1.set_xlim([0,48])
+    ax1.set_ylim([0,48])
+    ax1.set_xlabel('X')
+    ax1.set_ylabel('Y')
+    ax1.set_title('Lost Person Model')
+    ax1.legend()
+
+    # Scatter plot of path and track in the first subplot
+    ax2.scatter(x=np.array(path)[:,0], y=np.array(path)[:,1], label='Path')
+    ax2.imshow(ringmap)
+    ax2.set_xlim([0,48])
+    ax2.set_ylim([0,48])
+    ax2.set_xlabel('X')
+    ax2.set_ylabel('Y')
+    ax2.set_title('Ring Model')
+    ax2.legend()
+
+    # Plot of rewards in the second subplot
+    #ax2.plot(rews)
+    #ax2.set_xlabel('Step')
+    #ax2.set_ylabel('Reward')
+    #x2.set_title('Rewards')
+
+    plt.tight_layout()
+    plt.suptitle("LPM Reward Function with Ring Model Constraint (Trust = %.2f)" % trustval)
+    plt.show()
+
+    return
+
 #TODO: Delete this, not needed any more
 #Combines Linear and Inacessible features for all map layers
 def test_lf_format(exp_name='test',force_save='False'):
@@ -258,7 +312,7 @@ def test_lf_format(exp_name='test',force_save='False'):
         #For visualizing all terrain features
         t = exp_name + ' Area ' + str(env) + ' - Linear Features'
         plt.title(t)
-        plt.imshow(bw_lf)
+        plt.imshow(bw_lf,cmap='greys')
         #Show initial position and find point
         plt.plot(1500,1500,'g*',label='IPP', ms=10)
         plt.plot(400,600,'yX',label='Find Position', ms=10)
@@ -304,7 +358,7 @@ def test_lf_format(exp_name='test',force_save='False'):
 if __name__ == "__main__":
 
     start = 7       #Environment to start at (0 is first, 8 is first large map)
-    n = 2           #Number of environments to test
+    n = 1           #Number of environments to test
     mc = 10         #Monte Carlo iterations