Graham McIntire
eac817cd57
- Local prominence: each cell's elevation vs. its 8-neighbor ring (~1.3 km radius) feeds a small additive bonus so broad hilltops rank above isolated SRTM voxels - Road proximity: one Overpass call per Calculate fetches drivable ways inside the bbox; cells beyond ~0.5 km of any road get a light dB penalty, gated off in tests
67 lines
1.9 KiB
Elixir
67 lines
1.9 KiB
Elixir
defmodule Microwaveprop.Rover.Prominence do
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@moduledoc """
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Local terrain prominence per rover cell: how far the cell sits above
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the average elevation of its 8 immediate neighbors at SRTM tile scale.
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Used by the rover scorer to favor *broad* hilltops over isolated SRTM
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voxels that just happen to be tall — a hill big enough to actually
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park on and run a station, not a tree poking through the data.
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"""
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alias Microwaveprop.Rover.Elevation
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@ring_offset_deg 0.012
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@ring_offsets [
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{@ring_offset_deg, 0.0},
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{-@ring_offset_deg, 0.0},
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{0.0, @ring_offset_deg},
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{0.0, -@ring_offset_deg},
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{@ring_offset_deg, @ring_offset_deg},
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{@ring_offset_deg, -@ring_offset_deg},
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{-@ring_offset_deg, @ring_offset_deg},
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{-@ring_offset_deg, -@ring_offset_deg}
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]
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@type latlon :: {float(), float()}
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@doc """
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Returns `%{ {lat, lon} => prominence_m | nil }` for each cell.
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`prominence_m = cell_elev - mean(ring_elevs)`. ~1.3 km ring radius
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matches the scale of the kind of hill a rover wants to park on.
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"""
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@spec prominence_map([map()], keyword()) :: %{latlon() => integer() | nil}
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def prominence_map(cells, opts \\ []) do
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elev_lookup = Keyword.get(opts, :elev_lookup, &Elevation.lookup_many/1)
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cell_points = Enum.map(cells, fn c -> {c.lat, c.lon} end)
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ring_points =
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cells
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|> Enum.flat_map(&ring_for/1)
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|> Enum.uniq()
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elev = elev_lookup.(cell_points ++ ring_points)
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Map.new(cells, fn cell ->
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key = {cell.lat, cell.lon}
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cell_elev = Map.get(elev, key)
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ring =
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cell
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|> ring_for()
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|> Enum.map(&Map.get(elev, &1))
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|> Enum.reject(&is_nil/1)
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prominence =
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if is_integer(cell_elev) and ring != [],
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do: cell_elev - round(Enum.sum(ring) / length(ring))
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{key, prominence}
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end)
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end
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defp ring_for(%{lat: lat, lon: lon}) do
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Enum.map(@ring_offsets, fn {dlat, dlon} -> {lat + dlat, lon + dlon} end)
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end
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end
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