67 lines
7.5 KiB
Plaintext
67 lines
7.5 KiB
Plaintext
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ƒ dS ) zF
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Confidence Model
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Probabilistic confidence estimation for geolocation
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é )ÚDictÚListÚOptional)Ú dataclassNc @ sN e Zd ZU dZeed< eed< eed< ee ed< ee ed< ee ed< dS ) ÚConfidenceReportz*Confidence report for geolocation estimateÚoverall_confidenceÚposition_probabilityÚuncertainty_radiusÚsupporting_evidenceÚcontradicting_evidenceÚunknown_factorsN) Ú__name__Ú
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__module__Ú __qualname__Ú__doc__ÚfloatÚ__annotations__r r Ústr© r r úJ/home/bernt/.openclaw/workspace/iom/visual_geolocation/confidence_model.pyr s
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edœdd„Zedœdd„Zedœdd„ZdS )ÚConfidenceModela
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Probabilistic confidence model for geolocation
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Instead of just returning a coordinate, the model reports:
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- Probability distribution over position
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- Uncertainty radius
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- Supporting evidence
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- Contradicting evidence
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- Unknown factors
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c C s ddddddddœ| _ d S )NçÍÌÌÌÌÌì?çffffffæ?g333333ã?ç à?gš™™™™™Ù?)ÚgpsÚvisualÚsemanticZ geometricZtemporalÚmapZ
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similarity)Zevidence_weights)Úselfr r r Ú__init__" s ùzConfidenceModel.__init__)Úreturnc C s^ | ||¡}| ||¡}| |¡}| ||¡}| ||¡}| ||||¡}t||||||d�S )a
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Calculate comprehensive confidence report
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Args:
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estimate: GeolocationEstimate
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evidence_package: EvidencePackage
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Returns:
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ConfidenceReport with full probabilistic analysis
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)r r r r
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r r )Ú_find_supporting_evidenceÚ _find_contradicting_evidenceÚ_identify_unknown_factorsÚ _calculate_position_probabilityÚ_calculate_uncertaintyÚ _calculate_overall_confidencer ) r ÚestimateÚevidence_packageÚ
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supportingÚ
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contradictingÚunknownZ probabilityZ uncertaintyZoverallr r r Úcalculate_confidence- s
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ÿúz$ConfidenceModel.calculate_confidencec C sÌ g }|j jrV|j jrV| |j j|j j|j|j¡}|dk rV| dd|d›d�d|dœ¡ |jD ]6}|jdkr\| d d
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D ],}|jdkrš| dd|j › d�|jdœ¡ qš|S )z(Find evidence that supports the estimateéd r z GPS coordinates match within ú.1fÚmr )ÚtypeÚ descriptionÚ
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confidenceÚdistancer r z Detected z with ú.2fz confidence)r0 r1 r2 çš™™™™™é?r zDetected text: 'ú') ÚmetadataÚgps_latÚgps_lngÚ_haversine_distanceÚlatÚlngÚappendÚvisual_objectsr2 ÚlabelÚtext_detectionsÚtext)r Úevidencer' r) r3 ÚobjrA r r r r! U s8 þ ü
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ý
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ý
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z)ConfidenceModel._find_supporting_evidencec C sX g }|j jrT|j jrT| |j j|j j|j|j¡}|dkrT| dd|d›d�ddœ¡ |S )z+Find evidence that contradicts the estimateiè Z gps_mismatchzGPS and estimate differ by z.0fr/ Úhigh)r0 r1 Úseverity)r7 r8 r9 r: r; r< r= )r rB r' r* Z gps_distancer r r r" { s þ ý z,ConfidenceModel._find_contradicting_evidencec C sn g }|j js| d¡ |j js(| d¡ |j js:| d¡ t|jƒdkrR| d¡ t|jƒdkrj| d¡ |S )z.Identify factors that are unknown or uncertainzGPS coordinates missingzCamera orientation unknownzTimestamp missingr zNo visual objects detectedzNo text detected)r7 r8 r= Úcompass_headingÚ timestampÚlenr> r@ )r rB r+ r r r r# ‘ s
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z)ConfidenceModel._identify_unknown_factorsc C s, d|j |jdœ|jd |j|jd dœdœS )z0Calculate probability distribution over positionZgaussian)r; r< é ç ø?)Z
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95_percentZ
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99_percent)r0 ÚcenterZstd_devZconfidence_interval)r; r< Úaccuracy)r r' rB r r r r$ ¦ s þüz/ConfidenceModel._calculate_position_probabilityc C s> |j }t|jƒt|jƒ }|dk r*|d9 }|jjr:|d9 }|S )z&Calculate uncertainty radius in metersé rJ r5 )rL rH r> r@ r7 r8 )r r' rB Zbase_uncertaintyZevidence_countr r r r% µ s z&ConfidenceModel._calculate_uncertaintyc
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C sl |j }tdd„ |D ƒƒ}tdd„ |D ƒƒ}|tdd„ |D ƒƒ7 }t|ƒd }|| | | } tdtd| ƒƒS )z"Calculate overall confidence scorec s s | ]}| d d¡d V qdS )r2 r çš™™™™™¹?N©Úget)Ú.0Úsr r r Ú <genexpr>Ê ó z@ConfidenceModel._calculate_overall_confidence.<locals>.<genexpr>c s s | ]}| d ¡dkrdV qdS )rE rD gš™™™™™É?NrO ©rQ Úcr r r rS Í rT c s s | ]}| d ¡dkrdV qdS )rE ZmediumrN NrO rU r r r rS Î rT gš™™™™™©?g g ð?)r2 ÚsumrH ÚmaxÚmin)
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r r' r) r* r+ ÚbaseZ
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¡¡ } || S )z4Calculate distance between two coordinates in metersi¸6a rI é )ÚmathÚradiansÚsinÚcosÚatan2Úsqrt) r Zlat1Zlng1Zlat2Zlng2ÚRZphi1Zphi2Z delta_phiZ delta_lambdaÚarV r r r r: Ù s
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$ÿ z#ConfidenceModel._haversine_distanceN)r
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