1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
|
#include "openlr/openlr_decoder.hpp"
#include "openlr/cache_line_size.hpp"
#include "openlr/candidate_paths_getter.hpp"
#include "openlr/candidate_points_getter.hpp"
#include "openlr/decoded_path.hpp"
#include "openlr/graph.hpp"
#include "openlr/helpers.hpp"
#include "openlr/openlr_model.hpp"
#include "openlr/paths_connector.hpp"
#include "openlr/road_info_getter.hpp"
#include "openlr/router.hpp"
#include "openlr/score_candidate_paths_getter.hpp"
#include "openlr/score_candidate_points_getter.hpp"
#include "openlr/score_paths_connector.hpp"
#include "openlr/score_types.hpp"
#include "openlr/way_point.hpp"
#include "routing/features_road_graph.hpp"
#include "routing/road_graph.hpp"
#include "routing_common/car_model.hpp"
#include "storage/country_info_getter.hpp"
#include "indexer/classificator.hpp"
#include "indexer/data_source.hpp"
#include "platform/country_file.hpp"
#include "geometry/mercator.hpp"
#include "geometry/parametrized_segment.hpp"
#include "geometry/point2d.hpp"
#include "geometry/polyline2d.hpp"
#include "base/logging.hpp"
#include "base/math.hpp"
#include "base/stl_helpers.hpp"
#include "base/timer.hpp"
#include <algorithm>
#include <chrono>
#include <fstream>
#include <functional>
#include <iterator>
#include <memory>
#include <queue>
#include <thread>
#include <utility>
using namespace routing;
using namespace std;
namespace openlr
{
namespace
{
struct alignas(kCacheLineSize) Stats
{
void Add(Stats const & rhs)
{
m_shortRoutes += rhs.m_shortRoutes;
m_zeroCanditates += rhs.m_zeroCanditates;
m_moreThanOneCandidate += rhs.m_moreThanOneCandidate;
m_routesFailed += rhs.m_routesFailed;
m_tightOffsets += rhs.m_tightOffsets;
m_routesHandled += rhs.m_routesHandled;
}
void Report() const
{
LOG(LINFO, ("Parsed segments:", m_routesHandled));
LOG(LINFO, ("Routes failed:", m_routesFailed));
LOG(LINFO, ("Tight offsets:", m_tightOffsets));
LOG(LINFO, ("Short routes:", m_shortRoutes));
LOG(LINFO, ("Ambiguous routes:", m_moreThanOneCandidate));
LOG(LINFO, ("Path is not reconstructed:", m_zeroCanditates));
}
uint32_t m_shortRoutes = 0;
uint32_t m_zeroCanditates = 0;
uint32_t m_moreThanOneCandidate = 0;
uint32_t m_routesFailed = 0;
uint32_t m_tightOffsets = 0;
uint32_t m_routesHandled = 0;
};
bool IsRealVertex(m2::PointD const & p, FeatureID const & fid, DataSource const & dataSource)
{
FeaturesLoaderGuard g(dataSource, fid.m_mwmId);
auto const ft = g.GetOriginalFeatureByIndex(fid.m_index);
bool matched = false;
ft->ForEachPoint(
[&p, &matched](m2::PointD const & fp) {
if (p == fp)
matched = true;
},
FeatureType::BEST_GEOMETRY);
return matched;
};
void ExpandFake(Graph::EdgeVector & path, Graph::EdgeVector::iterator edgeIt, DataSource const & dataSource,
Graph & g)
{
if (!edgeIt->IsFake())
return;
Graph::EdgeVector edges;
bool startIsFake = true;
if (IsRealVertex(edgeIt->GetStartPoint(), edgeIt->GetFeatureId(), dataSource))
{
g.GetRegularOutgoingEdges(edgeIt->GetStartJunction(), edges);
startIsFake = false;
}
else
{
ASSERT(IsRealVertex(edgeIt->GetEndPoint(), edgeIt->GetFeatureId(), dataSource), ());
g.GetRegularIngoingEdges(edgeIt->GetEndJunction(), edges);
}
CHECK(!edges.empty(), ());
auto it = find_if(begin(edges), end(edges), [&edgeIt](Graph::Edge const & real) {
if (real.GetFeatureId() == edgeIt->GetFeatureId() && real.GetSegId() == edgeIt->GetSegId())
return true;
return false;
});
// For features which cross mwm border FeatureIds may not match. Check geometry.
if (it == end(edges))
{
it = find_if(begin(edges), end(edges), [&edgeIt, &startIsFake](Graph::Edge const & real) {
// Features from the same mwm should be already matched.
if (real.GetFeatureId().m_mwmId == edgeIt->GetFeatureId().m_mwmId)
return false;
auto const fakePoint = startIsFake ? edgeIt->GetStartPoint() : edgeIt->GetEndPoint();
m2::ParametrizedSegment<m2::PointD> const realGeometry(real.GetStartPoint(), real.GetEndPoint());
auto const projectedPoint = realGeometry.ClosestPointTo(fakePoint);
auto constexpr kCrossMwmMatchDistanceM = 1.0;
if (MercatorBounds::DistanceOnEarth(fakePoint, projectedPoint) < kCrossMwmMatchDistanceM)
return true;
return false;
});
}
CHECK(it != end(edges), ());
// If a fake edge is larger than a half of the corresponding real one, substitute
// the fake one with real one. Drop the fake one otherwize.
if (2 * EdgeLength(*edgeIt) >= EdgeLength(*it))
*edgeIt = *it;
else
path.erase(edgeIt);
};
void ExpandFakes(DataSource const & dataSource, Graph & g, Graph::EdgeVector & path)
{
ASSERT(!path.empty(), ());
ExpandFake(path, begin(path), dataSource, g);
if (path.empty())
return;
ExpandFake(path, --end(path), dataSource, g);
}
// Returns an iterator pointing to the first edge that should not be cut off.
// Offsets denote a distance in meters one should travel from the start/end of the path
// to some point along that path and drop everything form the start to that point or from
// that point to the end.
template <typename InputIterator>
InputIterator CutOffset(InputIterator start, InputIterator stop, double offset,
bool keepEnd)
{
if (offset == 0.0)
return start;
for (double distance = 0.0; start != stop; ++start)
{
auto const edgeLen = EdgeLength(*start);
if (distance <= offset && offset < distance + edgeLen)
{
// Throw out this edge if (offset - distance) is greater than edgeLength / 2.
if (!keepEnd && offset - distance >= edgeLen / 2.0)
++start;
break;
}
distance += edgeLen;
}
return start;
}
template <typename InputIterator, typename OutputIterator>
void CopyWithoutOffsets(InputIterator start, InputIterator stop, OutputIterator out,
uint32_t positiveOffset, uint32_t negativeOffset, bool keepEnds)
{
auto from = start;
auto to = stop;
if (distance(start, stop) > 1)
{
from = CutOffset(start, stop, positiveOffset, keepEnds);
// |to| points past the last edge we need to take.
to = CutOffset(reverse_iterator<InputIterator>(stop), reverse_iterator<InputIterator>(start),
negativeOffset, keepEnds).base();
}
if (!keepEnds)
CHECK(from <= to, ("From iterator is less or equal than to."));
if (from >= to)
return;
copy(from, to, out);
}
class SegmentsDecoderV1
{
public:
SegmentsDecoderV1(DataSource const & dataSource, unique_ptr<CarModelFactory> cmf)
: m_roadGraph(dataSource, IRoadGraph::Mode::ObeyOnewayTag, move(cmf))
, m_infoGetter(dataSource)
, m_router(m_roadGraph, m_infoGetter)
{
}
bool DecodeSegment(LinearSegment const & segment, DecodedPath & path, Stats & stat)
{
double const kOffsetToleranceM = 10;
auto const & ref = segment.m_locationReference;
path.m_segmentId.Set(segment.m_segmentId);
m_points.clear();
for (auto const & point : ref.m_points)
m_points.emplace_back(point);
auto positiveOffsetM = ref.m_positiveOffsetMeters;
if (positiveOffsetM >= m_points[0].m_distanceToNextPointM)
{
LOG(LWARNING, ("Wrong positive offset for segment:", segment.m_segmentId));
positiveOffsetM = 0;
}
auto negativeOffsetM = ref.m_negativeOffsetMeters;
if (negativeOffsetM >= m_points[m_points.size() - 2].m_distanceToNextPointM)
{
LOG(LWARNING, ("Wrong negative offset for segment:", segment.m_segmentId));
negativeOffsetM = 0;
}
{
double expectedLength = 0;
for (size_t i = 0; i + 1 < m_points.size(); ++i)
expectedLength += m_points[i].m_distanceToNextPointM;
if (positiveOffsetM + negativeOffsetM >= expectedLength)
{
LOG(LINFO, ("Skipping", segment.m_segmentId, "due to wrong positive/negative offsets."));
return false;
}
if (positiveOffsetM + negativeOffsetM + kOffsetToleranceM >= expectedLength)
{
LOG(LINFO, ("Too tight positive and negative offsets, setting them to zero."));
positiveOffsetM = 0;
negativeOffsetM = 0;
++stat.m_tightOffsets;
}
}
if (!m_router.Go(m_points, positiveOffsetM, negativeOffsetM, path.m_path))
return false;
return true;
}
private:
FeaturesRoadGraph m_roadGraph;
RoadInfoGetter m_infoGetter;
Router m_router;
vector<WayPoint> m_points;
};
class SegmentsDecoderV2
{
public:
SegmentsDecoderV2(DataSource const & dataSource, unique_ptr<CarModelFactory> cmf)
: m_dataSource(dataSource), m_graph(dataSource, move(cmf)), m_infoGetter(dataSource)
{
}
bool DecodeSegment(LinearSegment const & segment, DecodedPath & path, v2::Stats & stat)
{
double constexpr kPathLengthTolerance = 0.30;
uint32_t constexpr kMaxJunctionCandidates = 10;
uint32_t constexpr kMaxProjectionCandidates = 5;
m_graph.ResetFakes();
path.m_segmentId.Set(segment.m_segmentId);
auto const & points = segment.GetLRPs();
CHECK_GREATER(points.size(), 1, ("A segment cannot consist of less than two points"));
vector<vector<Graph::EdgeVector>> lineCandidates;
lineCandidates.reserve(points.size());
LOG(LDEBUG, ("Decoding segment:", segment.m_segmentId, "with", points.size(), "points"));
CandidatePointsGetter pointsGetter(kMaxJunctionCandidates, kMaxProjectionCandidates,
m_dataSource, m_graph);
CandidatePathsGetter pathsGetter(pointsGetter, m_graph, m_infoGetter, stat);
if (!pathsGetter.GetLineCandidatesForPoints(points, lineCandidates))
return false;
vector<Graph::EdgeVector> resultPath;
PathsConnector connector(kPathLengthTolerance, m_graph, m_infoGetter, stat);
if (!connector.ConnectCandidates(points, lineCandidates, resultPath))
return false;
Graph::EdgeVector route;
for (auto const & part : resultPath)
route.insert(end(route), begin(part), end(part));
double requiredRouteDistanceM = 0.0;
// Sum app all distances between points. Last point's m_distanceToNextPoint
// should be equal to zero, but let's skip it just in case.
CHECK(!points.empty(), ());
for (auto it = begin(points); it != prev(end(points)); ++it)
requiredRouteDistanceM += it->m_distanceToNextPoint;
double actualRouteDistanceM = 0.0;
for (auto const & e : route)
actualRouteDistanceM += EdgeLength(e);
auto const scale = actualRouteDistanceM / requiredRouteDistanceM;
LOG(LDEBUG, ("actualRouteDistance:", actualRouteDistanceM,
"requiredRouteDistance:", requiredRouteDistanceM, "scale:", scale));
auto const positiveOffsetM = segment.m_locationReference.m_positiveOffsetMeters * scale;
auto const negativeOffsetM = segment.m_locationReference.m_negativeOffsetMeters * scale;
if (positiveOffsetM + negativeOffsetM >= requiredRouteDistanceM)
{
++stat.m_wrongOffsets;
LOG(LINFO, ("Wrong offsets for segment:", segment.m_segmentId));
return false;
}
ExpandFakes(m_dataSource, m_graph, route);
ASSERT(none_of(begin(route), end(route), mem_fn(&Graph::Edge::IsFake)), (segment.m_segmentId));
CopyWithoutOffsets(begin(route), end(route), back_inserter(path.m_path), positiveOffsetM,
negativeOffsetM, false /* keep ends */);
if (path.m_path.empty())
{
++stat.m_wrongOffsets;
LOG(LINFO, ("Path is empty after offsets cutting. segmentId:", segment.m_segmentId));
return false;
}
return true;
}
private:
DataSource const & m_dataSource;
Graph m_graph;
RoadInfoGetter m_infoGetter;
};
// The idea behind the third version of matching algorithm is to collect a lot of candidates (paths)
// which correspond an openlr edges with some score. And on the final stage to decide which
// candidate is better.
class SegmentsDecoderV3
{
public:
SegmentsDecoderV3(DataSource const & dataSource, unique_ptr<CarModelFactory> carModelFactory)
: m_dataSource(dataSource), m_graph(dataSource, move(carModelFactory)), m_infoGetter(dataSource)
{
}
bool DecodeSegment(LinearSegment const & segment, DecodedPath & path, v2::Stats & stat)
{
LOG(LDEBUG, ("DecodeSegment(...) seg id:", segment.m_segmentId, ", point num:", segment.GetLRPs().size()));
uint32_t constexpr kMaxJunctionCandidates = 10;
uint32_t constexpr kMaxProjectionCandidates = 5;
path.m_segmentId.Set(segment.m_segmentId);
auto const & points = segment.GetLRPs();
CHECK_GREATER(points.size(), 1, ("A segment cannot consist of less than two points"));
vector<ScorePathVec> lineCandidates;
lineCandidates.reserve(points.size());
LOG(LDEBUG, ("Decoding segment:", segment.m_segmentId, "with", points.size(), "points"));
ScoreCandidatePointsGetter pointsGetter(kMaxJunctionCandidates, kMaxProjectionCandidates,
m_dataSource, m_graph);
ScoreCandidatePathsGetter pathsGetter(pointsGetter, m_graph, m_infoGetter, stat);
if (!pathsGetter.GetLineCandidatesForPoints(points, segment.m_source, lineCandidates))
return false;
vector<Graph::EdgeVector> resultPath;
ScorePathsConnector connector(m_graph, m_infoGetter, stat);
if (!connector.FindBestPath(points, lineCandidates, segment.m_source, resultPath))
{
LOG(LINFO, ("Connections not found:", segment.m_segmentId));
auto const mercatorPoints = segment.GetMercatorPoints();
for (auto const & mercatorPoint : mercatorPoints)
LOG(LINFO, (MercatorBounds::ToLatLon(mercatorPoint)));
return false;
}
Graph::EdgeVector route;
for (auto const & part : resultPath)
route.insert(route.end(), part.begin(), part.end());
double requiredRouteDistanceM = 0.0;
// Sum up all distances between points. Last point's m_distanceToNextPoint
// should be equal to zero, but let's skip it just in case.
CHECK(!points.empty(), ());
for (auto it = points.begin(); it != prev(points.end()); ++it)
requiredRouteDistanceM += it->m_distanceToNextPoint;
double actualRouteDistanceM = 0.0;
for (auto const & e : route)
actualRouteDistanceM += EdgeLength(e);
auto const scale = actualRouteDistanceM / requiredRouteDistanceM;
LOG(LDEBUG, ("actualRouteDistance:", actualRouteDistanceM,
"requiredRouteDistance:", requiredRouteDistanceM, "scale:", scale));
if (segment.m_locationReference.m_positiveOffsetMeters +
segment.m_locationReference.m_negativeOffsetMeters >=
requiredRouteDistanceM)
{
++stat.m_wrongOffsets;
LOG(LINFO, ("Wrong offsets for segment:", segment.m_segmentId));
return false;
}
auto const positiveOffsetM = segment.m_locationReference.m_positiveOffsetMeters * scale;
auto const negativeOffsetM = segment.m_locationReference.m_negativeOffsetMeters * scale;
CHECK(none_of(route.begin(), route.end(), mem_fn(&Graph::Edge::IsFake)), (segment.m_segmentId));
CopyWithoutOffsets(route.begin(), route.end(), back_inserter(path.m_path), positiveOffsetM,
negativeOffsetM, true /* keep ends */);
if (path.m_path.empty())
{
++stat.m_wrongOffsets;
LOG(LINFO, ("Path is empty after offsets cutting. segmentId:", segment.m_segmentId));
return false;
}
return true;
}
private:
DataSource const & m_dataSource;
Graph m_graph;
RoadInfoGetter m_infoGetter;
};
size_t constexpr GetOptimalBatchSize()
{
// This code computes the most optimal (in the sense of cache lines
// occupancy) batch size.
size_t constexpr a = base::LCM(sizeof(LinearSegment), kCacheLineSize) / sizeof(LinearSegment);
size_t constexpr b =
base::LCM(sizeof(IRoadGraph::EdgeVector), kCacheLineSize) / sizeof(IRoadGraph::EdgeVector);
return base::LCM(a, b);
}
} // namespace
// OpenLRDecoder::SegmentsFilter -------------------------------------------------------------
OpenLRDecoder::SegmentsFilter::SegmentsFilter(string const & idsPath,
bool const multipointsOnly)
: m_idsSet(false), m_multipointsOnly(multipointsOnly)
{
if (idsPath.empty())
return;
ifstream ifs(idsPath);
CHECK(ifs, ("Can't find", idsPath));
m_ids.insert(istream_iterator<uint32_t>(ifs), istream_iterator<uint32_t>());
CHECK(!ifs, ("Garbage in", idsPath));
m_idsSet = true;
}
bool OpenLRDecoder::SegmentsFilter::Matches(LinearSegment const & segment) const
{
if (m_multipointsOnly && segment.m_locationReference.m_points.size() == 2)
return false;
if (m_idsSet && m_ids.count(segment.m_segmentId) == 0)
return false;
return true;
}
// OpenLRDecoder -----------------------------------------------------------------------------
OpenLRDecoder::OpenLRDecoder(vector<FrozenDataSource> const & dataSources,
CountryParentNameGetter const & countryParentNameGetter)
: m_dataSources(dataSources), m_countryParentNameGetter(countryParentNameGetter)
{
}
void OpenLRDecoder::DecodeV1(vector<LinearSegment> const & segments, uint32_t const numThreads,
vector<DecodedPath> & paths)
{
Decode<SegmentsDecoderV1, Stats>(segments, numThreads, paths);
}
void OpenLRDecoder::DecodeV2(vector<LinearSegment> const & segments, uint32_t const numThreads,
vector<DecodedPath> & paths)
{
Decode<SegmentsDecoderV2, v2::Stats>(segments, numThreads, paths);
}
void OpenLRDecoder::DecodeV3(vector<LinearSegment> const & segments, uint32_t numThreads,
vector<DecodedPath> & paths)
{
Decode<SegmentsDecoderV3, v2::Stats>(segments, numThreads, paths);
}
template <typename Decoder, typename Stats>
void OpenLRDecoder::Decode(vector<LinearSegment> const & segments,
uint32_t const numThreads, vector<DecodedPath> & paths)
{
auto const worker = [&segments, &paths, numThreads, this](size_t threadNum, DataSource const & dataSource,
Stats & stat) {
size_t constexpr kBatchSize = GetOptimalBatchSize();
size_t constexpr kProgressFrequency = 100;
size_t const numSegments = segments.size();
Decoder decoder(dataSource, make_unique<CarModelFactory>(m_countryParentNameGetter));
base::Timer timer;
for (size_t i = threadNum * kBatchSize; i < numSegments; i += numThreads * kBatchSize)
{
for (size_t j = i; j < numSegments && j < i + kBatchSize; ++j)
{
if (!decoder.DecodeSegment(segments[j], paths[j], stat))
++stat.m_routesFailed;
++stat.m_routesHandled;
if (stat.m_routesHandled % kProgressFrequency == 0 || i == segments.size() - 1)
{
LOG(LINFO, ("Thread", threadNum, "processed", stat.m_routesHandled,
"failed:", stat.m_routesFailed));
timer.Reset();
}
}
}
};
base::Timer timer;
vector<Stats> stats(numThreads);
vector<thread> workers;
for (size_t i = 1; i < numThreads; ++i)
workers.emplace_back(worker, i, ref(m_dataSources[i]), ref(stats[i]));
worker(0 /* threadNum */, m_dataSources[0], stats[0]);
for (auto & worker : workers)
worker.join();
Stats allStats;
for (auto const & s : stats)
allStats.Add(s);
allStats.Report();
LOG(LINFO, ("Matching tool:", timer.ElapsedSeconds(), "seconds."));
}
} // namespace openlr
|