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#include "openlr/score_candidate_paths_getter.hpp"
#include "openlr/graph.hpp"
#include "openlr/openlr_model.hpp"
#include "openlr/score_candidate_points_getter.hpp"
#include "routing/road_graph.hpp"
#include "platform/location.hpp"
#include "geometry/angles.hpp"
#include "geometry/mercator.hpp"
#include "base/logging.hpp"
#include "base/stl_helpers.hpp"
#include <algorithm>
#include <functional>
#include <iterator>
#include <queue>
#include <set>
#include <tuple>
#include <utility>
using namespace routing;
using namespace std;
namespace openlr
{
namespace
{
int constexpr kNumBuckets = 256;
double constexpr kAnglesInBucket = 360.0 / kNumBuckets;
double ToAngleInDeg(uint32_t angleInBuckets)
{
CHECK_GREATER_OR_EQUAL(angleInBuckets, 0, ());
CHECK_LESS_OR_EQUAL(angleInBuckets, 255, ());
return base::clamp(kAnglesInBucket * static_cast<double>(angleInBuckets), 0.0, 360.0);
}
uint32_t BearingInDeg(m2::PointD const & a, m2::PointD const & b)
{
auto const angle = location::AngleToBearing(base::RadToDeg(ang::AngleTo(a, b)));
CHECK_LESS_OR_EQUAL(angle, 360.0, ());
CHECK_GREATER_OR_EQUAL(angle, 0.0, ());
return angle;
}
double DifferenceInDeg(double a1, double a2)
{
auto const diff = 180.0 - abs(abs(a1 - a2) - 180.0);
CHECK_LESS_OR_EQUAL(diff, 180.0, ());
CHECK_GREATER_OR_EQUAL(diff, 0.0, ());
return diff;
}
} // namespace
// ScoreCandidatePathsGetter::Link ----------------------------------------------------------------------
Graph::Edge ScoreCandidatePathsGetter::Link::GetStartEdge() const
{
auto * start = this;
while (start->m_parent)
start = start->m_parent.get();
return start->m_edge;
}
bool ScoreCandidatePathsGetter::Link::IsJunctionInPath(Junction const & j) const
{
for (auto * l = this; l; l = l->m_parent.get())
{
if (l->m_edge.GetEndJunction() == j)
{
LOG(LDEBUG, ("A loop detected, skipping..."));
return true;
}
}
return false;
}
// ScoreCandidatePathsGetter ----------------------------------------------------------------------------
bool ScoreCandidatePathsGetter::GetLineCandidatesForPoints(
vector<LocationReferencePoint> const & points, LinearSegmentSource source,
vector<ScorePathVec> & lineCandidates)
{
CHECK_GREATER(points.size(), 1, ());
for (size_t i = 0; i < points.size(); ++i)
{
if (i != points.size() - 1 && points[i].m_distanceToNextPoint == 0)
{
LOG(LINFO, ("Distance to next point is zero. Skipping the whole segment"));
++m_stats.m_zeroDistToNextPointCount;
return false;
}
lineCandidates.emplace_back();
auto const isLastPoint = i == points.size() - 1;
double const distanceToNextPointM =
(isLastPoint ? points[i - 1] : points[i]).m_distanceToNextPoint;
ScoreEdgeVec edgesCandidates;
m_pointsGetter.GetEdgeCandidates(MercatorBounds::FromLatLon(points[i].m_latLon),
isLastPoint, edgesCandidates);
GetLineCandidates(points[i], source, isLastPoint, distanceToNextPointM, edgesCandidates,
lineCandidates.back());
if (lineCandidates.back().empty())
{
LOG(LINFO, ("No candidate lines found for point", points[i].m_latLon, "Giving up"));
++m_stats.m_noCandidateFound;
return false;
}
}
CHECK_EQUAL(lineCandidates.size(), points.size(), ());
return true;
}
void ScoreCandidatePathsGetter::GetAllSuitablePaths(ScoreEdgeVec const & startLines,
LinearSegmentSource source, bool isLastPoint,
double bearDistM,
FunctionalRoadClass functionalRoadClass,
FormOfWay formOfWay,
vector<shared_ptr<Link>> & allPaths)
{
CHECK_NOT_EQUAL(source, LinearSegmentSource::NotValid, ());
queue<shared_ptr<Link>> q;
for (auto const & e : startLines)
{
Score roadScore = 0; // Score based on functional road class and form of way.
if (source == LinearSegmentSource::FromLocationReferenceTag &&
!PassesRestrictionV3(e.m_edge, functionalRoadClass, formOfWay, m_infoGetter, roadScore))
{
continue;
}
q.push(
make_shared<Link>(nullptr /* parent */, e.m_edge, 0 /* distanceM */, e.m_score, roadScore));
}
// Filling |allPaths| staring from |startLines| which have passed functional road class
// and form of way restrictions. All paths in |allPaths| are shorter then |bearDistM| plus
// one segment length.
while (!q.empty())
{
auto const u = q.front();
q.pop();
auto const & currentEdge = u->m_edge;
auto const currentEdgeLen = EdgeLength(currentEdge);
if (u->m_distanceM + currentEdgeLen >= bearDistM)
{
allPaths.emplace_back(move(u));
continue;
}
CHECK_LESS(u->m_distanceM + currentEdgeLen, bearDistM, ());
Graph::EdgeVector edges;
if (!isLastPoint)
m_graph.GetOutgoingEdges(currentEdge.GetEndJunction(), edges);
else
m_graph.GetIngoingEdges(currentEdge.GetStartJunction(), edges);
for (auto const & e : edges)
{
CHECK(!e.IsFake(), ());
if (EdgesAreAlmostEqual(e.GetReverseEdge(), currentEdge))
continue;
CHECK(currentEdge.HasRealPart(), ());
Score roadScore = 0;
if (source == LinearSegmentSource::FromLocationReferenceTag &&
!PassesRestrictionV3(e, functionalRoadClass, formOfWay, m_infoGetter, roadScore))
{
continue;
}
if (u->IsJunctionInPath(e.GetEndJunction()))
continue;
// Road score for a path is minimum value of score of segments based on functional road class
// of the segments and form of way of the segments.
q.emplace(make_shared<Link>(u, e, u->m_distanceM + currentEdgeLen, u->m_pointScore,
min(roadScore, u->m_minRoadScore)));
}
}
}
void ScoreCandidatePathsGetter::GetBestCandidatePaths(vector<shared_ptr<Link>> const & allPaths,
LinearSegmentSource source, bool isLastPoint,
uint32_t requiredBearing, double bearDistM,
m2::PointD const & startPoint,
ScorePathVec & candidates)
{
CHECK_NOT_EQUAL(source, LinearSegmentSource::NotValid, ());
CHECK_GREATER_OR_EQUAL(requiredBearing, 0, ());
CHECK_LESS_OR_EQUAL(requiredBearing, 255, ());
multiset<CandidatePath, greater<>> candidatePaths;
BearingPointsSelector pointsSelector(static_cast<uint32_t>(bearDistM), isLastPoint);
for (auto const & link : allPaths)
{
auto const bearStartPoint = pointsSelector.GetStartPoint(link->GetStartEdge());
// Number of edges counting from the last one to check bearing on. According to OpenLR spec
// we have to check bearing on a point that is no longer than 25 meters traveling down the path.
// But sometimes we may skip the best place to stop and generate a candidate. So we check several
// edges before the last one to avoid such a situation. Number of iterations is taken
// by intuition.
// Example:
// o -------- o { Partners segment. }
// o ------- o --- o { Our candidate. }
// ^ 25m
// ^ This one may be better than
// ^ this one.
// So we want to check them all.
uint32_t traceBackIterationsLeft = 3;
for (auto part = link; part; part = part->m_parent)
{
if (traceBackIterationsLeft == 0)
break;
--traceBackIterationsLeft;
// Note. No information about bearing if source == LinearSegmentSource::FromCoordinatesTag.
Score bearingScore = 0;
if (source == LinearSegmentSource::FromLocationReferenceTag)
{
if (!GetBearingScore(pointsSelector, *part, bearStartPoint, requiredBearing, bearingScore))
continue;
}
candidatePaths.emplace(part, part->m_pointScore, part->m_minRoadScore, bearingScore);
}
}
size_t constexpr kMaxCandidates = 7;
vector<CandidatePath> paths;
copy_n(candidatePaths.begin(), min(static_cast<size_t>(kMaxCandidates), candidatePaths.size()),
back_inserter(paths));
for (auto const & path : paths)
{
Graph::EdgeVector edges;
for (auto * p = path.m_path.get(); p; p = p->m_parent.get())
edges.push_back(p->m_edge);
if (!isLastPoint)
reverse(edges.begin(), edges.end());
candidates.emplace_back(path.GetScore(), move(edges));
}
}
void ScoreCandidatePathsGetter::GetLineCandidates(openlr::LocationReferencePoint const & p,
LinearSegmentSource source,
bool isLastPoint,
double distanceToNextPointM,
ScoreEdgeVec const & edgeCandidates,
ScorePathVec & candidates)
{
double constexpr kDefaultBearDistM = 25.0;
double const bearDistM = min(kDefaultBearDistM, distanceToNextPointM);
ScoreEdgeVec const & startLines = edgeCandidates;
LOG(LDEBUG, ("Listing start lines:"));
for (auto const & e : startLines)
LOG(LDEBUG, (LogAs2GisPath(e.m_edge)));
auto const startPoint = MercatorBounds::FromLatLon(p.m_latLon);
vector<shared_ptr<Link>> allPaths;
GetAllSuitablePaths(startLines, source, isLastPoint, bearDistM, p.m_functionalRoadClass,
p.m_formOfWay, allPaths);
GetBestCandidatePaths(allPaths, source, isLastPoint, p.m_bearing, bearDistM, startPoint,
candidates);
// Sorting by increasing order.
sort(candidates.begin(), candidates.end(),
[](ScorePath const & s1, ScorePath const & s2) { return s1.m_score > s2.m_score; });
LOG(LDEBUG, (candidates.size(), "Candidate paths found for point:", p.m_latLon));
}
bool ScoreCandidatePathsGetter::GetBearingScore(BearingPointsSelector const & pointsSelector,
ScoreCandidatePathsGetter::Link const & part,
m2::PointD const & bearStartPoint,
uint32_t requiredBearing, Score & score)
{
auto const bearEndPoint = pointsSelector.GetEndPoint(part.m_edge, part.m_distanceM);
auto const bearingDeg = BearingInDeg(bearStartPoint, bearEndPoint);
double const requiredBearingDeg = ToAngleInDeg(requiredBearing);
double const angleDeviationDeg = DifferenceInDeg(bearingDeg, requiredBearingDeg);
// If the bearing according to osm segments (|bearingDeg|) is significantly different
// from the bearing set in openlr (|requiredBearingDeg|) the candidate should be skipped.
double constexpr kMinAngleDeviationDeg = 50.0;
if (angleDeviationDeg > kMinAngleDeviationDeg)
return false;
double constexpr kMaxScoreForBearing = 60.0;
double constexpr kAngleDeviationFactor = 1.0 / 4.3;
score =
static_cast<Score>(kMaxScoreForBearing / (1.0 + angleDeviationDeg * kAngleDeviationFactor));
return true;
}
} // namespace openlr
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