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#include "openlr/score_paths_connector.hpp"
#include "openlr/helpers.hpp"
#include "indexer/feature_data.hpp"
#include "indexer/ftypes_matcher.hpp"
#include "base/assert.hpp"
#include "base/checked_cast.hpp"
#include "base/stl_helpers.hpp"
#include "base/stl_iterator.hpp"
#include <algorithm>
#include <cmath>
#include <map>
#include <string>
#include <queue>
#include <tuple>
using namespace std;
namespace openlr
{
namespace
{
class EdgeContainer
{
public:
explicit EdgeContainer(Graph const & graph) : m_graph(graph) {}
void ProcessEdge(Graph::Edge const & edge)
{
CHECK(!edge.IsFake(), ());
feature::TypesHolder types;
m_graph.GetFeatureTypes(edge.GetFeatureId(), types);
ftypes::HighwayClass const hwClass = ftypes::GetHighwayClass(types);
if (m_minHwClass == ftypes::HighwayClass::Undefined)
{
m_minHwClass = hwClass;
m_maxHwClass = m_minHwClass;
m_oneWay.m_field = ftypes::IsOneWayChecker::Instance()(types);
m_roundabout.m_field = ftypes::IsRoundAboutChecker::Instance()(types);
m_link.m_field = ftypes::IsLinkChecker::Instance()(types);
}
else
{
m_minHwClass = static_cast<ftypes::HighwayClass>(
min(base::Underlying(m_minHwClass), base::Underlying(hwClass)));
m_maxHwClass = static_cast<ftypes::HighwayClass>(
max(base::Underlying(m_maxHwClass), base::Underlying(hwClass)));
if (m_oneWay.m_allEqual && m_oneWay.m_field != ftypes::IsOneWayChecker::Instance()(types))
m_oneWay.m_allEqual = false;
if (m_roundabout.m_allEqual && m_roundabout.m_field != ftypes::IsRoundAboutChecker::Instance()(types))
m_roundabout.m_allEqual = false;
if (m_link.m_allEqual && m_link.m_field != ftypes::IsLinkChecker::Instance()(types))
m_link.m_allEqual = false;
}
}
uint8_t GetHighwayClassDiff() const
{
CHECK_NOT_EQUAL(m_minHwClass, ftypes::HighwayClass::Undefined, ());
CHECK_GREATER_OR_EQUAL(m_maxHwClass, m_minHwClass, ());
uint8_t const hwClassDiff = static_cast<uint8_t>(m_maxHwClass) - static_cast<uint8_t>(m_minHwClass);
return hwClassDiff;
}
bool AreAllOneWaysEqual() const { return m_oneWay.m_allEqual; }
bool AreAllRoundaboutEqual() const { return m_roundabout.m_allEqual; }
bool AreAllLinksEqual() const { return m_link.m_allEqual; }
private:
struct Field
{
bool m_field = false;
bool m_allEqual = true;
};
Graph const & m_graph;
ftypes::HighwayClass m_minHwClass = ftypes::HighwayClass::Undefined;
ftypes::HighwayClass m_maxHwClass = ftypes::HighwayClass::Undefined;
Field m_oneWay;
Field m_roundabout;
Field m_link;
};
/// \returns true if |path| may be used as a candidate. In that case |lenScore| is filled
/// with score of this candidate based on length. The closer length of the |path| to
/// |distanceToNextPoint| the more score.
bool ValidatePathByLength(Graph::EdgeVector const & path, double distanceToNextPoint,
LinearSegmentSource source, Score & lenScore)
{
CHECK(!path.empty(), ());
CHECK_NOT_EQUAL(source, LinearSegmentSource::NotValid, ());
Score const kMaxScoreForRouteLen = 110;
double pathLen = 0.0;
for (auto const & e : path)
pathLen += EdgeLength(e);
// 0 <= |pathDiffRatio| <= 1. The more pathDiffRatio the closer |distanceToNextPoint| and |pathLen|.
double const pathDiffRatio =
1.0 - abs(distanceToNextPoint - pathLen) / max(distanceToNextPoint, pathLen);
bool const shortPath = path.size() <= 2;
double const kMinValidPathDiffRation =
source == LinearSegmentSource::FromLocationReferenceTag ? 0.6 : 0.25;
if (pathDiffRatio <= kMinValidPathDiffRation && !shortPath)
return false;
lenScore = static_cast<Score>(kMaxScoreForRouteLen * (pathDiffRatio - kMinValidPathDiffRation) /
(1.0 - kMinValidPathDiffRation));
return true;
}
} // namespace
ScorePathsConnector::ScorePathsConnector(Graph & graph, RoadInfoGetter & infoGetter, v2::Stats & stat)
: m_graph(graph), m_infoGetter(infoGetter), m_stat(stat)
{
}
bool ScorePathsConnector::FindBestPath(vector<LocationReferencePoint> const & points,
vector<vector<ScorePath>> const & lineCandidates,
LinearSegmentSource source,
vector<Graph::EdgeVector> & resultPath)
{
CHECK_NOT_EQUAL(source, LinearSegmentSource::NotValid, ());
CHECK_GREATER_OR_EQUAL(points.size(), 2, ());
resultPath.resize(points.size() - 1);
for (size_t i = 1; i < points.size(); ++i)
{
// @TODO It's possible that size of |points| is more then two. In that case two or more edges
// should be approximated with routes. If so only |toCandidates| which may be reached from
// |fromCandidates| should be used for the next edge.
auto const & point = points[i - 1];
auto const distanceToNextPoint = static_cast<double>(point.m_distanceToNextPoint);
auto const & fromCandidates = lineCandidates[i - 1];
auto const & toCandidates = lineCandidates[i];
auto & resultPathPart = resultPath[i - 1];
vector<ScorePath> result;
for (size_t fromInd = 0; fromInd < fromCandidates.size(); ++fromInd)
{
for (size_t toInd = 0; toInd < toCandidates.size(); ++toInd)
{
Graph::EdgeVector path;
if (!ConnectAdjacentCandidateLines(fromCandidates[fromInd].m_path,
toCandidates[toInd].m_path, source, point.m_lfrcnp,
distanceToNextPoint, path))
{
continue;
}
Score pathLenScore = 0;
if (!ValidatePathByLength(path, distanceToNextPoint, source, pathLenScore))
continue;
auto const score = pathLenScore + GetScoreForUniformity(path) +
fromCandidates[fromInd].m_score + toCandidates[toInd].m_score;
result.emplace_back(score, move(path));
}
}
for (auto const & p : result)
CHECK(!p.m_path.empty(), ());
if (result.empty())
{
LOG(LINFO, ("No shortest path found"));
++m_stat.m_noShortestPathFound;
resultPathPart.clear();
return false;
}
auto const it = max_element(
result.cbegin(), result.cend(),
[](ScorePath const & o1, ScorePath const & o2) { return o1.m_score < o2.m_score; });
// Note. In case of source == LinearSegmentSource::FromCoordinatesTag there is less
// information about a openlr segment so less score is collected.
Score const kMinValidScore = source == LinearSegmentSource::FromLocationReferenceTag ? 240 : 165;
if (it->m_score < kMinValidScore)
{
LOG(LINFO, ("The shortest path found but it is not good. The best score:", it->m_score));
++m_stat.m_notEnoughScore;
return false;
}
resultPathPart = it->m_path;
LOG(LDEBUG, ("Best score:", it->m_score, "resultPathPart.size():", resultPathPart.size()));
}
CHECK_EQUAL(resultPath.size(), points.size() - 1, ());
return true;
}
bool ScorePathsConnector::FindShortestPath(Graph::Edge const & from, Graph::Edge const & to,
LinearSegmentSource source,
FunctionalRoadClass lowestFrcToNextPoint,
uint32_t maxPathLength, Graph::EdgeVector & path)
{
double constexpr kLengthToleranceFactor = 1.1;
uint32_t constexpr kMinLengthTolerance = 20;
uint32_t const lengthToleranceM =
max(static_cast<uint32_t>(kLengthToleranceFactor * maxPathLength), kMinLengthTolerance);
struct State
{
State(Graph::Edge const & e, uint32_t const s) : m_edge(e), m_score(s) {}
bool operator>(State const & o) const
{
return tie(m_score, m_edge) > tie(o.m_score, o.m_edge);
}
Graph::Edge m_edge;
uint32_t m_score;
};
CHECK(from.HasRealPart() && to.HasRealPart(), ());
priority_queue<State, vector<State>, greater<>> q;
map<Graph::Edge, double> scores;
map<Graph::Edge, Graph::Edge> links;
q.emplace(from, 0);
scores[from] = 0;
while (!q.empty())
{
auto const state = q.top();
q.pop();
auto const & stateEdge = state.m_edge;
// TODO(mgsergio): Unify names: use either score or distance.
auto const stateScore = state.m_score;
if (stateScore > maxPathLength + lengthToleranceM)
continue;
if (stateScore > scores[stateEdge])
continue;
if (stateEdge == to)
{
for (auto edge = stateEdge; edge != from; edge = links[edge])
path.emplace_back(edge);
path.emplace_back(from);
reverse(begin(path), end(path));
return true;
}
Graph::EdgeVector edges;
m_graph.GetOutgoingEdges(stateEdge.GetEndJunction(), edges);
for (auto const & edge : edges)
{
if (source == LinearSegmentSource::FromLocationReferenceTag &&
!ConformLfrcnpV3(edge, lowestFrcToNextPoint, m_infoGetter))
{
continue;
}
CHECK(!stateEdge.IsFake(), ());
CHECK(!edge.IsFake(), ());
auto const it = scores.find(edge);
auto const eScore = stateScore + EdgeLength(edge);
if (it == end(scores) || it->second > eScore)
{
scores[edge] = eScore;
links[edge] = stateEdge;
q.emplace(edge, eScore);
}
}
}
return false;
}
bool ScorePathsConnector::ConnectAdjacentCandidateLines(Graph::EdgeVector const & from,
Graph::EdgeVector const & to,
LinearSegmentSource source,
FunctionalRoadClass lowestFrcToNextPoint,
double distanceToNextPoint,
Graph::EdgeVector & resultPath)
{
CHECK(!to.empty(), ());
if (auto const skip = PathOverlappingLen(from, to))
{
if (skip == -1)
return false;
resultPath.insert(resultPath.end(), from.cbegin(), from.cend());
resultPath.insert(resultPath.end(), to.cbegin() + skip, to.cend());
return true;
}
CHECK_NOT_EQUAL(from, to, ());
Graph::EdgeVector shortestPath;
auto const found =
FindShortestPath(from.back(), to.front(), source, lowestFrcToNextPoint,
static_cast<uint32_t>(ceil(distanceToNextPoint)), shortestPath);
if (!found)
return false;
CHECK_EQUAL(from.back(), shortestPath.front(), ());
resultPath.insert(resultPath.end(), from.cbegin(), prev(from.cend()));
resultPath.insert(resultPath.end(), shortestPath.cbegin(), shortestPath.cend());
CHECK_EQUAL(to.front(), shortestPath.back(), ());
resultPath.insert(resultPath.end(), next(to.begin()), to.end());
return !resultPath.empty();
}
Score ScorePathsConnector::GetScoreForUniformity(Graph::EdgeVector const & path)
{
EdgeContainer edgeContainer(m_graph);
for (auto const & edge : path)
edgeContainer.ProcessEdge(edge);
auto const hwClassDiff = edgeContainer.GetHighwayClassDiff();
Score constexpr kScoreForTheSameHwClass = 40;
Score constexpr kScoreForNeighboringHwClasses = 15;
Score const hwClassScore = hwClassDiff == 0
? kScoreForTheSameHwClass
: hwClassDiff == 1 ? kScoreForNeighboringHwClasses : 0;
Score constexpr kScoreForOneWayOnly = 17;
Score constexpr kScoreForRoundaboutOnly = 18;
Score constexpr kScoreForLinkOnly = 10;
Score const allEqualScore =
(edgeContainer.AreAllOneWaysEqual() ? kScoreForOneWayOnly : 0) +
(edgeContainer.AreAllRoundaboutEqual() ? kScoreForRoundaboutOnly : 0) +
(edgeContainer.AreAllLinksEqual() ? kScoreForLinkOnly : 0);
return hwClassScore + allEqualScore;
}
} // namespace openlr
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