Open-Harbor/osrm-backend
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 3 Wiki Activity

MoNav backport, 30% faster contraction

Browse Source
This commit is contained in:
DennisOSRM 2011-11-25 14:43:56 +01:00
parent 17a5b7a363
commit 18b4f44605
1 changed files with 31 additions and 100 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

131
Contractor/Contractor.h
View File

@ -68,6 +68,7 @@ private:
struct _ThreadData { struct _ThreadData {
_Heap heap; _Heap heap;
std::vector< _ImportEdge > insertedEdges; std::vector< _ImportEdge > insertedEdges;
std::vector< NodeID > neighbours;
_ThreadData( NodeID nodes ): heap( nodes ) { _ThreadData( NodeID nodes ): heap( nodes ) {
} }
}; };
@ -97,7 +98,7 @@ private:
public: public:
template< class InputEdge > template< class InputEdge >
Contractor( int nodes, std::vector< InputEdge >& inputEdges, unsigned eqf = 2, unsigned oqf = 1, unsigned df = 1) : edgeQuotionFactor(eqf), originalQuotientFactor(oqf), depthFactor(df), maxDepth(0) { Contractor( int nodes, std::vector< InputEdge >& inputEdges, unsigned eqf = 2, unsigned oqf = 1, unsigned df = 1) : edgeQuotionFactor(eqf), originalQuotientFactor(oqf), depthFactor(df) {
std::vector< _ImportEdge > edges; std::vector< _ImportEdge > edges;
edges.reserve( 2 * inputEdges.size() ); edges.reserve( 2 * inputEdges.size() );
@ -110,7 +111,7 @@ public:
assert( edge.data.distance > 0 ); assert( edge.data.distance > 0 );
#ifndef NDEBUG #ifndef NDEBUG
if ( edge.data.distance > 24 * 60 * 60 * 10 ) { if ( edge.data.distance > 24 * 60 * 60 * 10 ) {
cout << "Edge Weight too large -> May lead to invalid CH" << endl; std::cout << "Edge Weight too large -> May lead to invalid CH" << std::endl;
continue; continue;
} }
#endif #endif
@ -127,7 +128,10 @@ public:
edge.data.backward = i->isForward(); edge.data.backward = i->isForward();
edges.push_back( edge ); edges.push_back( edge );
} }
std::vector< InputEdge >().swap( inputEdges ); //free memory //remove data from memory
inputEdges.clear();
std::vector< InputEdge >().swap( inputEdges );
#ifdef _GLIBCXX_PARALLEL #ifdef _GLIBCXX_PARALLEL
__gnu_parallel::sort( edges.begin(), edges.end() ); __gnu_parallel::sort( edges.begin(), edges.end() );
#else #else
@ -179,7 +183,7 @@ public:
} }
} }
} }
cout << "ok" << endl << "merged " << edges.size() - edge << " edges out of " << edges.size() << endl; std::cout << "ok" << std::endl << "merged " << edges.size() - edge << " edges out of " << edges.size() << std::endl;
edges.resize( edge ); edges.resize( edge );
_graph.reset( new _DynamicGraph( nodes, edges ) ); _graph.reset( new _DynamicGraph( nodes, edges ) );
std::vector< _ImportEdge >().swap( edges ); std::vector< _ImportEdge >().swap( edges );
@ -187,26 +191,6 @@ public:
~Contractor() { } ~Contractor() { }
int GetNumberOfLevels() const { return maxDepth; }
template< class InputEdge >
void CheckForAllOrigEdges(std::vector< InputEdge >& inputEdges) {
for(unsigned int i = 0; i < inputEdges.size(); i++) {
bool found = false;
_DynamicGraph::EdgeIterator eit = _graph->BeginEdges(inputEdges[i].source());
for(;eit<_graph->EndEdges(inputEdges[i].source()); eit++) {
if(_graph->GetEdgeData(eit).distance == inputEdges[i].weight())
found = true;
}
eit = _graph->BeginEdges(inputEdges[i].target());
for(;eit<_graph->EndEdges(inputEdges[i].target()); eit++) {
if(_graph->GetEdgeData(eit).distance == inputEdges[i].weight())
found = true;
}
assert(found);
}
}
void Run() { void Run() {
const NodeID numberOfNodes = _graph->GetNumberOfNodes(); const NodeID numberOfNodes = _graph->GetNumberOfNodes();
Percent p (numberOfNodes); Percent p (numberOfNodes);
@ -216,7 +200,7 @@ public:
for ( unsigned threadNum = 0; threadNum < maxThreads; ++threadNum ) { for ( unsigned threadNum = 0; threadNum < maxThreads; ++threadNum ) {
threadData.push_back( new _ThreadData( numberOfNodes ) ); threadData.push_back( new _ThreadData( numberOfNodes ) );
} }
cout << "Contractor is using " << maxThreads << " threads" << endl; std::cout << "Contractor is using " << maxThreads << " threads" << std::endl;
NodeID levelID = 0; NodeID levelID = 0;
std::vector< std::pair< NodeID, bool > > remainingNodes( numberOfNodes ); std::vector< std::pair< NodeID, bool > > remainingNodes( numberOfNodes );
@ -231,25 +215,28 @@ public:
for ( int x = 0; x < ( int ) numberOfNodes; ++x ) for ( int x = 0; x < ( int ) numberOfNodes; ++x )
nodeData[remainingNodes[x].first].bias = x; nodeData[remainingNodes[x].first].bias = x;
cout << "initializing elimination PQ ..." << flush; std::cout << "initializing elimination PQ ..." << std::flush;
#pragma omp parallel #pragma omp parallel
{ {
_ThreadData* data = threadData[omp_get_thread_num()]; _ThreadData* data = threadData[omp_get_thread_num()];
#pragma omp for schedule ( guided ) #pragma omp parallel for schedule ( guided )
for ( int x = 0; x < ( int ) numberOfNodes; ++x ) { for ( int x = 0; x < ( int ) numberOfNodes; ++x ) {
nodePriority[x] = _Evaluate( data, &nodeData[x], x ); nodePriority[x] = _Evaluate( data, &nodeData[x], x );
} }
} }
cout << "ok" << endl << "preprocessing ..." << flush; std::cout << "ok" << std::endl << "preprocessing ..." << std::flush;
while ( levelID < numberOfNodes ) { while ( levelID < numberOfNodes ) {
const int last = ( int ) remainingNodes.size(); const int last = ( int ) remainingNodes.size();
#pragma omp parallel
//determine independent node set {
#pragma omp parallel for schedule ( guided ) //determine independent node set
for ( int i = 0; i < last; ++i ) { _ThreadData* const data = threadData[omp_get_thread_num()];
const NodeID node = remainingNodes[i].first; #pragma omp for schedule ( guided )
remainingNodes[i].second = _IsIndependent( nodePriority, nodeData, node ); for ( int i = 0; i < last; ++i ) {
const NodeID node = remainingNodes[i].first;
remainingNodes[i].second = _IsIndependent( nodePriority, nodeData, data, node );
}
} }
_NodePartitionor functor; _NodePartitionor functor;
const std::vector < std::pair < NodeID, bool > >::const_iterator first = stable_partition( remainingNodes.begin(), remainingNodes.end(), functor ); const std::vector < std::pair < NodeID, bool > >::const_iterator first = stable_partition( remainingNodes.begin(), remainingNodes.end(), functor );
@ -283,25 +270,7 @@ public:
_ThreadData& data = *threadData[threadNum]; _ThreadData& data = *threadData[threadNum];
for ( int i = 0; i < ( int ) data.insertedEdges.size(); ++i ) { for ( int i = 0; i < ( int ) data.insertedEdges.size(); ++i ) {
const _ImportEdge& edge = data.insertedEdges[i]; const _ImportEdge& edge = data.insertedEdges[i];
bool found = false; _graph->InsertEdge( edge.source, edge.target, edge.data );
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( edge.source ) ; e < _graph->EndEdges( edge.source ) ; ++e ) {
const NodeID target = _graph->GetTarget( e );
if ( target != edge.target )
continue;
_EdgeBasedContractorEdgeData& data = _graph->GetEdgeData( e );
if ( data.distance != edge.data.distance )
continue;
if ( data.shortcut != edge.data.shortcut )
continue;
if ( data.via != edge.data.via )
continue;
data.forward |= edge.data.forward;
data.backward |= edge.data.backward;
found = true;
break;
}
if ( !found )
_graph->InsertEdge( edge.source, edge.target, edge.data );
} }
std::vector< _ImportEdge >().swap( data.insertedEdges ); std::vector< _ImportEdge >().swap( data.insertedEdges );
} }
@ -327,11 +296,6 @@ public:
for ( unsigned threadNum = 0; threadNum < maxThreads; threadNum++ ) { for ( unsigned threadNum = 0; threadNum < maxThreads; threadNum++ ) {
delete threadData[threadNum]; delete threadData[threadNum];
} }
cout << "[contractor] checking sanity of generated data ..." << flush;
_CheckCH<_EdgeBasedContractorEdgeData>();
cout << "ok" << endl;
std::cout << "[contractor] max level: " << maxDepth << std::endl;
} }
template< class Edge > template< class Edge >
@ -357,16 +321,16 @@ public:
} }
private: private:
void _Dijkstra( NodeID source, const int maxDistance, const unsigned numTargets, _ThreadData* data ){ void _Dijkstra( const int maxDistance, const unsigned numTargets, const int maxNodes, _ThreadData* data ){
_Heap& heap = data->heap; _Heap& heap = data->heap;
unsigned nodes = 0; int nodes = 0;
unsigned targetsFound = 0; unsigned targetsFound = 0;
while ( heap.Size() > 0 ) { while ( heap.Size() > 0 ) {
const NodeID node = heap.DeleteMin(); const NodeID node = heap.DeleteMin();
const int distance = heap.GetKey( node ); const int distance = heap.GetKey( node );
if ( nodes++ > numTargets ) if ( nodes++ > maxNodes )
return; return;
//Destination settled? //Destination settled?
if ( distance > maxDistance ) if ( distance > maxDistance )
@ -404,45 +368,13 @@ private:
//perform simulated contraction //perform simulated contraction
_Contract< true > ( data, node, &stats ); _Contract< true > ( data, node, &stats );
if(nodeData->depth > maxDepth) {
#pragma omp critical
maxDepth = nodeData->depth;
}
// Result will contain the priority // Result will contain the priority
if ( stats.edgesDeleted == 0 || stats.originalEdgesDeleted == 0 ) if ( stats.edgesDeleted == 0 || stats.originalEdgesDeleted == 0 )
return depthFactor * nodeData->depth; return depthFactor * nodeData->depth;
return edgeQuotionFactor * ((( double ) stats.edgesAdded ) / stats.edgesDeleted ) + originalQuotientFactor * ((( double ) stats.originalEdgesAdded ) / stats.originalEdgesDeleted ) + depthFactor * nodeData->depth; return edgeQuotionFactor * ((( double ) stats.edgesAdded ) / stats.edgesDeleted ) + originalQuotientFactor * ((( double ) stats.originalEdgesAdded ) / stats.originalEdgesDeleted ) + depthFactor * nodeData->depth;
} }
template< class Edge >
bool _CheckCH()
{
NodeID numberOfNodes = _graph->GetNumberOfNodes();
for ( NodeID node = 0; node < numberOfNodes; ++node ) {
for ( _DynamicGraph::EdgeIterator edge = _graph->BeginEdges( node ), endEdges = _graph->EndEdges( node ); edge != endEdges; ++edge ) {
const NodeID start = node;
const NodeID target = _graph->GetTarget( edge );
const _EdgeBasedContractorEdgeData& data = _graph->GetEdgeData( edge );
const NodeID middle = data.via;
assert(start != target);
if(data.shortcut)
{
if(_graph->FindEdge(start, middle) == SPECIAL_EDGEID && _graph->FindEdge(middle, start) == SPECIAL_EDGEID)
{
assert(false);
return false;
}
if(_graph->FindEdge(middle, target) == SPECIAL_EDGEID && _graph->FindEdge(target, middle) == SPECIAL_EDGEID)
{
assert(false);
return false;
}
}
}
}
return true;
}
template< bool Simulate > bool _Contract( _ThreadData* data, NodeID node, _ContractionInformation* stats = NULL ) { template< bool Simulate > bool _Contract( _ThreadData* data, NodeID node, _ContractionInformation* stats = NULL ) {
_Heap& heap = data->heap; _Heap& heap = data->heap;
for ( _DynamicGraph::EdgeIterator inEdge = _graph->BeginEdges( node ), endInEdges = _graph->EndEdges( node ); inEdge != endInEdges; ++inEdge ) { for ( _DynamicGraph::EdgeIterator inEdge = _graph->BeginEdges( node ), endInEdges = _graph->EndEdges( node ); inEdge != endInEdges; ++inEdge ) {
@ -477,13 +409,12 @@ private:
} else if ( pathDistance < heap.GetKey( target ) ) { } else if ( pathDistance < heap.GetKey( target ) ) {
heap.DecreaseKey( target, pathDistance ); heap.DecreaseKey( target, pathDistance );
} }
} }
if( Simulate ) if( Simulate )
_Dijkstra( source, maxDistance, 500, data ); _Dijkstra( maxDistance, numTargets, 500, data );
else else
_Dijkstra( source, maxDistance, 1000, data ); _Dijkstra( maxDistance, numTargets, 1000, data );
for ( _DynamicGraph::EdgeIterator outEdge = _graph->BeginEdges( node ), endOutEdges = _graph->EndEdges( node ); outEdge != endOutEdges; ++outEdge ) { for ( _DynamicGraph::EdgeIterator outEdge = _graph->BeginEdges( node ), endOutEdges = _graph->EndEdges( node ); outEdge != endOutEdges; ++outEdge ) {
const _EdgeBasedContractorEdgeData& outData = _graph->GetEdgeData( outEdge ); const _EdgeBasedContractorEdgeData& outData = _graph->GetEdgeData( outEdge );
@ -567,10 +498,11 @@ private:
return true; return true;
} }
bool _IsIndependent( const std::vector< double >& priorities, const std::vector< _PriorityData >& nodeData, NodeID node ) { bool _IsIndependent( const std::vector< double >& priorities, const std::vector< _PriorityData >& nodeData, _ThreadData* const data, NodeID node ) {
const double priority = priorities[node]; const double priority = priorities[node];
std::vector< NodeID > neighbours; std::vector< NodeID >& neighbours = data->neighbours;
neighbours.clear();
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) { for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) {
const NodeID target = _graph->GetTarget( e ); const NodeID target = _graph->GetTarget( e );
@ -613,7 +545,6 @@ private:
unsigned edgeQuotionFactor; unsigned edgeQuotionFactor;
unsigned originalQuotientFactor; unsigned originalQuotientFactor;
unsigned depthFactor; unsigned depthFactor;
int maxDepth;
}; };
#endif // CONTRACTOR_H_INCLUDED #endif // CONTRACTOR_H_INCLUDED