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Direct edges in contractor correctly and add better graph validation.

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This commit is contained in:
Patrick Niklaus 2015-05-24 17:25:38 +02:00
parent aba3ec692f
commit 2777d53a12
4 changed files with 232 additions and 233 deletions
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92
contractor/edge_based_graph_factory.cpp
View File

@ -41,35 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <limits>
bool checkInvariant(const NodeBasedDynamicGraph& graph, const NodeID source, const EdgeID edge)
{
const auto& data = graph.GetEdgeData(edge);
if (!data.forward)
{
auto target = graph.GetTarget(edge);
if (target == SPECIAL_NODEID)
{
SimpleLogger().Write(logWARNING) << "Invalid target";
return false;
}
auto rev_edge = graph.FindEdge(target, source);
if (rev_edge == SPECIAL_EDGEID)
{
SimpleLogger().Write(logWARNING) << "Edge not found";
return false;
}
const auto& rev_data = graph.GetEdgeData(rev_edge);
if (!rev_data.forward)
{
SimpleLogger().Write(logWARNING) << "Reverse edge is not forward";
return false;
}
}
return true;
}
EdgeBasedGraphFactory::EdgeBasedGraphFactory(std::shared_ptr<NodeBasedDynamicGraph> node_based_graph,
std::shared_ptr<RestrictionMap> restriction_map,
@ -264,32 +235,6 @@ void EdgeBasedGraphFactory::Run(const std::string &original_edge_data_filename,
const std::string &geometry_filename,
lua_State *lua_state)
{
#ifndef NDEBUG
SimpleLogger().Write() << "Verifying the graph structure before compression:";
for (const auto current_node : osrm::irange(0u, m_node_based_graph->GetNumberOfNodes()))
{
for (const auto current_edge : m_node_based_graph->GetAdjacentEdgeRange(current_node))
{
EdgeData &edge_data = m_node_based_graph->GetEdgeData(current_edge);
if (!edge_data.forward)
{
auto target = m_node_based_graph->GetTarget(current_edge);
BOOST_ASSERT(target != SPECIAL_NODEID);
auto rev_edge = m_node_based_graph->FindEdge(target, current_node);
BOOST_ASSERT(rev_edge != SPECIAL_EDGEID);
const auto& rev_data = m_node_based_graph->GetEdgeData(rev_edge);
BOOST_ASSERT(rev_data.forward);
continue;
}
}
}
SimpleLogger().Write() << " -> graph is ok.";
#endif
TIMER_START(geometry);
CompressGeometry();
TIMER_STOP(geometry);
@ -466,28 +411,20 @@ void EdgeBasedGraphFactory::CompressGeometry()
reverse_weight2 + (has_node_penalty ? speed_profile.traffic_signal_penalty : 0));
++removed_node_count;
#ifndef NDEBUG
if (!checkInvariant(*m_node_based_graph, node_u, forward_e1))
{
SimpleLogger().Write(logWARNING) << "Contracting " << node_u << " " << node_v << " " << node_w;
SimpleLogger().Write(logWARNING) << " coordinates "
<< "(" << m_node_info_list[node_u].lat << ", " << m_node_info_list[node_u].lon << ") "
<< "(" << m_node_info_list[node_v].lat << ", " << m_node_info_list[node_v].lon << ") "
<< "(" << m_node_info_list[node_w].lat << ", " << m_node_info_list[node_w].lon << ") ";
BOOST_ASSERT_MSG(false, "Graph invariant is not fulfilled.");
}
if (!checkInvariant(*m_node_based_graph, node_w, reverse_e1))
{
SimpleLogger().Write(logWARNING) << "Contracting " << node_u << " " << node_v << " " << node_w;
SimpleLogger().Write(logWARNING) << " coordinates "
<< "(" << m_node_info_list[node_u].lat << ", " << m_node_info_list[node_u].lon << ") "
<< "(" << m_node_info_list[node_v].lat << ", " << m_node_info_list[node_v].lon << ") "
<< "(" << m_node_info_list[node_w].lat << ", " << m_node_info_list[node_w].lon << ") ";
BOOST_ASSERT_MSG(false, "Graph invariant is not fulfilled.");
}
#endif
}
#ifndef NDEBUG
if (!validateNeighborHood(*m_node_based_graph, node_v))
{
SimpleLogger().Write(logWARNING) << "Contracting " << node_u << " " << node_v << " " << node_w;
SimpleLogger().Write(logWARNING) << " coordinates "
<< "(" << (m_node_info_list[node_u].lat/COORDINATE_PRECISION) << ", " << (m_node_info_list[node_u].lon/COORDINATE_PRECISION) << ") "
<< "(" << (m_node_info_list[node_v].lat/COORDINATE_PRECISION) << ", " << (m_node_info_list[node_v].lon/COORDINATE_PRECISION) << ") "
<< "(" << (m_node_info_list[node_w].lat/COORDINATE_PRECISION) << ", " << (m_node_info_list[node_w].lon/COORDINATE_PRECISION) << ") ";
BOOST_ASSERT_MSG(false, "Graph invariant is not fulfilled.");
}
#endif
}
SimpleLogger().Write() << "removed " << removed_node_count << " nodes";
m_geometry_compressor.PrintStatistics();
@ -515,14 +452,15 @@ void EdgeBasedGraphFactory::CompressGeometry()
*/
void EdgeBasedGraphFactory::RenumberEdges()
{
// renumber edge based node IDs
// renumber edge based node of outgoing edges
unsigned numbered_edges_count = 0;
for (const auto current_node : osrm::irange(0u, m_node_based_graph->GetNumberOfNodes()))
{
for (const auto current_edge : m_node_based_graph->GetAdjacentEdgeRange(current_node))
{
EdgeData &edge_data = m_node_based_graph->GetEdgeData(current_edge);
// FIXME when does that happen? why can we skip here?
// this edge is an incoming edge
if (!edge_data.forward)
{
continue;

200
data_structures/node_based_graph.hpp
View File

@ -74,7 +74,92 @@ struct NodeBasedEdgeData
using NodeBasedDynamicGraph = DynamicGraph<NodeBasedEdgeData>;
inline bool validateNeighborHood(const NodeBasedDynamicGraph& graph, const NodeID source)
{
for (auto edge = graph.BeginEdges(source); edge < graph.EndEdges(source); ++edge)
{
const auto& data = graph.GetEdgeData(edge);
if (!data.forward && !data.backward)
{
SimpleLogger().Write(logWARNING) << "Invalid edge directions";
return false;
}
auto target = graph.GetTarget(edge);
if (target == SPECIAL_NODEID)
{
SimpleLogger().Write(logWARNING) << "Invalid edge target";
return false;
}
bool found_reverse = false;
for (auto rev_edge = graph.BeginEdges(target); rev_edge < graph.EndEdges(target); ++rev_edge)
{
auto rev_target = graph.GetTarget(rev_edge);
if (rev_target == SPECIAL_NODEID)
{
SimpleLogger().Write(logWARNING) << "Invalid reverse edge target";
return false;
}
if (rev_target != source)
{
continue;
}
if (found_reverse)
{
SimpleLogger().Write(logWARNING) << "Found more than one reverse edge";
return false;
}
const auto& rev_data = graph.GetEdgeData(rev_edge);
// edge is incoming, this must be an outgoing edge
if (data.backward && !rev_data.forward)
{
SimpleLogger().Write(logWARNING) << "Found no outgoing edge to an incoming edge!";
return false;
}
// edge is bi-directional, reverse must be as well
if (data.forward && data.backward && (!rev_data.forward || !rev_data.backward))
{
SimpleLogger().Write(logWARNING) << "Found bi-directional edge that is not bi-directional to both ends";
return false;
}
found_reverse = true;
}
if (!found_reverse)
{
SimpleLogger().Write(logWARNING) << "Could not find reverse edge";
return false;
}
}
return true;
}
// This function checks if the overal graph is undirected (has an edge in each direction).
inline bool validateNodeBasedGraph(const NodeBasedDynamicGraph& graph)
{
for (auto source = 0u; source < graph.GetNumberOfNodes(); ++source)
{
if (!validateNeighborHood(graph, source))
{
return false;
}
}
return true;
}
// Factory method to create NodeBasedDynamicGraph from NodeBasedEdges
// The since DynamicGraph expects directed edges, we need to insert
// two edges for undirected edges.
inline std::shared_ptr<NodeBasedDynamicGraph>
NodeBasedDynamicGraphFromImportEdges(int number_of_nodes, std::vector<NodeBasedEdge> &input_edge_list)
{
@ -83,9 +168,27 @@ NodeBasedDynamicGraphFromImportEdges(int number_of_nodes, std::vector<NodeBasedE
DeallocatingVector<NodeBasedDynamicGraph::InputEdge> edges_list;
NodeBasedDynamicGraph::InputEdge edge;
// Since DynamicGraph assumes directed edges we have to make sure we transformed
// the compressed edge format into single directed edges. We do this to make sure
// every node also knows its incoming edges, not only its outgoing edges and use the backward=true
// flag to indicate which is which.
//
// We do the transformation in the following way:
//
// if the edge (a, b) is split:
// 1. this edge must be in only one direction, so its a --> b
// 2. there must be another directed edge b --> a somewhere in the data
// if the edge (a, b) is not split:
// 1. this edge be on of a --> b od a <-> b
// (a <-- b gets reducted to b --> a)
// 2. a --> b will be transformed to a --> b and b <-- a
// 3. a <-> b will be transformed to a <-> b and b <-> a (I think a --> b and b <-- a would work as well though)
for (const NodeBasedEdge &import_edge : input_edge_list)
{
BOOST_ASSERT(import_edge.forward || import_edge.backward);
// edges that are not forward get converted by flipping the end points
BOOST_ASSERT(import_edge.forward);
if (import_edge.forward)
{
edge.source = import_edge.source;
@ -93,20 +196,10 @@ NodeBasedDynamicGraphFromImportEdges(int number_of_nodes, std::vector<NodeBasedE
edge.data.forward = import_edge.forward;
edge.data.backward = import_edge.backward;
}
else
{
edge.source = import_edge.target;
edge.target = import_edge.source;
edge.data.backward = import_edge.forward;
edge.data.forward = import_edge.backward;
}
if (edge.source == edge.target)
{
continue;
}
BOOST_ASSERT(edge.source != edge.target);
edge.data.distance = (std::max)(static_cast<int>(import_edge.weight), 1);
edge.data.distance = static_cast<int>(import_edge.weight);
BOOST_ASSERT(edge.data.distance > 0);
edge.data.shortcut = false;
edge.data.roundabout = import_edge.roundabout;
@ -126,82 +219,17 @@ NodeBasedDynamicGraphFromImportEdges(int number_of_nodes, std::vector<NodeBasedE
}
}
// sort edges by source node id
tbb::parallel_sort(edges_list.begin(), edges_list.end());
// this code removes multi-edges
// my merging mutli-edges bi-directional edges can become directional again!
// Consider the following example:
// a --5-- b
// `--1--^
// After merging we need to split {a, b, 5} into (a, b, 1) and (b, a, 5)
NodeID edge_count = 0;
for (NodeID i = 0; i < edges_list.size();)
{
const NodeID source = edges_list[i].source;
const NodeID target = edges_list[i].target;
// remove eigenloops
if (source == target)
{
i++;
continue;
}
NodeBasedDynamicGraph::InputEdge forward_edge;
NodeBasedDynamicGraph::InputEdge reverse_edge;
forward_edge = reverse_edge = edges_list[i];
forward_edge.data.forward = reverse_edge.data.backward = true;
forward_edge.data.backward = reverse_edge.data.forward = false;
forward_edge.data.shortcut = reverse_edge.data.shortcut = false;
forward_edge.data.distance = reverse_edge.data.distance = std::numeric_limits<int>::max();
// remove parallel edges and set current distance values
while (i < edges_list.size() && edges_list[i].source == source &&
edges_list[i].target == target)
{
if (edges_list[i].data.forward)
{
forward_edge.data.distance =
std::min(edges_list[i].data.distance, forward_edge.data.distance);
}
if (edges_list[i].data.backward)
{
reverse_edge.data.distance =
std::min(edges_list[i].data.distance, reverse_edge.data.distance);
}
++i;
}
// merge edges (s,t) and (t,s) into bidirectional edge
if (forward_edge.data.distance == reverse_edge.data.distance)
{
if (static_cast<int>(forward_edge.data.distance) != std::numeric_limits<int>::max())
{
forward_edge.data.backward = true;
BOOST_ASSERT(edge_count < i);
edges_list[edge_count++] = forward_edge;
}
}
else
{ // insert seperate edges
// this case can only happen if we merged a bi-directional edge with a directional
// edge above, this incrementing i and making it safe to overwrite the next element
// as well
if (static_cast<int>(forward_edge.data.distance) != std::numeric_limits<int>::max())
{
BOOST_ASSERT(edge_count < i);
edges_list[edge_count++] = forward_edge;
}
if (static_cast<int>(reverse_edge.data.distance) != std::numeric_limits<int>::max())
{
BOOST_ASSERT(edge_count < i);
edges_list[edge_count++] = reverse_edge;
}
}
}
edges_list.resize(edge_count);
SimpleLogger().Write() << "merged " << edges_list.size() - edge_count << " edges out of "
<< edges_list.size();
return std::make_shared<NodeBasedDynamicGraph>(
auto graph = std::make_shared<NodeBasedDynamicGraph>(
static_cast<NodeBasedDynamicGraph::NodeIterator>(number_of_nodes), edges_list);
#ifndef NDEBUG
BOOST_ASSERT(validateNodeBasedGraph(*graph));
#endif
return graph;
}
#endif // NODE_BASED_GRAPH_HPP

155
extractor/extraction_containers.cpp
View File

@ -184,6 +184,7 @@ void ExtractionContainers::PrepareEdges()
{
if (edge_iterator->result.source < node_iterator->node_id)
{
edge_iterator->result.source = SPECIAL_NODEID;
++edge_iterator;
continue;
}
@ -193,6 +194,15 @@ void ExtractionContainers::PrepareEdges()
continue;
}
// remove loops
if (edge_iterator->result.source == edge_iterator->result.target)
{
edge_iterator->result.source = SPECIAL_NODEID;
edge_iterator->result.target = SPECIAL_NODEID;
++edge_iterator;
continue;
}
BOOST_ASSERT(edge_iterator->result.source == node_iterator->node_id);
// assign new node id
@ -222,13 +232,16 @@ void ExtractionContainers::PrepareEdges()
edge_iterator = all_edges_list.begin();
while (edge_iterator != all_edges_list.end() && node_iterator != all_nodes_list.end())
{
// skip all invalid edges
if (edge_iterator->result.source == SPECIAL_NODEID)
{
++edge_iterator;
continue;
}
if (edge_iterator->result.target < node_iterator->node_id)
{
// mark edge as invalid
edge_iterator->result.source = SPECIAL_NODEID;
edge_iterator->result.target = SPECIAL_NODEID;
// FIXME we are skipping edges here: That means the data is broken!
++edge_iterator;
continue;
}
@ -237,58 +250,50 @@ void ExtractionContainers::PrepareEdges()
++node_iterator;
continue;
}
BOOST_ASSERT(edge_iterator->result.target == node_iterator->node_id);
if (edge_iterator->source_coordinate.lat != std::numeric_limits<int>::min() &&
edge_iterator->source_coordinate.lon != std::numeric_limits<int>::min())
{
BOOST_ASSERT(edge_iterator->weight_data.speed != -1);
BOOST_ASSERT(edge_iterator->weight_data.speed >= 0);
BOOST_ASSERT(edge_iterator->source_coordinate.lat != std::numeric_limits<int>::min());
BOOST_ASSERT(edge_iterator->source_coordinate.lon != std::numeric_limits<int>::min());
const double distance = coordinate_calculation::euclidean_distance(
edge_iterator->source_coordinate.lat, edge_iterator->source_coordinate.lon,
node_iterator->lat, node_iterator->lon);
const double distance = coordinate_calculation::euclidean_distance(
edge_iterator->source_coordinate.lat, edge_iterator->source_coordinate.lon,
node_iterator->lat, node_iterator->lon);
const double weight = [distance](const InternalExtractorEdge::WeightData& data) {
switch (data.type)
{
case InternalExtractorEdge::WeightType::EDGE_DURATION:
case InternalExtractorEdge::WeightType::WAY_DURATION:
return data.duration * 10.;
break;
case InternalExtractorEdge::WeightType::SPEED:
return (distance * 10.) / (data.speed / 3.6);
break;
default:
osrm::exception("invalid weight type");
}
return -1.0;
}(edge_iterator->weight_data);
auto& edge = edge_iterator->result;
edge.weight = std::max(1, (int)std::floor(weight + .5));
// assign new node id
auto id_iter = external_to_internal_node_id_map.find(node_iterator->node_id);
BOOST_ASSERT(id_iter != external_to_internal_node_id_map.end());
edge.target = id_iter->second;
// if source id > target id -> swap
if (edge.source > edge.target)
const double weight = [distance](const InternalExtractorEdge::WeightData& data) {
switch (data.type)
{
std::swap(edge.source, edge.target);
// std::swap does not work with bit-fields
bool temp = edge.forward;
edge.forward = edge.backward;
edge.backward = temp;
case InternalExtractorEdge::WeightType::EDGE_DURATION:
case InternalExtractorEdge::WeightType::WAY_DURATION:
return data.duration * 10.;
break;
case InternalExtractorEdge::WeightType::SPEED:
return (distance * 10.) / (data.speed / 3.6);
break;
case InternalExtractorEdge::WeightType::INVALID:
osrm::exception("invalid weight type");
}
}
else
{
// mark edge as invalid
edge_iterator->result.source = SPECIAL_NODEID;
edge_iterator->result.target = SPECIAL_NODEID;
return -1.0;
}(edge_iterator->weight_data);
// FIXME we should print a warning here.
auto& edge = edge_iterator->result;
edge.weight = std::max(1, static_cast<int>(std::floor(weight + .5)));
// assign new node id
auto id_iter = external_to_internal_node_id_map.find(node_iterator->node_id);
BOOST_ASSERT(id_iter != external_to_internal_node_id_map.end());
edge.target = id_iter->second;
// orient edges consistently: source id < target id
// important for multi-edge removal
if (edge.source > edge.target)
{
std::swap(edge.source, edge.target);
// std::swap does not work with bit-fields
bool temp = edge.forward;
edge.forward = edge.backward;
edge.backward = temp;
}
++edge_iterator;
}
@ -303,13 +308,18 @@ void ExtractionContainers::PrepareEdges()
std::cout << "ok, after " << TIMER_SEC(sort_edges_by_renumbered_start) << "s" << std::endl;
BOOST_ASSERT(all_edges_list.size() > 0);
for (unsigned i = 1; i < all_edges_list.size();)
for (unsigned i = 0; i < all_edges_list.size();)
{
// only invalid edges left
if (all_edges_list[i].result.source == SPECIAL_NODEID)
{
break;
}
// skip invalid edges
if (all_edges_list[i].result.target == SPECIAL_NODEID)
{
continue;
}
unsigned start_idx = i;
NodeID source = all_edges_list[i].result.source;
@ -320,6 +330,7 @@ void ExtractionContainers::PrepareEdges()
unsigned min_forward_idx = std::numeric_limits<unsigned>::max();
unsigned min_backward_idx = std::numeric_limits<unsigned>::max();
// find minimal edge in both directions
while (all_edges_list[i].result.source == source &&
all_edges_list[i].result.target == target)
{
@ -338,26 +349,34 @@ void ExtractionContainers::PrepareEdges()
BOOST_ASSERT(min_forward_idx == std::numeric_limits<unsigned>::max() || min_forward_idx < i);
BOOST_ASSERT(min_backward_idx == std::numeric_limits<unsigned>::max() || min_backward_idx < i);
BOOST_ASSERT(min_backward_idx != std::numeric_limits<unsigned>::max() ||
min_forward_idx != std::numeric_limits<unsigned>::max());
// reset direction for both edges
if (min_forward_idx != std::numeric_limits<unsigned>::max())
if (min_backward_idx == min_forward_idx)
{
all_edges_list[min_forward_idx].result.forward = false;
all_edges_list[min_forward_idx].result.backward = false;
}
if (min_backward_idx != std::numeric_limits<unsigned>::max())
{
all_edges_list[min_backward_idx].result.forward = false;
all_edges_list[min_backward_idx].result.backward = false;
}
// set directions that were chosen as min
// note that this needs to come after the ifs above, since
// the minimal forward and backward edge can be the same
if (min_forward_idx != std::numeric_limits<unsigned>::max())
all_edges_list[min_forward_idx].result.is_split = false;
all_edges_list[min_forward_idx].result.forward = true;
if (min_backward_idx != std::numeric_limits<unsigned>::max())
all_edges_list[min_backward_idx].result.backward = true;
all_edges_list[min_forward_idx].result.backward = true;
}
else
{
bool has_forward = min_forward_idx != std::numeric_limits<unsigned>::max();
bool has_backward = min_backward_idx != std::numeric_limits<unsigned>::max();
if (has_forward)
{
all_edges_list[min_forward_idx].result.forward = true;
all_edges_list[min_forward_idx].result.backward = false;
all_edges_list[min_forward_idx].result.is_split = has_backward;
}
if (has_backward)
{
std::swap(all_edges_list[min_backward_idx].result.source,
all_edges_list[min_backward_idx].result.target);
all_edges_list[min_backward_idx].result.forward = true;
all_edges_list[min_backward_idx].result.backward = false;
all_edges_list[min_backward_idx].result.is_split = has_forward;
}
}
// invalidate all unused edges
for (unsigned j = start_idx; j < i; j++)

18
util/graph_loader.hpp
View File

@ -142,12 +142,26 @@ NodeID loadEdgesFromFile(std::istream &input_stream,
input_stream.read((char *) edge_list.data(), m * sizeof(NodeBasedEdge));
BOOST_ASSERT(edge_list.size() > 0);
#ifndef NDEBUG
for (const auto& edge : edge_list)
SimpleLogger().Write() << "Validating loaded edges...";
std::sort(edge_list.begin(), edge_list.end(),
[](const NodeBasedEdge& lhs, const NodeBasedEdge& rhs)
{
return (lhs.source < rhs.source) || (lhs.source == rhs.source && lhs.target < rhs.target);
});
for (auto i = 1u; i < edge_list.size(); ++i)
{
const auto& edge = edge_list[i];
const auto& prev_edge = edge_list[i-1];
BOOST_ASSERT_MSG(edge.weight > 0, "loaded null weight");
BOOST_ASSERT_MSG(edge.forward || edge.backward, "loaded invalid direction");
BOOST_ASSERT_MSG(edge.forward, "edge must be oriented in forward direction");
BOOST_ASSERT_MSG(edge.travel_mode != TRAVEL_MODE_INACCESSIBLE, "loaded non-accessible");
BOOST_ASSERT_MSG(edge.source != edge.target, "loaded edges contain a loop");
BOOST_ASSERT_MSG(edge.source != prev_edge.source || edge.target != prev_edge.target, "loaded edges contain a multi edge");
}
#endif