implement incremental NN query for R-tree
This commit is contained in:
Dennis Luxen
parent
5e1110930e
commit
5faf88afdb
@ -67,7 +67,7 @@ const static uint32_t RTREE_LEAF_NODE_SIZE = 1024;
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static boost::thread_specific_ptr<boost::filesystem::ifstream> thread_local_rtree_stream;
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// Implements a static, i.e. packed, R-tree
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template <class DataT,
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template <class EdgeDataT,
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class CoordinateListT = std::vector<FixedPointCoordinate>,
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bool UseSharedMemory = false>
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class StaticRTree
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@ -80,7 +80,7 @@ class StaticRTree
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int32_t min_lon, max_lon;
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int32_t min_lat, max_lat;
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inline void InitializeMBRectangle(const std::array<DataT, RTREE_LEAF_NODE_SIZE> &objects,
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inline void InitializeMBRectangle(const std::array<EdgeDataT, RTREE_LEAF_NODE_SIZE> &objects,
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const uint32_t element_count,
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const std::vector<NodeInfo> &coordinate_list)
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{
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@ -246,7 +246,7 @@ class StaticRTree
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{
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LeafNode() : object_count(0) {}
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uint32_t object_count;
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std::array<DataT, RTREE_LEAF_NODE_SIZE> objects;
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std::array<EdgeDataT, RTREE_LEAF_NODE_SIZE> objects;
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};
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struct QueryCandidate
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@ -265,26 +265,40 @@ class StaticRTree
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}
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};
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template<typename InnerNode, typename LeafNode>
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typedef boost::variant<TreeNode, EdgeDataT> IncrementalQueryNodeType;
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struct IncrementalQueryCandidate
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{
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explicit IncrementalQueryCandidate(const float dist, const uint32_t n_id)
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: min_dist(dist), node_id(n_id)
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explicit IncrementalQueryCandidate(const float dist, const IncrementalQueryNodeType &node)
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: min_dist(dist), node(node)
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{
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}
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IncrementalQueryCandidate() : min_dist(std::numeric_limits<float>::max()), node_id(UINT_MAX) {}
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float min_dist;
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uint32_t node_id;
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IncrementalQueryCandidate() : min_dist(std::numeric_limits<float>::max()) {}
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inline bool operator<(const IncrementalQueryCandidate &other) const
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{
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// Attn: this is reversed order. std::pq is a max pq!
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return other.min_dist < min_dist;
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}
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boost::variant<InnerNode, LeafNode> NodeWrapper;
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inline bool RepresentsTreeNode() const
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{
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return boost::apply_visitor(decide_type_visitor(), node);
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}
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float min_dist;
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IncrementalQueryNodeType node;
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private:
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class decide_type_visitor : public boost::static_visitor<bool>
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{
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public:
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bool operator()(const TreeNode &) const { return true; }
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template<typename AnotherType>
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bool operator()(const AnotherType &) const { return false; }
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};
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};
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typename ShM<TreeNode, UseSharedMemory>::vector m_search_tree;
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uint64_t m_element_count;
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@ -296,7 +310,7 @@ class StaticRTree
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StaticRTree(const StaticRTree &) = delete;
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// Construct a packed Hilbert-R-Tree with Kamel-Faloutsos algorithm [1]
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explicit StaticRTree(std::vector<DataT> &input_data_vector,
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explicit StaticRTree(std::vector<EdgeDataT> &input_data_vector,
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const std::string tree_node_filename,
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const std::string leaf_node_filename,
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const std::vector<NodeInfo> &coordinate_list)
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@ -312,22 +326,22 @@ class StaticRTree
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HilbertCode get_hilbert_number;
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// generate auxiliary vector of hilbert-values
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tbb::parallel_for(tbb::blocked_range<uint64_t>(0, m_element_count),
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[&input_data_vector,
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&input_wrapper_vector,
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&get_hilbert_number,
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&coordinate_list](const tbb::blocked_range<uint64_t>& range)
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tbb::parallel_for(
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tbb::blocked_range<uint64_t>(0, m_element_count),
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[&input_data_vector, &input_wrapper_vector, &get_hilbert_number, &coordinate_list](
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const tbb::blocked_range<uint64_t> &range)
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{
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for (uint64_t element_counter = range.begin(); element_counter != range.end(); ++element_counter)
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for (uint64_t element_counter = range.begin(); element_counter != range.end();
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++element_counter)
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{
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WrappedInputElement ¤t_wrapper = input_wrapper_vector[element_counter];
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current_wrapper.m_array_index = element_counter;
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DataT const ¤t_element = input_data_vector[element_counter];
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EdgeDataT const ¤t_element = input_data_vector[element_counter];
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// Get Hilbert-Value for centroid in mercartor projection
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FixedPointCoordinate current_centroid =
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DataT::Centroid(FixedPointCoordinate(coordinate_list.at(current_element.u).lat,
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FixedPointCoordinate current_centroid = EdgeDataT::Centroid(
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FixedPointCoordinate(coordinate_list.at(current_element.u).lat,
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coordinate_list.at(current_element.u).lon),
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FixedPointCoordinate(coordinate_list.at(current_element.v).lat,
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coordinate_list.at(current_element.v).lon));
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@ -336,8 +350,7 @@ class StaticRTree
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current_wrapper.m_hilbert_value = get_hilbert_number(current_centroid);
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}
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}
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);
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});
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// open leaf file
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boost::filesystem::ofstream leaf_node_file(leaf_node_filename, std::ios::binary);
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@ -427,7 +440,7 @@ class StaticRTree
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uint32_t search_tree_size = m_search_tree.size();
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tbb::parallel_for(tbb::blocked_range<uint32_t>(0, search_tree_size),
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[this, &search_tree_size](const tbb::blocked_range<uint32_t>& range)
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[this, &search_tree_size](const tbb::blocked_range<uint32_t> &range)
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{
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for (uint32_t i = range.begin(); i != range.end(); ++i)
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{
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@ -439,8 +452,7 @@ class StaticRTree
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current_tree_node.children[j] = new_id;
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}
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}
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}
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);
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});
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// open tree file
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boost::filesystem::ofstream tree_node_file(tree_node_filename, std::ios::binary);
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@ -453,7 +465,8 @@ class StaticRTree
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tree_node_file.close();
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TIMER_STOP(construction);
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SimpleLogger().Write() << "finished r-tree construction in " << TIMER_SEC(construction) << " seconds";
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SimpleLogger().Write() << "finished r-tree construction in " << TIMER_SEC(construction)
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<< " seconds";
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}
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// Read-only operation for queries
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@ -562,7 +575,7 @@ class StaticRTree
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LoadLeafFromDisk(current_tree_node.children[0], current_leaf_node);
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for (uint32_t i = 0; i < current_leaf_node.object_count; ++i)
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{
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DataT const ¤t_edge = current_leaf_node.objects[i];
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EdgeDataT const ¤t_edge = current_leaf_node.objects[i];
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if (ignore_tiny_components && current_edge.is_in_tiny_cc)
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{
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continue;
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@ -609,24 +622,233 @@ class StaticRTree
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return result_coordinate.isValid();
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}
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// implementation of the Hjaltason/Samet query [3]
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bool IncrementalFindPhantomNodeForCoordinate(const FixedPointCoordinate &input_coordinate,
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PhantomNode &result_phantom_node,
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const unsigned zoom_level)
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// implementation of the Hjaltason/Samet query [3], a BFS traversal of the tree
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bool
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IncrementalFindPhantomNodeForCoordinate(const FixedPointCoordinate &input_coordinate,
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std::vector<PhantomNode> &result_phantom_node_vector,
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const unsigned zoom_level,
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const unsigned number_of_results,
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const unsigned max_checked_segments = 4*RTREE_LEAF_NODE_SIZE)
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{
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bool found_result = false;
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// TIMER_START(samet);
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// SimpleLogger().Write(logDEBUG) << "searching for " << number_of_results << " results";
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std::vector<float> min_found_distances(number_of_results, std::numeric_limits<float>::max());
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unsigned dequeues = 0;
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unsigned inspected_mbrs = 0;
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unsigned loaded_leafs = 0;
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unsigned inspected_segments = 0;
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unsigned pruned_elements = 0;
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unsigned ignored_segments = 0;
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unsigned ignored_mbrs = 0;
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// BOOST_ASSERT(found_result);
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return found_result;
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unsigned number_of_results_found_in_big_cc = 0;
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unsigned number_of_results_found_in_tiny_cc = 0;
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// initialize queue with root element
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std::priority_queue<IncrementalQueryCandidate> traversal_queue;
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traversal_queue.emplace(0.f, m_search_tree[0]);
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while (!traversal_queue.empty())
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{
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const IncrementalQueryCandidate current_query_node = traversal_queue.top();
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traversal_queue.pop();
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++dequeues;
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const float current_min_dist = min_found_distances[number_of_results-1];
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if (current_query_node.min_dist > current_min_dist)
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{
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++pruned_elements;
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continue;
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}
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if (current_query_node.RepresentsTreeNode())
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{
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const TreeNode & current_tree_node = boost::get<TreeNode>(current_query_node.node);
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if (current_tree_node.child_is_on_disk)
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{
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++loaded_leafs;
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// SimpleLogger().Write(logDEBUG) << "loading leaf: " << current_tree_node.children[0] << " w/ mbr [" <<
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// current_tree_node.minimum_bounding_rectangle.min_lat/COORDINATE_PRECISION << "," <<
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// current_tree_node.minimum_bounding_rectangle.min_lon/COORDINATE_PRECISION << "," <<
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// current_tree_node.minimum_bounding_rectangle.max_lat/COORDINATE_PRECISION << "-" <<
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// current_tree_node.minimum_bounding_rectangle.max_lon/COORDINATE_PRECISION << "]";
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LeafNode current_leaf_node;
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LoadLeafFromDisk(current_tree_node.children[0], current_leaf_node);
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// Add all objects from leaf into queue
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for (uint32_t i = 0; i < current_leaf_node.object_count; ++i)
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{
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const auto ¤t_edge = current_leaf_node.objects[i];
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const float current_perpendicular_distance =
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FixedPointCoordinate::ComputePerpendicularDistance(
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m_coordinate_list->at(current_edge.u),
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m_coordinate_list->at(current_edge.v),
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input_coordinate);
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// distance must be non-negative
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BOOST_ASSERT(0. <= current_perpendicular_distance);
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if (current_perpendicular_distance < current_min_dist)
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{
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traversal_queue.emplace(current_perpendicular_distance, current_edge);
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}
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else
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{
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++ignored_segments;
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}
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}
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// SimpleLogger().Write(logDEBUG) << "added " << current_leaf_node.object_count << " roads into queue of " << traversal_queue.size();
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}
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else
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{
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++inspected_mbrs;
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// explore inner node
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// SimpleLogger().Write(logDEBUG) << "explore inner node w/ mbr [" <<
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// current_tree_node.minimum_bounding_rectangle.min_lat/COORDINATE_PRECISION << "," <<
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// current_tree_node.minimum_bounding_rectangle.min_lon/COORDINATE_PRECISION << "," <<
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// current_tree_node.minimum_bounding_rectangle.max_lat/COORDINATE_PRECISION << "-" <<
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// current_tree_node.minimum_bounding_rectangle.max_lon/COORDINATE_PRECISION << "," << "]";
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// for each child mbr
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for (uint32_t i = 0; i < current_tree_node.child_count; ++i)
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{
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const int32_t child_id = current_tree_node.children[i];
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const TreeNode &child_tree_node = m_search_tree[child_id];
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const RectangleT &child_rectangle = child_tree_node.minimum_bounding_rectangle;
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const float lower_bound_to_element = child_rectangle.GetMinDist(input_coordinate);
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// TODO - enough elements found, i.e. nearest distance > maximum distance?
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// ie. some measure of 'confidence of accuracy'
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// check if it needs to be explored by mindist
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if (lower_bound_to_element < current_min_dist)
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{
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traversal_queue.emplace(lower_bound_to_element, child_tree_node);
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}
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else
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{
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++ignored_mbrs;
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}
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}
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// SimpleLogger().Write(logDEBUG) << "added " << current_tree_node.child_count << " mbrs into queue of " << traversal_queue.size();
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}
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}
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else
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{
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++inspected_segments;
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// inspecting an actual road segment
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const EdgeDataT & current_segment = boost::get<EdgeDataT>(current_query_node.node);
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// don't collect too many results from small components
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if (number_of_results_found_in_big_cc == number_of_results && !current_segment.is_in_tiny_cc)
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{
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continue;
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}
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// don't collect too many results from big components
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if (number_of_results_found_in_tiny_cc == number_of_results && current_segment.is_in_tiny_cc)
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{
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continue;
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}
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// check if it is smaller than what we had before
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float current_ratio = 0.;
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FixedPointCoordinate foot_point_coordinate_on_segment;
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const float current_perpendicular_distance =
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FixedPointCoordinate::ComputePerpendicularDistance(
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m_coordinate_list->at(current_segment.u),
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m_coordinate_list->at(current_segment.v),
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input_coordinate,
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foot_point_coordinate_on_segment,
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current_ratio);
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BOOST_ASSERT(0. <= current_perpendicular_distance);
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if ((current_perpendicular_distance < current_min_dist) &&
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!EpsilonCompare(current_perpendicular_distance, current_min_dist))
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{
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// store phantom node in result vector
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result_phantom_node_vector.emplace_back(
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current_segment.forward_edge_based_node_id,
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current_segment.reverse_edge_based_node_id,
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current_segment.name_id,
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current_segment.forward_weight,
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current_segment.reverse_weight,
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current_segment.forward_offset,
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current_segment.reverse_offset,
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current_segment.packed_geometry_id,
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foot_point_coordinate_on_segment,
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current_segment.fwd_segment_position);
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// Hack to fix rounding errors and wandering via nodes.
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FixUpRoundingIssue(input_coordinate, result_phantom_node_vector.back());
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// set forward and reverse weights on the phantom node
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SetForwardAndReverseWeightsOnPhantomNode(current_segment,
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result_phantom_node_vector.back());
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// do we have results only in a small scc
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if (current_segment.is_in_tiny_cc)
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{
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++number_of_results_found_in_tiny_cc;
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}
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else
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{
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// found an element in a large component
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min_found_distances[number_of_results_found_in_big_cc] = current_perpendicular_distance;
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++number_of_results_found_in_big_cc;
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// SimpleLogger().Write(logDEBUG) << std::setprecision(8) << foot_point_coordinate_on_segment << " at " << current_perpendicular_distance;
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}
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}
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}
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// TODO add indicator to prune if maxdist > threshold
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if (number_of_results == number_of_results_found_in_big_cc || inspected_segments >= max_checked_segments)
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{
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// SimpleLogger().Write(logDEBUG) << "flushing queue of " << traversal_queue.size() << " elements";
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// work-around for traversal_queue.clear();
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traversal_queue = {};
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}
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}
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// for (const PhantomNode& result_node : result_phantom_node_vector)
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// {
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// SimpleLogger().Write(logDEBUG) << std::setprecision(8) << "found location " << result_node.forward_node_id << " at " << result_node.location;
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// }
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// SimpleLogger().Write(logDEBUG) << "dequeues: " << dequeues;
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// SimpleLogger().Write(logDEBUG) << "inspected_mbrs: " << inspected_mbrs;
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// SimpleLogger().Write(logDEBUG) << "loaded_leafs: " << loaded_leafs;
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// SimpleLogger().Write(logDEBUG) << "inspected_segments: " << inspected_segments;
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// SimpleLogger().Write(logDEBUG) << "pruned_elements: " << pruned_elements;
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// SimpleLogger().Write(logDEBUG) << "ignored_segments: " << ignored_segments;
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// SimpleLogger().Write(logDEBUG) << "ignored_mbrs: " << ignored_mbrs;
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// SimpleLogger().Write(logDEBUG) << "number_of_results_found_in_big_cc: " << number_of_results_found_in_big_cc;
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// SimpleLogger().Write(logDEBUG) << "number_of_results_found_in_tiny_cc: " << number_of_results_found_in_tiny_cc;
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// TIMER_STOP(samet);
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// SimpleLogger().Write() << "query took " << TIMER_MSEC(samet) << "ms";
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// if we found an element in either category, then we are good
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return !result_phantom_node_vector.empty();
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}
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bool FindPhantomNodeForCoordinate(const FixedPointCoordinate &input_coordinate,
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PhantomNode &result_phantom_node,
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const unsigned zoom_level)
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{
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std::vector<PhantomNode> result_phantom_node_vector;
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IncrementalFindPhantomNodeForCoordinate(input_coordinate, result_phantom_node_vector, zoom_level, 2);
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// if (!result_phantom_node_vector.empty())
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// {
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// result_phantom_node = result_phantom_node_vector.front();
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// }
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// return !result_phantom_node_vector.empty();
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const bool ignore_tiny_components = (zoom_level <= 14);
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DataT nearest_edge;
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EdgeDataT nearest_edge;
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float min_dist = std::numeric_limits<float>::max();
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float min_max_dist = std::numeric_limits<float>::max();
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@ -650,7 +872,7 @@ class StaticRTree
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LoadLeafFromDisk(current_tree_node.children[0], current_leaf_node);
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for (uint32_t i = 0; i < current_leaf_node.object_count; ++i)
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{
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const DataT ¤t_edge = current_leaf_node.objects[i];
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const EdgeDataT ¤t_edge = current_leaf_node.objects[i];
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if (ignore_tiny_components && current_edge.is_in_tiny_cc)
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{
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continue;
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@ -672,7 +894,7 @@ class StaticRTree
|
||||
!EpsilonCompare(current_perpendicular_distance, min_dist))
|
||||
{ // found a new minimum
|
||||
min_dist = current_perpendicular_distance;
|
||||
result_phantom_node = { current_edge.forward_edge_based_node_id,
|
||||
result_phantom_node = {current_edge.forward_edge_based_node_id,
|
||||
current_edge.reverse_edge_based_node_id,
|
||||
current_edge.name_id,
|
||||
current_edge.forward_weight,
|
||||
@ -700,15 +922,19 @@ class StaticRTree
|
||||
if (result_phantom_node.location.isValid())
|
||||
{
|
||||
// Hack to fix rounding errors and wandering via nodes.
|
||||
if (1 == std::abs(input_coordinate.lon - result_phantom_node.location.lon))
|
||||
{
|
||||
result_phantom_node.location.lon = input_coordinate.lon;
|
||||
FixUpRoundingIssue(input_coordinate, result_phantom_node);
|
||||
|
||||
// set forward and reverse weights on the phantom node
|
||||
SetForwardAndReverseWeightsOnPhantomNode(nearest_edge, result_phantom_node);
|
||||
}
|
||||
if (1 == std::abs(input_coordinate.lat - result_phantom_node.location.lat))
|
||||
{
|
||||
result_phantom_node.location.lat = input_coordinate.lat;
|
||||
return result_phantom_node.location.isValid();
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
inline void SetForwardAndReverseWeightsOnPhantomNode(const EdgeDataT & nearest_edge,
|
||||
PhantomNode &result_phantom_node) const
|
||||
{
|
||||
const float distance_1 = FixedPointCoordinate::ApproximateEuclideanDistance(
|
||||
m_coordinate_list->at(nearest_edge.u), result_phantom_node.location);
|
||||
const float distance_2 = FixedPointCoordinate::ApproximateEuclideanDistance(
|
||||
@ -721,20 +947,30 @@ class StaticRTree
|
||||
}
|
||||
if (SPECIAL_NODEID != result_phantom_node.reverse_node_id)
|
||||
{
|
||||
result_phantom_node.reverse_weight *= (1. - ratio);
|
||||
result_phantom_node.reverse_weight *= (1.f - ratio);
|
||||
}
|
||||
}
|
||||
return result_phantom_node.location.isValid();
|
||||
}
|
||||
|
||||
private:
|
||||
// fixup locations if too close to inputs
|
||||
inline void FixUpRoundingIssue(const FixedPointCoordinate &input_coordinate,
|
||||
PhantomNode &result_phantom_node) const
|
||||
{
|
||||
if (1 == std::abs(input_coordinate.lon - result_phantom_node.location.lon))
|
||||
{
|
||||
result_phantom_node.location.lon = input_coordinate.lon;
|
||||
}
|
||||
if (1 == std::abs(input_coordinate.lat - result_phantom_node.location.lat))
|
||||
{
|
||||
result_phantom_node.location.lat = input_coordinate.lat;
|
||||
}
|
||||
}
|
||||
|
||||
template <class QueueT>
|
||||
inline float ExploreTreeNode(const TreeNode & parent,
|
||||
const FixedPointCoordinate & input_coordinate,
|
||||
inline float ExploreTreeNode(const TreeNode &parent,
|
||||
const FixedPointCoordinate &input_coordinate,
|
||||
const float min_dist,
|
||||
const float min_max_dist,
|
||||
QueueT & traversal_queue)
|
||||
QueueT &traversal_queue)
|
||||
{
|
||||
float new_min_max_dist = min_max_dist;
|
||||
// traverse children, prune if global mindist is smaller than local one
|
||||
@ -759,7 +995,6 @@ class StaticRTree
|
||||
return new_min_max_dist;
|
||||
}
|
||||
|
||||
|
||||
inline void LoadLeafFromDisk(const uint32_t leaf_id, LeafNode &result_node)
|
||||
{
|
||||
if (!thread_local_rtree_stream.get() || !thread_local_rtree_stream->is_open())
|
||||
@ -774,7 +1009,8 @@ class StaticRTree
|
||||
}
|
||||
const uint64_t seek_pos = sizeof(uint64_t) + leaf_id * sizeof(LeafNode);
|
||||
thread_local_rtree_stream->seekg(seek_pos);
|
||||
BOOST_ASSERT_MSG(thread_local_rtree_stream->good(), "Seeking to position in leaf file failed.");
|
||||
BOOST_ASSERT_MSG(thread_local_rtree_stream->good(),
|
||||
"Seeking to position in leaf file failed.");
|
||||
thread_local_rtree_stream->read((char *)&result_node, sizeof(LeafNode));
|
||||
BOOST_ASSERT_MSG(thread_local_rtree_stream->good(), "Reading from leaf file failed.");
|
||||
}
|
||||
@ -787,8 +1023,7 @@ class StaticRTree
|
||||
return (a == b && c == d) || (a == c && b == d) || (a == d && b == c);
|
||||
}
|
||||
|
||||
template<typename FloatT>
|
||||
inline bool EpsilonCompare(const FloatT d1, const FloatT d2) const
|
||||
template <typename FloatT> inline bool EpsilonCompare(const FloatT d1, const FloatT d2) const
|
||||
{
|
||||
return (std::abs(d1 - d2) < std::numeric_limits<FloatT>::epsilon());
|
||||
}
|
||||
@ -796,5 +1031,6 @@ class StaticRTree
|
||||
|
||||
//[1] "On Packing R-Trees"; I. Kamel, C. Faloutsos; 1993; DOI: 10.1145/170088.170403
|
||||
//[2] "Nearest Neighbor Queries", N. Roussopulos et al; 1995; DOI: 10.1145/223784.223794
|
||||
//[3] "Distance Browsing in Spatial Databases"; G. Hjaltason, H. Samet; 1999; ACM Trans. DB Sys Vol.24 No.2, pp.265-318
|
||||
//[3] "Distance Browsing in Spatial Databases"; G. Hjaltason, H. Samet; 1999; ACM Trans. DB Sys
|
||||
// Vol.24 No.2, pp.265-318
|
||||
#endif // STATICRTREE_H
|
||||
|
||||
Loading…
Reference in New Issue
Block a user