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Fix splitting traces

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This commit is contained in:
Patrick Niklaus 2015-02-20 00:35:51 +01:00
parent fb0ce48f2f
commit f46b259384
2 changed files with 65 additions and 39 deletions
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2
plugins/map_matching.hpp
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@ -205,6 +205,8 @@ template <class DataFacadeT> class MapMatchingPlugin : public BasePlugin
sub.confidence = 1-classification.second; sub.confidence = 1-classification.second;
} }
BOOST_ASSERT(sub.nodes.size() > 1);
// FIXME this is a pretty bad hack. Geometries should obtained directly // FIXME this is a pretty bad hack. Geometries should obtained directly
// from map_matching. // from map_matching.
// run shortest path routing to obtain geometry // run shortest path routing to obtain geometry

102
routing_algorithms/map_matching.hpp
View File

@ -83,7 +83,12 @@ struct SubMatching
using CandidateList = std::vector<std::pair<PhantomNode, double>>; using CandidateList = std::vector<std::pair<PhantomNode, double>>;
using CandidateLists = std::vector<CandidateList>; using CandidateLists = std::vector<CandidateList>;
using SubMatchingList = std::vector<SubMatching>; using SubMatchingList = std::vector<SubMatching>;
constexpr static const unsigned max_number_of_candidates = 20; constexpr static const unsigned max_number_of_candidates = 10;
constexpr static const double IMPOSSIBLE_LOG_PROB = -std::numeric_limits<double>::infinity();
constexpr static const double MINIMAL_LOG_PROB = -std::numeric_limits<double>::max();
constexpr static const unsigned INVALID_STATE = std::numeric_limits<unsigned>::max();
// FIXME that should be a time threshold.
constexpr static const unsigned MAX_BROKEN_STATES = 6;
} }
// implements a hidden markov model map matching algorithm // implements a hidden markov model map matching algorithm
@ -243,15 +248,13 @@ template <class DataFacadeT> class MapMatching final
struct HiddenMarkovModel struct HiddenMarkovModel
{ {
std::vector<std::vector<double>> viterbi; std::vector<std::vector<double>> viterbi;
std::vector<std::vector<std::size_t>> parents; std::vector<std::vector<std::pair<unsigned, unsigned>>> parents;
std::vector<std::vector<float>> path_lengths; std::vector<std::vector<float>> path_lengths;
std::vector<std::vector<bool>> pruned; std::vector<std::vector<bool>> pruned;
std::vector<bool> breakage; std::vector<bool> breakage;
const Matching::CandidateLists& timestamp_list; const Matching::CandidateLists& timestamp_list;
constexpr static double IMPOSSIBLE_LOG_PROB = -std::numeric_limits<double>::infinity();
constexpr static double MINIMAL_LOG_PROB = -std::numeric_limits<double>::max();
HiddenMarkovModel(const Matching::CandidateLists& timestamp_list) HiddenMarkovModel(const Matching::CandidateLists& timestamp_list)
: breakage(timestamp_list.size()) : breakage(timestamp_list.size())
@ -277,8 +280,8 @@ template <class DataFacadeT> class MapMatching final
for (unsigned t = initial_timestamp; t < viterbi.size(); t++) for (unsigned t = initial_timestamp; t < viterbi.size(); t++)
{ {
std::fill(viterbi[t].begin(), viterbi[t].end(), IMPOSSIBLE_LOG_PROB); std::fill(viterbi[t].begin(), viterbi[t].end(), Matching::IMPOSSIBLE_LOG_PROB);
std::fill(parents[t].begin(), parents[t].end(), 0); std::fill(parents[t].begin(), parents[t].end(), std::make_pair(0u, 0u));
std::fill(path_lengths[t].begin(), path_lengths[t].end(), 0); std::fill(path_lengths[t].begin(), path_lengths[t].end(), 0);
std::fill(pruned[t].begin(), pruned[t].end(), true); std::fill(pruned[t].begin(), pruned[t].end(), true);
} }
@ -294,8 +297,8 @@ template <class DataFacadeT> class MapMatching final
for (auto s = 0u; s < viterbi[initial_timestamp].size(); ++s) for (auto s = 0u; s < viterbi[initial_timestamp].size(); ++s)
{ {
viterbi[initial_timestamp][s] = log_emission_probability(timestamp_list[initial_timestamp][s].second); viterbi[initial_timestamp][s] = log_emission_probability(timestamp_list[initial_timestamp][s].second);
parents[initial_timestamp][s] = s; parents[initial_timestamp][s] = std::make_pair(initial_timestamp, s);
pruned[initial_timestamp][s] = viterbi[initial_timestamp][s] < MINIMAL_LOG_PROB; pruned[initial_timestamp][s] = viterbi[initial_timestamp][s] < Matching::MINIMAL_LOG_PROB;
breakage[initial_timestamp] = breakage[initial_timestamp] && pruned[initial_timestamp][s]; breakage[initial_timestamp] = breakage[initial_timestamp] && pruned[initial_timestamp][s];
@ -304,7 +307,12 @@ template <class DataFacadeT> class MapMatching final
++initial_timestamp; ++initial_timestamp;
} while (breakage[initial_timestamp - 1]); } while (breakage[initial_timestamp - 1]);
BOOST_ASSERT(initial_timestamp > 0 && initial_timestamp < viterbi.size()); if (initial_timestamp >= viterbi.size())
{
return Matching::INVALID_STATE;
}
BOOST_ASSERT(initial_timestamp > 0);
--initial_timestamp; --initial_timestamp;
BOOST_ASSERT(breakage[initial_timestamp] == false); BOOST_ASSERT(breakage[initial_timestamp] == false);
@ -331,6 +339,10 @@ template <class DataFacadeT> class MapMatching final
HiddenMarkovModel model(timestamp_list); HiddenMarkovModel model(timestamp_list);
unsigned initial_timestamp = model.initialize(0); unsigned initial_timestamp = model.initialize(0);
if (initial_timestamp == Matching::INVALID_STATE)
{
return;
}
JSON::Array _debug_states; JSON::Array _debug_states;
for (unsigned t = 0; t < timestamp_list.size(); t++) for (unsigned t = 0; t < timestamp_list.size(); t++)
@ -344,7 +356,7 @@ template <class DataFacadeT> class MapMatching final
timestamp_list[t][s].first.location.lon / COORDINATE_PRECISION); timestamp_list[t][s].first.location.lon / COORDINATE_PRECISION);
if (t < initial_timestamp) if (t < initial_timestamp)
{ {
_debug_state.values["viterbi"] = makeJSONSafe(HiddenMarkovModel::IMPOSSIBLE_LOG_PROB); _debug_state.values["viterbi"] = makeJSONSafe(Matching::IMPOSSIBLE_LOG_PROB);
_debug_state.values["pruned"] = 0u; _debug_state.values["pruned"] = 0u;
} }
else if (t == initial_timestamp) else if (t == initial_timestamp)
@ -376,8 +388,6 @@ template <class DataFacadeT> class MapMatching final
const auto& current_timestamps_list = timestamp_list[t]; const auto& current_timestamps_list = timestamp_list[t];
const auto& current_coordinate = coordinate_list[t]; const auto& current_coordinate = coordinate_list[t];
std::cout << " # " << prev_unbroken_timestamp << " -> " << t << std::endl;
// compute d_t for this timestamp and the next one // compute d_t for this timestamp and the next one
for (auto s = 0u; s < prev_viterbi.size(); ++s) for (auto s = 0u; s < prev_viterbi.size(); ++s)
{ {
@ -425,7 +435,7 @@ template <class DataFacadeT> class MapMatching final
if (new_value > current_viterbi[s_prime]) if (new_value > current_viterbi[s_prime])
{ {
current_viterbi[s_prime] = new_value; current_viterbi[s_prime] = new_value;
current_parents[s_prime] = s; current_parents[s_prime] = std::make_pair(prev_unbroken_timestamp, s);
current_lengths[s_prime] = network_distance; current_lengths[s_prime] = network_distance;
current_pruned[s_prime] = false; current_pruned[s_prime] = false;
model.breakage[t] = false; model.breakage[t] = false;
@ -445,24 +455,25 @@ template <class DataFacadeT> class MapMatching final
if (model.breakage[t]) if (model.breakage[t])
{ {
std::cout << "Broken!" << std::endl; BOOST_ASSERT(prev_unbroken_timestamps.size() > 0);
// TODO we actually don't need to go to the beginning.
// with temporal information we can split after _n_ // remove both ends of the breakage
// skipped states prev_unbroken_timestamps.pop_back();
if (prev_unbroken_timestamps.size() > 1)
{
// remove both ends of the breakge
prev_unbroken_timestamps.pop_back();
}
// we reached the beginning of the trace and it is still broken // we reached the beginning of the trace and it is still broken
// -> split the trace here // -> split the trace here
else if (prev_unbroken_timestamps.size() < 1 || t - prev_unbroken_timestamps.back() > Matching::MAX_BROKEN_STATES)
{ {
split_points.push_back(t); split_points.push_back(t);
// note this preserves everything before t // note this preserves everything before t
model.clear(t); model.clear(t);
model.initialize(t); unsigned new_start = model.initialize(t);
prev_unbroken_timestamps.push_back(t); // no new start was found -> stop viterbi calculation
if (new_start == Matching::INVALID_STATE)
{
break;
}
prev_unbroken_timestamps.push_back(new_start);
} }
} }
else else
@ -471,7 +482,7 @@ template <class DataFacadeT> class MapMatching final
} }
} }
if (prev_unbroken_timestamps.size() > 1) if (prev_unbroken_timestamps.size() > 0)
{ {
split_points.push_back(prev_unbroken_timestamps.back()+1); split_points.push_back(prev_unbroken_timestamps.back()+1);
} }
@ -481,32 +492,45 @@ template <class DataFacadeT> class MapMatching final
{ {
Matching::SubMatching matching; Matching::SubMatching matching;
// find real end of trace
// not sure if this is really needed
unsigned parent_timestamp_index = sub_matching_end-1;
while (parent_timestamp_index >= sub_matching_begin && model.breakage[parent_timestamp_index])
{
parent_timestamp_index--;
}
// matchings that only consist of one candidate are invalid // matchings that only consist of one candidate are invalid
if (sub_matching_end - sub_matching_begin < 2) if (parent_timestamp_index - sub_matching_begin < 2)
{ {
sub_matching_begin = sub_matching_end; sub_matching_begin = sub_matching_end;
continue; continue;
} }
std::cout << sub_matching_begin << " -> " << sub_matching_end << std::endl;
matching.begin_idx = sub_matching_begin; matching.begin_idx = sub_matching_begin;
matching.end_idx = sub_matching_end; matching.end_idx = parent_timestamp_index;
// loop through the columns, and only compare the last entry // loop through the columns, and only compare the last entry
auto max_element_iter = std::max_element(model.viterbi[sub_matching_end-1].begin(), auto max_element_iter = std::max_element(model.viterbi[parent_timestamp_index].begin(),
model.viterbi[sub_matching_end-1].end()); model.viterbi[parent_timestamp_index].end());
auto parent_index = std::distance(model.viterbi[sub_matching_end-1].begin(), max_element_iter); unsigned parent_candidate_index = std::distance(model.viterbi[parent_timestamp_index].begin(), max_element_iter);
std::deque<std::pair<std::size_t, std::size_t>> reconstructed_indices; std::deque<std::pair<unsigned, unsigned>> reconstructed_indices;
for (auto i = sub_matching_end-1; i > sub_matching_begin; --i) while (parent_timestamp_index > sub_matching_begin)
{ {
if (model.breakage[i]) if (model.breakage[parent_timestamp_index])
{
continue; continue;
reconstructed_indices.emplace_front(i, parent_index); }
parent_index = model.parents[i][parent_index]; reconstructed_indices.emplace_front(parent_timestamp_index, parent_candidate_index);
parent_timestamp_index = model.parents[parent_timestamp_index][parent_candidate_index].first;
parent_candidate_index = model.parents[parent_timestamp_index][parent_candidate_index].second;
}
reconstructed_indices.emplace_front(parent_timestamp_index, parent_candidate_index);
if (reconstructed_indices.size() < 2)
{
continue;
} }
reconstructed_indices.emplace_front(initial_timestamp, parent_index);
matching.length = 0.0f; matching.length = 0.0f;
matching.nodes.resize(reconstructed_indices.size()); matching.nodes.resize(reconstructed_indices.size());