602 lines
24 KiB
C++
602 lines
24 KiB
C++
/*
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Copyright (c) 2015, Project OSRM contributors
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this list
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of conditions and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright notice, this
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list of conditions and the following disclaimer in the documentation and/or
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other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MAP_MATCHING_HPP
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#define MAP_MATCHING_HPP
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#include "routing_base.hpp"
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#include "../data_structures/coordinate_calculation.hpp"
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#include "../util/simple_logger.hpp"
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#include "../util/json_util.hpp"
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#include <osrm/json_container.hpp>
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#include <variant/variant.hpp>
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#include <fstream>
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#include <algorithm>
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#include <iomanip>
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#include <numeric>
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using JSONVariantArray = mapbox::util::recursive_wrapper<osrm::json::Array>;
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using JSONVariantObject = mapbox::util::recursive_wrapper<osrm::json::Object>;
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namespace Matching
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{
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struct SubMatching
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{
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std::vector<PhantomNode> nodes;
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std::vector<unsigned> indices;
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double length;
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double confidence;
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};
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using CandidateList = std::vector<std::pair<PhantomNode, double>>;
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using CandidateLists = std::vector<CandidateList>;
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using SubMatchingList = std::vector<SubMatching>;
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constexpr static const unsigned max_number_of_candidates = 10;
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constexpr static const double IMPOSSIBLE_LOG_PROB = -std::numeric_limits<double>::infinity();
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constexpr static const double MINIMAL_LOG_PROB = -std::numeric_limits<double>::max();
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constexpr static const unsigned INVALID_STATE = std::numeric_limits<unsigned>::max();
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constexpr static const unsigned MAX_BROKEN_STATES = 6;
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constexpr static const unsigned MAX_BROKEN_TIME = 180;
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}
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// implements a hidden markov model map matching algorithm
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template <class DataFacadeT> class MapMatching final
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: public BasicRoutingInterface<DataFacadeT, MapMatching<DataFacadeT>>
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{
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using super = BasicRoutingInterface<DataFacadeT, MapMatching<DataFacadeT>>;
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using QueryHeap = SearchEngineData::QueryHeap;
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SearchEngineData &engine_working_data;
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// FIXME this value should be a table based on samples/meter (or samples/min)
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constexpr static const double beta = 10.0;
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constexpr static const double sigma_z = 4.07;
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constexpr static const double log_sigma_z = std::log(sigma_z);
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constexpr static const double log_2_pi = std::log(2 * M_PI);
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constexpr static double emission_probability(const double distance)
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{
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return (1. / (std::sqrt(2. * M_PI) * sigma_z)) *
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std::exp(-0.5 * std::pow((distance / sigma_z), 2.));
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}
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constexpr static double transition_probability(const float d_t, const float beta)
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{
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return (1. / beta) * std::exp(-d_t / beta);
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}
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constexpr static double log_emission_probability(const double distance)
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{
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return -0.5 * (log_2_pi + (distance / sigma_z) * (distance / sigma_z)) - log_sigma_z;
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}
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constexpr static double log_transition_probability(const float d_t, const float beta)
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{
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return -std::log(beta) - d_t / beta;
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}
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// TODO: needs to be estimated from the input locations
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// FIXME These values seem wrong. Higher beta for more samples/minute? Should be inverse
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// proportional.
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// samples/min and beta
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// 1 0.49037673
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// 2 0.82918373
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// 3 1.24364564
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// 4 1.67079581
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// 5 2.00719298
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// 6 2.42513007
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// 7 2.81248831
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// 8 3.15745473
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// 9 3.52645392
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// 10 4.09511775
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// 11 4.67319795
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// 21 12.55107715
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// 12 5.41088180
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// 13 6.47666590
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// 14 6.29010734
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// 15 7.80752112
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// 16 8.09074504
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// 17 8.08550528
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// 18 9.09405065
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// 19 11.09090603
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// 20 11.87752824
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// 21 12.55107715
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// 22 15.82820829
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// 23 17.69496773
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// 24 18.07655652
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// 25 19.63438911
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// 26 25.40832185
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// 27 23.76001877
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// 28 28.43289797
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// 29 32.21683062
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// 30 34.56991141
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double get_network_distance(const PhantomNode &source_phantom,
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const PhantomNode &target_phantom) const
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{
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EdgeWeight upper_bound = INVALID_EDGE_WEIGHT;
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NodeID middle_node = SPECIAL_NODEID;
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EdgeWeight edge_offset = std::min(0, -source_phantom.GetForwardWeightPlusOffset());
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edge_offset = std::min(edge_offset, -source_phantom.GetReverseWeightPlusOffset());
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engine_working_data.InitializeOrClearFirstThreadLocalStorage(
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super::facade->GetNumberOfNodes());
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engine_working_data.InitializeOrClearSecondThreadLocalStorage(
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super::facade->GetNumberOfNodes());
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QueryHeap &forward_heap = *(engine_working_data.forward_heap_1);
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QueryHeap &reverse_heap = *(engine_working_data.reverse_heap_1);
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if (source_phantom.forward_node_id != SPECIAL_NODEID)
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{
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forward_heap.Insert(source_phantom.forward_node_id,
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-source_phantom.GetForwardWeightPlusOffset(),
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source_phantom.forward_node_id);
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}
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if (source_phantom.reverse_node_id != SPECIAL_NODEID)
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{
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forward_heap.Insert(source_phantom.reverse_node_id,
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-source_phantom.GetReverseWeightPlusOffset(),
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source_phantom.reverse_node_id);
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}
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if (target_phantom.forward_node_id != SPECIAL_NODEID)
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{
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reverse_heap.Insert(target_phantom.forward_node_id,
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target_phantom.GetForwardWeightPlusOffset(),
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target_phantom.forward_node_id);
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}
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if (target_phantom.reverse_node_id != SPECIAL_NODEID)
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{
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reverse_heap.Insert(target_phantom.reverse_node_id,
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target_phantom.GetReverseWeightPlusOffset(),
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target_phantom.reverse_node_id);
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}
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// search from s and t till new_min/(1+epsilon) > length_of_shortest_path
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while (0 < (forward_heap.Size() + reverse_heap.Size()))
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{
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if (0 < forward_heap.Size())
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{
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super::RoutingStep(
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forward_heap, reverse_heap, &middle_node, &upper_bound, edge_offset, true);
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}
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if (0 < reverse_heap.Size())
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{
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super::RoutingStep(
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reverse_heap, forward_heap, &middle_node, &upper_bound, edge_offset, false);
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}
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}
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double distance = std::numeric_limits<double>::max();
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if (upper_bound != INVALID_EDGE_WEIGHT)
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{
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std::vector<NodeID> packed_leg;
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super::RetrievePackedPathFromHeap(forward_heap, reverse_heap, middle_node, packed_leg);
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std::vector<PathData> unpacked_path;
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PhantomNodes nodes;
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nodes.source_phantom = source_phantom;
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nodes.target_phantom = target_phantom;
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super::UnpackPath(packed_leg, nodes, unpacked_path);
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FixedPointCoordinate previous_coordinate = source_phantom.location;
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FixedPointCoordinate current_coordinate;
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distance = 0;
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for (const auto &p : unpacked_path)
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{
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current_coordinate = super::facade->GetCoordinateOfNode(p.node);
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distance += coordinate_calculation::great_circle_distance(previous_coordinate,
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current_coordinate);
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previous_coordinate = current_coordinate;
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}
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distance += coordinate_calculation::great_circle_distance(previous_coordinate,
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target_phantom.location);
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}
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return distance;
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}
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struct HiddenMarkovModel
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{
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std::vector<std::vector<double>> viterbi;
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std::vector<std::vector<std::pair<unsigned, unsigned>>> parents;
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std::vector<std::vector<float>> path_lengths;
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std::vector<std::vector<bool>> pruned;
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std::vector<bool> breakage;
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const Matching::CandidateLists &candidates_list;
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HiddenMarkovModel(const Matching::CandidateLists &candidates_list)
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: breakage(candidates_list.size()), candidates_list(candidates_list)
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{
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for (const auto &l : candidates_list)
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{
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viterbi.emplace_back(l.size());
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parents.emplace_back(l.size());
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path_lengths.emplace_back(l.size());
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pruned.emplace_back(l.size());
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}
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clear(0);
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}
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void clear(unsigned initial_timestamp)
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{
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BOOST_ASSERT(viterbi.size() == parents.size() &&
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parents.size() == path_lengths.size() &&
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path_lengths.size() == pruned.size() && pruned.size() == breakage.size());
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for (unsigned t = initial_timestamp; t < viterbi.size(); t++)
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{
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std::fill(viterbi[t].begin(), viterbi[t].end(), Matching::IMPOSSIBLE_LOG_PROB);
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std::fill(parents[t].begin(), parents[t].end(), std::make_pair(0u, 0u));
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std::fill(path_lengths[t].begin(), path_lengths[t].end(), 0);
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std::fill(pruned[t].begin(), pruned[t].end(), true);
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}
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std::fill(breakage.begin() + initial_timestamp, breakage.end(), true);
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}
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unsigned initialize(unsigned initial_timestamp)
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{
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BOOST_ASSERT(initial_timestamp < candidates_list.size());
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do
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{
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for (auto s = 0u; s < viterbi[initial_timestamp].size(); ++s)
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{
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viterbi[initial_timestamp][s] =
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log_emission_probability(candidates_list[initial_timestamp][s].second);
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parents[initial_timestamp][s] = std::make_pair(initial_timestamp, s);
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pruned[initial_timestamp][s] =
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viterbi[initial_timestamp][s] < Matching::MINIMAL_LOG_PROB;
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breakage[initial_timestamp] =
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breakage[initial_timestamp] && pruned[initial_timestamp][s];
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}
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++initial_timestamp;
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} while (breakage[initial_timestamp - 1]);
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if (initial_timestamp >= viterbi.size())
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{
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return Matching::INVALID_STATE;
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}
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BOOST_ASSERT(initial_timestamp > 0);
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--initial_timestamp;
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BOOST_ASSERT(breakage[initial_timestamp] == false);
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return initial_timestamp;
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}
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};
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public:
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MapMatching(DataFacadeT *facade, SearchEngineData &engine_working_data)
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: super(facade), engine_working_data(engine_working_data)
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{
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}
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void operator()(const Matching::CandidateLists &candidates_list,
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const std::vector<FixedPointCoordinate> &trace_coordinates,
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const std::vector<unsigned> &trace_timestamps,
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Matching::SubMatchingList &sub_matchings,
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osrm::json::Object &_debug_info) const
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{
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BOOST_ASSERT(candidates_list.size() > 0);
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HiddenMarkovModel model(candidates_list);
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unsigned initial_timestamp = model.initialize(0);
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if (initial_timestamp == Matching::INVALID_STATE)
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{
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return;
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}
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osrm::json::Array _debug_states;
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for (unsigned t = 0; t < candidates_list.size(); t++)
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{
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osrm::json::Array _debug_timestamps;
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for (unsigned s = 0; s < candidates_list[t].size(); s++)
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{
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osrm::json::Object _debug_state;
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_debug_state.values["transitions"] = osrm::json::Array();
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_debug_state.values["coordinate"] = osrm::json::makeArray(
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candidates_list[t][s].first.location.lat / COORDINATE_PRECISION,
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candidates_list[t][s].first.location.lon / COORDINATE_PRECISION);
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if (t < initial_timestamp)
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{
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_debug_state.values["viterbi"] =
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osrm::json::clampFloat(Matching::IMPOSSIBLE_LOG_PROB);
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_debug_state.values["pruned"] = 0u;
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}
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else if (t == initial_timestamp)
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{
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_debug_state.values["viterbi"] = osrm::json::clampFloat(model.viterbi[t][s]);
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_debug_state.values["pruned"] = static_cast<unsigned>(model.pruned[t][s]);
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}
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_debug_timestamps.values.push_back(_debug_state);
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}
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_debug_states.values.push_back(_debug_timestamps);
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}
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unsigned breakage_begin = std::numeric_limits<unsigned>::max();
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std::vector<unsigned> split_points;
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std::vector<unsigned> prev_unbroken_timestamps;
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prev_unbroken_timestamps.reserve(candidates_list.size());
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prev_unbroken_timestamps.push_back(initial_timestamp);
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for (auto t = initial_timestamp + 1; t < candidates_list.size(); ++t)
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{
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unsigned prev_unbroken_timestamp = prev_unbroken_timestamps.back();
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const auto &prev_viterbi = model.viterbi[prev_unbroken_timestamp];
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const auto &prev_pruned = model.pruned[prev_unbroken_timestamp];
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const auto &prev_unbroken_timestamps_list = candidates_list[prev_unbroken_timestamp];
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const auto &prev_coordinate = trace_coordinates[prev_unbroken_timestamp];
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auto ¤t_viterbi = model.viterbi[t];
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auto ¤t_pruned = model.pruned[t];
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auto ¤t_parents = model.parents[t];
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auto ¤t_lengths = model.path_lengths[t];
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const auto ¤t_timestamps_list = candidates_list[t];
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const auto ¤t_coordinate = trace_coordinates[t];
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// compute d_t for this timestamp and the next one
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for (auto s = 0u; s < prev_viterbi.size(); ++s)
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{
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if (prev_pruned[s])
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continue;
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for (auto s_prime = 0u; s_prime < current_viterbi.size(); ++s_prime)
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{
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// how likely is candidate s_prime at time t to be emitted?
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const double emission_pr =
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log_emission_probability(candidates_list[t][s_prime].second);
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double new_value = prev_viterbi[s] + emission_pr;
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if (current_viterbi[s_prime] > new_value)
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continue;
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// get distance diff between loc1/2 and locs/s_prime
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const auto network_distance =
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get_network_distance(prev_unbroken_timestamps_list[s].first,
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current_timestamps_list[s_prime].first);
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const auto great_circle_distance =
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coordinate_calculation::great_circle_distance(prev_coordinate,
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current_coordinate);
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const auto d_t = std::abs(network_distance - great_circle_distance);
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// very low probability transition -> prune
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if (d_t > 500)
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continue;
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const double transition_pr = log_transition_probability(d_t, beta);
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new_value += transition_pr;
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osrm::json::Object _debug_transistion;
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_debug_transistion.values["to"] = osrm::json::makeArray(t, s_prime);
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_debug_transistion.values["properties"] =
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osrm::json::makeArray(osrm::json::clampFloat(prev_viterbi[s]),
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osrm::json::clampFloat(emission_pr),
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osrm::json::clampFloat(transition_pr),
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network_distance,
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great_circle_distance);
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_debug_states.values[prev_unbroken_timestamp]
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.get<JSONVariantArray>()
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.get()
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.values[s]
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.get<JSONVariantObject>()
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.get()
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.values["transitions"]
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.get<JSONVariantArray>()
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.get()
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.values.push_back(_debug_transistion);
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if (new_value > current_viterbi[s_prime])
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{
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current_viterbi[s_prime] = new_value;
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current_parents[s_prime] = std::make_pair(prev_unbroken_timestamp, s);
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current_lengths[s_prime] = network_distance;
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current_pruned[s_prime] = false;
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model.breakage[t] = false;
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}
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}
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}
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for (auto s_prime = 0u; s_prime < current_viterbi.size(); ++s_prime)
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{
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_debug_states.values[t]
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.get<JSONVariantArray>()
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.get()
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.values[s_prime]
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.get<JSONVariantObject>()
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.get()
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.values["viterbi"] = osrm::json::clampFloat(current_viterbi[s_prime]);
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_debug_states.values[t]
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.get<JSONVariantArray>()
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.get()
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.values[s_prime]
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.get<JSONVariantObject>()
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.get()
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.values["pruned"] = static_cast<unsigned>(current_pruned[s_prime]);
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}
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if (model.breakage[t])
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{
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BOOST_ASSERT(prev_unbroken_timestamps.size() > 0);
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// save start of breakage -> we need this as split point
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if (t < breakage_begin)
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{
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breakage_begin = t;
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}
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// remove both ends of the breakage
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prev_unbroken_timestamps.pop_back();
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bool trace_split = prev_unbroken_timestamps.size() < 1;
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// use temporal information to determine a split if available
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if (trace_timestamps.size() > 0)
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{
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trace_split =
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trace_split ||
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(trace_timestamps[t] - trace_timestamps[prev_unbroken_timestamps.back()] >
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Matching::MAX_BROKEN_TIME);
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}
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else
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{
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trace_split = trace_split || (t - prev_unbroken_timestamps.back() >
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Matching::MAX_BROKEN_STATES);
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}
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// we reached the beginning of the trace and it is still broken
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// -> split the trace here
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if (trace_split)
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{
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split_points.push_back(breakage_begin);
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// note: this preserves everything before breakage_begin
|
|
model.clear(breakage_begin);
|
|
unsigned new_start = model.initialize(breakage_begin);
|
|
// no new start was found -> stop viterbi calculation
|
|
if (new_start == Matching::INVALID_STATE)
|
|
{
|
|
break;
|
|
}
|
|
prev_unbroken_timestamps.clear();
|
|
prev_unbroken_timestamps.push_back(new_start);
|
|
// Important: We potentially go back here!
|
|
// However since t+1 > new_start >= breakge_begin
|
|
// we can only reset trace_coordindates.size() times.
|
|
t = new_start;
|
|
breakage_begin = std::numeric_limits<unsigned>::max();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
prev_unbroken_timestamps.push_back(t);
|
|
}
|
|
}
|
|
|
|
if (prev_unbroken_timestamps.size() > 0)
|
|
{
|
|
split_points.push_back(prev_unbroken_timestamps.back() + 1);
|
|
}
|
|
|
|
unsigned sub_matching_begin = initial_timestamp;
|
|
for (const unsigned sub_matching_end : split_points)
|
|
{
|
|
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
|
|
if (parent_timestamp_index - sub_matching_begin + 1 < 2)
|
|
{
|
|
sub_matching_begin = sub_matching_end;
|
|
continue;
|
|
}
|
|
|
|
// loop through the columns, and only compare the last entry
|
|
auto max_element_iter = std::max_element(model.viterbi[parent_timestamp_index].begin(),
|
|
model.viterbi[parent_timestamp_index].end());
|
|
|
|
unsigned parent_candidate_index =
|
|
std::distance(model.viterbi[parent_timestamp_index].begin(), max_element_iter);
|
|
|
|
std::deque<std::pair<unsigned, unsigned>> reconstructed_indices;
|
|
while (parent_timestamp_index > sub_matching_begin)
|
|
{
|
|
if (model.breakage[parent_timestamp_index])
|
|
{
|
|
continue;
|
|
}
|
|
|
|
reconstructed_indices.emplace_front(parent_timestamp_index, parent_candidate_index);
|
|
const auto &next = model.parents[parent_timestamp_index][parent_candidate_index];
|
|
parent_timestamp_index = next.first;
|
|
parent_candidate_index = next.second;
|
|
}
|
|
reconstructed_indices.emplace_front(parent_timestamp_index, parent_candidate_index);
|
|
if (reconstructed_indices.size() < 2)
|
|
{
|
|
sub_matching_begin = sub_matching_end;
|
|
continue;
|
|
}
|
|
|
|
matching.length = 0.0f;
|
|
matching.nodes.resize(reconstructed_indices.size());
|
|
matching.indices.resize(reconstructed_indices.size());
|
|
for (auto i = 0u; i < reconstructed_indices.size(); ++i)
|
|
{
|
|
auto timestamp_index = reconstructed_indices[i].first;
|
|
auto location_index = reconstructed_indices[i].second;
|
|
|
|
matching.indices[i] = timestamp_index;
|
|
matching.nodes[i] = candidates_list[timestamp_index][location_index].first;
|
|
matching.length += model.path_lengths[timestamp_index][location_index];
|
|
|
|
_debug_states.values[timestamp_index]
|
|
.get<JSONVariantArray>()
|
|
.get()
|
|
.values[location_index]
|
|
.get<JSONVariantObject>()
|
|
.get()
|
|
.values["chosen"] = true;
|
|
}
|
|
|
|
sub_matchings.push_back(matching);
|
|
|
|
sub_matching_begin = sub_matching_end;
|
|
}
|
|
|
|
osrm::json::Array _debug_breakage;
|
|
for (auto b : model.breakage)
|
|
{
|
|
_debug_breakage.values.push_back(static_cast<unsigned>(b));
|
|
}
|
|
|
|
_debug_info.values["breakage"] = _debug_breakage;
|
|
_debug_info.values["states"] = _debug_states;
|
|
}
|
|
};
|
|
|
|
//[1] "Hidden Markov Map Matching Through Noise and Sparseness"; P. Newson and J. Krumm; 2009; ACM
|
|
//GIS
|
|
|
|
#endif /* MAP_MATCHING_HPP */
|