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Enable GPS-precise map matching #51

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Enable GPS-precise map matching #51

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7005e9c
Added Fetching of wayGeometry on the virtual edges at start and end o…
MK-42 May 13, 2016
60b4515
Wrap way geometry inside of EdgeMatch
MK-42 May 13, 2016
9606f2f
Use gps-precise edge geometry
MK-42 May 13, 2016
3119df8
return base and adj towerNode as geometry to keep the web tests running
MK-42 May 13, 2016
389f448
make fetchWayGeometry mode selectable on the edgeMatch interface
MK-42 May 17, 2016
379112f
renamed EdgeMatch::getWayGeometry to EdgeMatch::fetchWayGeometry due …
MK-42 May 17, 2016
3cfe587
some code-styling stuff
MK-42 May 17, 2016
2cef7f2
Added another edge-case. if the path consists of only one edge and th…
MK-42 May 18, 2016
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42 changes: 41 additions & 1 deletion matching-core/src/main/java/com/graphhopper/matching/EdgeMatch.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,8 @@
package com.graphhopper.matching;

import com.graphhopper.util.EdgeIteratorState;
import com.graphhopper.util.PointList;

import java.util.List;

/**
Expand All @@ -28,9 +30,11 @@ public class EdgeMatch {

private final EdgeIteratorState edgeState;
private final List<GPXExtension> gpxExtensions;
private final PointList wayGeometry;

public EdgeMatch(EdgeIteratorState edgeState, List<GPXExtension> gpxExtension) {
public EdgeMatch(EdgeIteratorState edgeState, List<GPXExtension> gpxExtension, PointList wayGeometry) {
this.edgeState = edgeState;
this.wayGeometry = wayGeometry;
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Hmmh, I would prefer a setWayGeometry, this way we can init the EdgeMatch and call setWayGeometry for the certain conditions. Which will make "Match Phase (4)" a little less indirect - i.e. we can avoid PointList wayGeometry = null;


if (edgeState == null) {
throw new IllegalStateException("Cannot fetch null EdgeState");
Expand All @@ -42,6 +46,10 @@ public EdgeMatch(EdgeIteratorState edgeState, List<GPXExtension> gpxExtension) {
}
}

public EdgeMatch(EdgeIteratorState edgeState, List<GPXExtension> gpxExtension){
this(edgeState, gpxExtension, null);
}

public boolean isEmpty() {
return gpxExtensions.isEmpty();
}
Expand All @@ -68,6 +76,38 @@ public double getMinDistance() {
return min;
}

/**
* For OSM a way is often a curve not just a straight line. These nodes are called pillar nodes
* and are between tower nodes (which are used for routing), they are necessary to have a more
* exact geometry. Updates to the returned list are not reflected in the graph, for that you've
* to use setWayGeometry.
* <p>
* @param mode can be <ul> <li>0 = only pillar nodes, no tower nodes</li> <li>1 = inclusive the
* base tower node only</li> <li>2 = inclusive the adjacent tower node only</li> <li>3 =
* inclusive the base and adjacent tower node</li> </ul>
* @return pillar nodes
*/
public PointList getWayGeometry(int mode){
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here I would use the same naming 'fetchWayGeometry' as in the edge interface because it is also here not always a cheap 'get' (?)

if(wayGeometry != null)
switch (mode){
case 0:
return wayGeometry.copy(1,wayGeometry.size() - 1);
case 1:
return wayGeometry.copy(0,wayGeometry.size() - 1);
case 2:
return wayGeometry.copy(1,wayGeometry.size());
case 3:
default:
return wayGeometry;
}
else
return edgeState.fetchWayGeometry(mode);
}

public PointList getWayGeometry() {
return getWayGeometry(3);
}

@Override
public String toString() {
return "edge:" + edgeState + ", extensions:" + gpxExtensions;
Expand Down
40 changes: 34 additions & 6 deletions matching-core/src/main/java/com/graphhopper/matching/MapMatching.java
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Expand Up @@ -145,7 +145,7 @@ public void setForceRepair(boolean forceRepair) {
* @param gpxList the input list with GPX points which should match to edges
* of the graph specified in the constructor
*/
public MatchResult doWork(List<GPXEntry> gpxList) {
public MatchResult doWork(List<GPXEntry> gpxList, boolean addStartAndEndWayGeometry) {
int currentIndex = 0;
if (gpxList.size() < 2) {
throw new IllegalStateException("gpx list needs at least 2 points!");
Expand Down Expand Up @@ -183,7 +183,7 @@ public MatchResult doWork(List<GPXEntry> gpxList) {
}

boolean doEnd = currentIndex >= gpxList.size();
MatchResult subMatch = doWork(firstQueryResults, gpxSublist, gpxLength, doEnd);
MatchResult subMatch = doWork(firstQueryResults, gpxSublist, gpxLength, doEnd, addStartAndEndWayGeometry && (separatedListStartIndex == 0) , addStartAndEndWayGeometry && doEnd);
List<EdgeMatch> result = subMatch.getEdgeMatches();
matchResult.setMatchLength(matchResult.getMatchLength() + subMatch.getMatchLength());
matchResult.setMatchMillis(matchResult.getMatchMillis() + subMatch.getMatchMillis());
Expand Down Expand Up @@ -230,6 +230,10 @@ public MatchResult doWork(List<GPXEntry> gpxList) {
return matchResult;
}

public MatchResult doWork(List<GPXEntry> gpxList) {
return doWork(gpxList, false);
}

/**
* This method creates a matching for the specified sublist, it uses the
* firstQueryResults to do the initialization for the start nodes, or just a
Expand All @@ -239,7 +243,7 @@ public MatchResult doWork(List<GPXEntry> gpxList) {
* doEnd is true, then the original edge is added
*/
MatchResult doWork(List<QueryResult> firstQueryResults,
List<GPXEntry> gpxList, double gpxLength, boolean doEnd) {
List<GPXEntry> gpxList, double gpxLength, boolean doEnd, boolean addStartWayGeometry, boolean addEndWayGeometry) {
int guessedEdgesPerPoint = 4;
List<EdgeMatch> edgeMatches = new ArrayList<EdgeMatch>();
final TIntObjectHashMap<List<GPXExtension>> extensionMap
Expand Down Expand Up @@ -410,6 +414,22 @@ public boolean execute(int edge, List<GPXExtension> list) {
+ ", all results:" + allQRs + ", end results:" + endQRList);
}

//Save the way geometry before we remove the virtualNodes
PointList wayGeometryToFirstTowerNode = null;
PointList wayGeometryToLastGPXPoint = null;
if (addStartWayGeometry){
EdgeIteratorState firstEdge = pathEdgeList.get(0);
if (isVirtualNode(firstEdge.getBaseNode())){
wayGeometryToFirstTowerNode = firstEdge.fetchWayGeometry(3);
}
}
if (addEndWayGeometry) {
EdgeIteratorState lastEdge = pathEdgeList.get(pathEdgeList.size() - 1);
if (isVirtualNode(lastEdge.getAdjNode())) {
wayGeometryToLastGPXPoint = lastEdge.fetchWayGeometry(3);
}
}

//
// replace virtual edges with original *full edge* at start and end!
List<EdgeIteratorState> list = new ArrayList<EdgeIteratorState>(pathEdgeList.size());
Expand Down Expand Up @@ -442,10 +462,18 @@ public boolean execute(int edge, List<GPXExtension> list) {

//////// Match Phase (4) ////////
int minGPXIndex = startIndex;
for (EdgeIteratorState edge : pathEdgeList) {
for (int i = 0; i < pathEdgeList.size(); i++) {
EdgeIteratorState edge = pathEdgeList.get(i);
PointList wayGeometry = null;
if (i == 0){
wayGeometry = wayGeometryToFirstTowerNode;
}
if (i == pathEdgeList.size() - 1){
wayGeometry = wayGeometryToLastGPXPoint;
}
List<GPXExtension> gpxExtensionList = extensionMap.get(edge.getEdge());
if (gpxExtensionList == null) {
edgeMatches.add(new EdgeMatch(edge, Collections.<GPXExtension>emptyList()));
edgeMatches.add(new EdgeMatch(edge, Collections.<GPXExtension>emptyList(), wayGeometry));
continue;
}

Expand All @@ -461,7 +489,7 @@ public boolean execute(int edge, List<GPXExtension> list) {
}
}
minGPXIndex = newMinGPXIndex;
EdgeMatch edgeMatch = new EdgeMatch(edge, clonedList);
EdgeMatch edgeMatch = new EdgeMatch(edge, clonedList, wayGeometry);
edgeMatches.add(edgeMatch);
}

Expand Down
1 change: 1 addition & 0 deletions matching-core/src/main/java/com/graphhopper/matching/MatchResult.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
*/
package com.graphhopper.matching;

import com.graphhopper.util.PointList;
import java.util.List;

/**
Expand Down
76 changes: 76 additions & 0 deletions matching-core/src/test/java/com/graphhopper/matching/MapMatchingTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
import java.util.List;
import org.junit.AfterClass;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertNotNull;
import static org.junit.Assert.assertTrue;
import org.junit.BeforeClass;
import org.junit.Test;
Expand Down Expand Up @@ -289,6 +290,81 @@ public void testRepairUTurn() {
mm.checkOrCleanup(res, false);
}

@Test
public void testWayGeometryAtStartAndEndPoint() {
GraphHopperStorage graph = hopper.getGraphHopperStorage();
LocationIndexMatch locationIndex = new LocationIndexMatch(graph,
(LocationIndexTree) hopper.getLocationIndex());
MapMatching mapMatching = new MapMatching(graph, locationIndex, encoder);

// https://graphhopper.com/maps/?point=51.341708%2C12.385272&point=51.340622%2C12.388405&locale=de-DE&vehicle=car&weighting=fastest&elevation=true&layer=Omniscale
List<GPXEntry> inputGPXEntries = new GPXFile().doImport("./src/test/resources/testStartEndGeometry.gpx").getEntries();
MatchResult mr = mapMatching.doWork(inputGPXEntries,true);

NodeAccess nodeAccess = graph.getNodeAccess();

List<EdgeMatch> edgeMatches = mr.getEdgeMatches();
for (int i = 0; i < edgeMatches.size(); i++) {
EdgeMatch match = edgeMatches.get(i);
assertNotNull(match.getWayGeometry());
if (i == 0) {
assertEquals(2, match.getWayGeometry().size());
assertEquals(51.341708, match.getWayGeometry().getLat(0), 1E-5);
assertEquals(12.385272, match.getWayGeometry().getLon(0), 1E-5);
assertEquals(nodeAccess.getLat(mr.getEdgeMatches().get(0).getEdgeState().getAdjNode()), match.getWayGeometry().getLat(1), 1E-5);
assertEquals(nodeAccess.getLon(mr.getEdgeMatches().get(0).getEdgeState().getAdjNode()), match.getWayGeometry().getLon(1), 1E-5);
} else if (i == edgeMatches.size() - 1) {
assertEquals(2, match.getWayGeometry().size());
assertEquals(nodeAccess.getLat(mr.getEdgeMatches().get(mr.getEdgeMatches().size() - 1).getEdgeState().getBaseNode()), match.getWayGeometry().getLat(0), 1E-5);
assertEquals(nodeAccess.getLon(mr.getEdgeMatches().get(mr.getEdgeMatches().size() - 1).getEdgeState().getBaseNode()), match.getWayGeometry().getLon(0), 1E-5);
assertEquals(51.340622, match.getWayGeometry().getLat(1), 1E-5);
assertEquals(12.388405, match.getWayGeometry().getLon(1), 1E-5);
}
}

assertEquals(mr.getGpxEntriesLength(), mr.getMatchLength(), 1);
// TODO why is there such a big difference for millis?
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what do you mean with this TODO and compared to which value this is a 'big' difference?

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the Mapmatched paths is 24sec different in length (I don't remember if shorter or longer) -> see the third param of the assertEquals. Acctually I don't know why that is the case. But the other tests also have such a difference (and such a ToDo-comment, that I copied from there).

assertEquals(mr.getGpxEntriesMillis(), mr.getMatchMillis(), 24000);
}

@Test
public void testWayGeometryAtStartAndEndPoint2() {
GraphHopperStorage graph = hopper.getGraphHopperStorage();
LocationIndexMatch locationIndex = new LocationIndexMatch(graph,
(LocationIndexTree) hopper.getLocationIndex());
MapMatching mapMatching = new MapMatching(graph, locationIndex, encoder);

// https://graphhopper.com/maps/?point=51.328198%2C12.335672&point=51.364285%2C12.459623&locale=de-DE&vehicle=car&weighting=fastest&elevation=true&layer=Omniscale
List<GPXEntry> inputGPXEntries = new GPXFile().doImport("./src/test/resources/testStartEndGeometry2.gpx").getEntries();
MatchResult mr = mapMatching.doWork(inputGPXEntries,true);


NodeAccess nodeAccess = graph.getNodeAccess();

List<EdgeMatch> edgeMatches = mr.getEdgeMatches();
for (int i = 0; i < edgeMatches.size(); i++) {
EdgeMatch match = edgeMatches.get(i);
assertNotNull(match.getWayGeometry());
if (i == 0) {
assertEquals(2, match.getWayGeometry().size());
assertEquals(51.328439, match.getWayGeometry().getLat(0), 1E-5);
assertEquals(12.335785, match.getWayGeometry().getLon(0), 1E-5);
assertEquals(nodeAccess.getLat(mr.getEdgeMatches().get(0).getEdgeState().getAdjNode()), match.getWayGeometry().getLat(1), 1E-5);
assertEquals(nodeAccess.getLon(mr.getEdgeMatches().get(0).getEdgeState().getAdjNode()), match.getWayGeometry().getLon(1), 1E-5);
} else if (i == edgeMatches.size() - 1) {
assertEquals(4, match.getWayGeometry().size());
assertEquals(nodeAccess.getLat(mr.getEdgeMatches().get(mr.getEdgeMatches().size() - 1).getEdgeState().getBaseNode()), match.getWayGeometry().getLat(0), 1E-5);
assertEquals(nodeAccess.getLon(mr.getEdgeMatches().get(mr.getEdgeMatches().size() - 1).getEdgeState().getBaseNode()), match.getWayGeometry().getLon(0), 1E-5);
assertEquals(51.364306, match.getWayGeometry().getLat(3), 1E-5);
assertEquals(12.459582, match.getWayGeometry().getLon(3), 1E-5);
}
}

assertEquals(mr.getGpxEntriesLength(), mr.getMatchLength(), 4);
// TODO why is there such a big difference for millis?
assertEquals(mr.getGpxEntriesMillis(), mr.getMatchMillis(), 242175);
}

List<String> fetchStreets(List<EdgeMatch> emList) {
List<String> list = new ArrayList<String>();
int prevNode = -1;
Expand Down
12 changes: 12 additions & 0 deletions matching-core/src/test/resources/testStartEndGeometry.gpx
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@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?><gpx xmlns="http://www.topografix.com/GPX/1/1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" creator="Graphhopper version 0.7" version="1.1" xmlns:gh="https://graphhopper.com/public/schema/gpx/1.1">
<metadata><copyright author="OpenStreetMap contributors"/><link href="http://graphhopper.com"><text>GraphHopper GPX</text></link><time>2016-05-13T07:08:02Z</time></metadata>
<trk><name>GraphHopper Track</name><trkseg>
<trkpt lat="51.341708" lon="12.385276"><ele>116.0</ele><time>2016-05-13T07:08:02Z</time></trkpt>
<trkpt lat="51.341198" lon="12.38534"><ele>115.8</ele><time>2016-05-13T07:08:10Z</time></trkpt>
<trkpt lat="51.341074" lon="12.38777"><ele>115.2</ele><time>2016-05-13T07:08:48Z</time></trkpt>
<trkpt lat="51.341034" lon="12.388462"><ele>115.0</ele><time>2016-05-13T07:08:59Z</time></trkpt>
<trkpt lat="51.340752" lon="12.388414"><ele>116.8</ele><time>2016-05-13T07:09:06Z</time></trkpt>
<trkpt lat="51.340623" lon="12.388395"><ele>116.8</ele><time>2016-05-13T07:09:10Z</time></trkpt>
</trkseg>
</trk>
</gpx>
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