private async Task <List <Trajectory> > OfflineMatch(Matcher <MatcherCandidate, MatcherTransition, MatcherSample> matcher, IReadOnlyList <MatcherSample> samples)
{
var kstate = new MatcherKState();
//Do the offline map-matching
Debug.WriteLine("Doing map-matching...");
var startedOn = DateTime.Now;
await Task.Run(() =>
{
foreach (var sample in samples)
{
var vector = matcher.Execute(kstate.Vector(), kstate.Sample, sample);
kstate.Update(vector, sample);
}
});
Debug.WriteLine("Fetching map-matching results...");
var candidatesSequence = kstate.Sequence();
var timeElapsed = DateTime.Now - startedOn;
LoggerHelper.Logger.Info("Map-matching elapsed time: {0}, Speed={1} samples/second", timeElapsed, samples.Count / timeElapsed.TotalSeconds);
LoggerHelper.Logger.Info("Results: [count={0}]", candidatesSequence.Count());
Debug.WriteLine("Map-matching elapsed time: {0}, Speed={1} samples/second", timeElapsed, samples.Count / timeElapsed.TotalSeconds);
Debug.WriteLine("Results: [count={0}]", candidatesSequence.Count());
List <Trajectory> csvLines = new List <Trajectory>();
int matchedCandidateCount = 0;
foreach (var cand in candidatesSequence)
{
var roadId = cand.Point.Edge.RoadInfo.Id; // original road id
var heading = cand.Point.Edge.Headeing; // heading
var coord = cand.Point.Coordinate; // GPS position (on the road)
csvLines.Add(new Trajectory()
{
GPSTime = cand.Sample.Time.DateTime,
Location = "314.2",
Velocity = 30,
LongitudeWgs84 = coord.X,
LatitudeWgs84 = coord.Y
});
if (cand.HasTransition)
{
var geom = cand.Transition.Route.ToGeometry(); // path geometry(LineString) from last matching candidate
//var edges = cand.Transition.Route.Edges; // Road segments between two GPS position
}
matchedCandidateCount++;
}
LoggerHelper.Logger.Info("Matched Candidates: {0}, Rate: {1}%", matchedCandidateCount, matchedCandidateCount * 100 / samples.Count());
Debug.WriteLine("Matched Candidates: {0}, Rate: {1}%", matchedCandidateCount, matchedCandidateCount * 100 / samples.Count());
return(csvLines);
}
private int DoMatching(Matcher <MatcherCandidate, MatcherTransition, MatcherSample> matcher)
{
var kstate = new MatcherKState();
foreach (var sample in _samples)
{
var vector = matcher.Execute(kstate.Vector(), kstate.Sample, sample);
kstate.Update(vector, sample);
}
return(0);
}
static void Main(string[] args)
{
var spatial = new GeographySpatialOperation();
var mapBuilder = new RoadMapBuilder(spatial);
Console.WriteLine("Loading road map...");
var roads = ReadRoads(spatial);
var map = mapBuilder.AddRoads(roads).Build();
Console.WriteLine("The road map has been loaded");
var matcher = new Matcher(map, new DijkstraRouter <Road, RoadPoint>(), Costs.TimePriorityCost, spatial);
matcher.MaxDistance = 1000; // set maximum searching distance between two GPS points to 1000 meters.
matcher.MaxRadius = 200.0; // sets maximum radius for candidate selection to 200 meters
var kstate = new MatcherKState();
Console.WriteLine("Loading GPS samples...");
var samples = ReadSamples().OrderBy(s => s.Time).ToArray();
Console.WriteLine("GPS samples loaded. [count={0}]", samples.Length);
//Do the offline map-matching
Console.WriteLine("Doing map-matching...");
var startedOn = DateTime.Now;
foreach (var sample in samples)
{
var vector = matcher.Execute(kstate.Vector(), kstate.Sample, sample);
kstate.Update(vector, sample);
}
Console.WriteLine("Fetching map-matching results...");
var candidatesSequence = kstate.Sequence();
var timeElapsed = DateTime.Now - startedOn;
Console.WriteLine("Map-matching elapsed time: {0}, Speed={1} samples/second", timeElapsed, samples.Length / timeElapsed.TotalSeconds);
Console.WriteLine("Results: [count={0}]", candidatesSequence.Count());
foreach (var cand in candidatesSequence)
{
var roadId = cand.Point.Edge.RoadInfo.Id; // original road id
var heading = cand.Point.Edge.Headeing; // heading
var coord = cand.Point.Coordinate; // GPS position (on the road)
if (cand.HasTransition)
{
var geom = cand.Transition.Route.ToGeometry(); // path geometry from last matching candidate
Console.WriteLine("RoadID={0}\t\tFraction={1}", roadId, cand.Point.Fraction);
}
}
Console.WriteLine("All done!");
Console.ReadKey();
}
private static void OfflineMatch(
Matcher <MatcherCandidate, MatcherTransition, MatcherSample> matcher,
IReadOnlyList <MatcherSample> samples)
{
var kstate = new MatcherKState();
//Do the offline map-matching
Console.WriteLine("Doing map-matching...");
var startedOn = DateTime.Now;
foreach (var sample in samples)
{
var vector = matcher.Execute(kstate.Vector(), kstate.Sample, sample);
kstate.Update(vector, sample);
}
Console.WriteLine("Fetching map-matching results...");
var candidatesSequence = kstate.Sequence();
var timeElapsed = DateTime.Now - startedOn;
Console.WriteLine("Map-matching elapsed time: {0}, Speed={1} samples/second", timeElapsed, samples.Count / timeElapsed.TotalSeconds);
Console.WriteLine("Results: [count={0}]", candidatesSequence.Count());
var csvLines = new List <string>();
csvLines.Add("time,lng,lat,azimuth");
int matchedCandidateCount = 0;
foreach (var cand in candidatesSequence)
{
var roadId = cand.Point.Edge.RoadInfo.Id; // original road id
var heading = cand.Point.Edge.Headeing; // heading
var coord = cand.Point.Coordinate; // GPS position (on the road)
csvLines.Add(string.Format("{0},{1},{2},{3}", cand.Sample.Time.ToUnixTimeSeconds(), coord.X, coord.Y, cand.Point.Azimuth));
if (cand.HasTransition)
{
var geom = cand.Transition.Route.ToGeometry(); // path geometry(LineString) from last matching candidate
//cand.Transition.Route.Edges // Road segments between two GPS position
}
matchedCandidateCount++;
}
Console.WriteLine("Matched Candidates: {0}, Rate: {1}%", matchedCandidateCount, matchedCandidateCount * 100 / samples.Count());
var csvFile = System.IO.Path.Combine(s_dataDir, "samples.output.csv");
Console.WriteLine("Writing output file: {0}", csvFile);
File.WriteAllLines(csvFile, csvLines);
}
private static void OnlineMatch(
Matcher <MatcherCandidate, MatcherTransition, MatcherSample> matcher,
IReadOnlyList <MatcherSample> samples)
{
// Create initial (empty) state memory
var kstate = new MatcherKState();
// Iterate over sequence (stream) of samples
foreach (var sample in samples)
{
// Execute matcher with single sample and update state memory
var vector = kstate.Vector();
vector = matcher.Execute(vector, kstate.Sample, sample);
kstate.Update(vector, sample);
// Access map matching result: estimate for most recent sample
var estimated = kstate.Estimate();
Console.WriteLine("RoadID={0}", estimated.Point.Edge.RoadInfo.Id); // The id of the road in your map
}
}