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add comments, refactor find obvious turn

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karenzshea
2016-10-24 17:29:51 -07:00
parent 2a383efbf6
commit 0bd08224bf
4 changed files with 313 additions and 160 deletions
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src/extractor/guidance/intersection_handler.cpp
+179 -147
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@@ -1,5 +1,5 @@
#include "extractor/guidance/intersection_handler.hpp"
#include "extractor/guidance/constants.hpp"
#include "extractor/guidance/intersection_handler.hpp"
#include "extractor/guidance/toolkit.hpp"
#include "util/coordinate_calculation.hpp"
@@ -383,186 +383,210 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
if (intersection.size() == 2)
return 1;
// at least three roads
std::size_t best = 0;
double best_deviation = 180;
const EdgeData &in_way_data = node_based_graph.GetEdgeData(via_edge);
// the strategy for picking the most obvious turn involves deciding between
// an overall best candidate and a best candidate that shares the same name
// as the in road, i.e. a continue road
std::size_t best_option = 0;
double best_option_deviation = 180;
std::size_t best_continue = 0;
double best_continue_deviation = 180;
const EdgeData &in_data = node_based_graph.GetEdgeData(via_edge);
const auto in_classification = in_data.road_classification;
/* helper functions */
const auto IsContinueRoad = [&](const EdgeData &way_data) {
return !util::guidance::requiresNameAnnounced(
in_way_data.name_id, way_data.name_id, name_table, street_name_suffix_table);
};
auto sameOrHigherPriority = [&in_way_data](const auto &way_data) {
return way_data.road_classification.GetPriority() <=
in_way_data.road_classification.GetPriority();
};
auto IsLowPriority = [](const auto &way_data) {
return way_data.road_classification.IsLowPriorityRoadClass();
};
// These two Compare functions are used for sifting out best option and continue
// candidates by evaluating all the ways in an intersection by what they share
// with the in way. Ideal candidates are of similar road class with the in way
// and are require relatively straight turns.
const auto RoadCompare = [&](const ConnectedRoad &lhs, const ConnectedRoad &rhs) {
const EdgeData &lhs_data = node_based_graph.GetEdgeData(lhs.eid);
const EdgeData &rhs_data = node_based_graph.GetEdgeData(rhs.eid);
const auto lhs_deviation = angularDeviation(lhs.angle, STRAIGHT_ANGLE);
const auto rhs_deviation = angularDeviation(rhs.angle, STRAIGHT_ANGLE);
for (std::size_t i = 1; i < intersection.size(); ++i)
const bool rhs_same_classification =
rhs_data.road_classification == in_way_data.road_classification;
const bool lhs_same_classification =
lhs_data.road_classification == in_way_data.road_classification;
const bool rhs_same_or_higher_priority = sameOrHigherPriority(rhs_data);
const bool rhs_low_priority = IsLowPriority(rhs_data);
const bool lhs_same_or_higher_priority = sameOrHigherPriority(lhs_data);
const bool lhs_low_priority = IsLowPriority(lhs_data);
auto left_tie = std::tie(lhs.entry_allowed,
lhs_same_or_higher_priority,
rhs_low_priority,
rhs_deviation,
lhs_same_classification);
auto right_tie = std::tie(rhs.entry_allowed,
rhs_same_or_higher_priority,
lhs_low_priority,
lhs_deviation,
rhs_same_classification);
return left_tie > right_tie;
};
const auto RoadCompareSameName = [&](const ConnectedRoad &lhs, const ConnectedRoad &rhs) {
const EdgeData &lhs_data = node_based_graph.GetEdgeData(lhs.eid);
const EdgeData &rhs_data = node_based_graph.GetEdgeData(rhs.eid);
const auto lhs_continues = IsContinueRoad(lhs_data);
const auto rhs_continues = IsContinueRoad(rhs_data);
const auto left_tie = std::tie(lhs.entry_allowed, lhs_continues);
const auto right_tie = std::tie(rhs.entry_allowed, rhs_continues);
return left_tie > right_tie || (left_tie == right_tie && RoadCompare(lhs, rhs));
};
auto best_option_it = std::min_element(begin(intersection), end(intersection), RoadCompare);
// min element should only return end() when vector is empty
BOOST_ASSERT(best_option_it != end(intersection));
best_option = std::distance(begin(intersection), best_option_it);
best_option_deviation = angularDeviation(intersection[best_option].angle, STRAIGHT_ANGLE);
const auto &best_option_data = node_based_graph.GetEdgeData(intersection[best_option].eid);
// Unless the in way is also low priority, it is generally undesirable to
// indicate that a low priority road is obvious
if (IsLowPriority(best_option_data) &&
best_option_data.road_classification != in_way_data.road_classification)
{
const double deviation = angularDeviation(intersection[i].angle, STRAIGHT_ANGLE);
if (!intersection[i].entry_allowed)
continue;
best_option = 0;
best_option_deviation = 180;
}
const auto out_data = node_based_graph.GetEdgeData(intersection[i].eid);
const auto continue_class =
node_based_graph.GetEdgeData(intersection[best_continue].eid).road_classification;
const auto same_name = !util::guidance::requiresNameAnnounced(
in_data.name_id, out_data.name_id, name_table, street_name_suffix_table);
if (same_name && (best_continue == 0 || (continue_class.GetPriority() >
out_data.road_classification.GetPriority() &&
in_classification != continue_class) ||
(deviation < best_continue_deviation &&
out_data.road_classification == continue_class) ||
(continue_class != in_classification &&
out_data.road_classification == continue_class)))
// double check if the way with the lowest deviation from straight is still be better choice
const auto straightest = intersection.findClosestTurn(STRAIGHT_ANGLE);
if (straightest != best_option_it)
{
const EdgeData &straightest_data = node_based_graph.GetEdgeData(straightest->eid);
double straightest_data_deviation = angularDeviation(straightest->angle, STRAIGHT_ANGLE);
const auto deviation_diff =
std::abs(best_option_deviation - straightest_data_deviation) > FUZZY_ANGLE_DIFFERENCE;
const auto not_ramp_class = !straightest_data.road_classification.IsRampClass();
const auto not_link_class = !straightest_data.road_classification.IsLinkClass();
if (deviation_diff && !IsLowPriority(straightest_data) && not_ramp_class && not_link_class &&
!IsContinueRoad(best_option_data))
{
best_continue_deviation = deviation;
best_continue = i;
}
const auto current_best_class =
node_based_graph.GetEdgeData(intersection[best_continue].eid).road_classification;
// don't prefer low priority classes
if (best != 0 && out_data.road_classification.IsLowPriorityRoadClass() &&
!current_best_class.IsLowPriorityRoadClass())
continue;
const bool is_better_choice_by_priority =
best == 0 || obviousByRoadClass(in_data.road_classification,
out_data.road_classification,
current_best_class);
const bool other_is_better_choice_by_priority =
best != 0 && obviousByRoadClass(in_data.road_classification,
current_best_class,
out_data.road_classification);
if ((!other_is_better_choice_by_priority && deviation < best_deviation) ||
is_better_choice_by_priority)
{
best_deviation = deviation;
best = i;
best_option = std::distance(begin(intersection), straightest);
best_option_deviation =
angularDeviation(intersection[best_option].angle, STRAIGHT_ANGLE);
}
}
// We don't consider empty names a valid continue feature. This distinguishes between missing
// names and actual continuing roads.
if (in_data.name_id == EMPTY_NAMEID)
best_continue = 0;
if (best == 0)
// No non-low priority roads? Declare no obvious turn
if (best_option == 0)
return 0;
const std::pair<std::int64_t, std::int64_t> num_continue_names = [&]() {
std::int64_t count = 0, count_valid = 0;
if (in_data.name_id != EMPTY_NAMEID)
{
for (std::size_t i = 1; i < intersection.size(); ++i)
{
const auto &road = intersection[i];
const auto &road_data = node_based_graph.GetEdgeData(road.eid);
auto best_continue_it =
std::min_element(begin(intersection), end(intersection), RoadCompareSameName);
const auto best_continue_data = node_based_graph.GetEdgeData(best_continue_it->eid);
if (IsContinueRoad(best_continue_data) || (in_way_data.name_id == EMPTY_NAMEID && best_continue_data.name_id == EMPTY_NAMEID))
{
best_continue = std::distance(begin(intersection), best_continue_it);
best_continue_deviation =
angularDeviation(intersection[best_continue].angle, STRAIGHT_ANGLE);
}
const auto same_name = !util::guidance::requiresNameAnnounced(
in_data.name_id, road_data.name_id, name_table, street_name_suffix_table);
if (same_name)
{
++count;
if (road.entry_allowed)
++count_valid;
}
}
}
return std::make_pair(count, count_valid);
}();
if (0 != best_continue && best != best_continue &&
angularDeviation(intersection[best].angle, STRAIGHT_ANGLE) <
MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
// if the best angle is going straight but the road is turning, declare no obvious turn
if (0 != best_continue && best_option != best_continue &&
best_option_deviation < MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
node_based_graph.GetEdgeData(intersection[best_continue].eid).road_classification ==
node_based_graph.GetEdgeData(intersection[best].eid).road_classification)
best_option_data.road_classification)
{
// if the best angle is going straight but the road is turning, we don't name anything
// obvious
return 0;
}
// get a count of number of ways from that intersection that qualify to have
// continue instruction because they share a name with the approaching way
const std::int64_t continue_count =
count_if(++begin(intersection), end(intersection), [&](const ConnectedRoad &way) {
return IsContinueRoad(node_based_graph.GetEdgeData(way.eid));
});
const std::int64_t continue_count_valid =
count_if(++begin(intersection), end(intersection), [&](const ConnectedRoad &way) {
return IsContinueRoad(node_based_graph.GetEdgeData(way.eid)) && way.entry_allowed;
});
// checks if continue candidates are sharp turns
const bool all_continues_are_narrow = [&]() {
if (in_data.name_id == EMPTY_NAMEID)
return false;
return std::count_if(
intersection.begin() + 1, intersection.end(), [&](const ConnectedRoad &road) {
const auto &road_data = node_based_graph.GetEdgeData(road.eid);
const auto same_name =
!util::guidance::requiresNameAnnounced(in_data.name_id,
road_data.name_id,
name_table,
street_name_suffix_table);
return same_name &&
angularDeviation(road.angle, STRAIGHT_ANGLE) < NARROW_TURN_ANGLE;
}) == num_continue_names.first;
begin(intersection), end(intersection), [&](const ConnectedRoad &road) {
const EdgeData &road_data = node_based_graph.GetEdgeData(road.eid);
const double &road_angle = angularDeviation(road.angle, STRAIGHT_ANGLE);
return IsContinueRoad(road_data) && (road_angle < NARROW_TURN_ANGLE);
}) == continue_count;
}();
// has no obvious continued road
const auto &best_data = node_based_graph.GetEdgeData(intersection[best].eid);
const auto check_non_continue = [&]() {
// return true if the best_option candidate is more promising than the best_continue candidate
// otherwise return false, the best_continue candidate is more promising
const auto best_over_best_continue = [&]() {
// no continue road exists
if (best_continue == 0)
return true;
// we have multiple continues and not all are narrow (treat all the same)
if (!all_continues_are_narrow &&
(num_continue_names.first >= 2 && intersection.size() >= 4))
// we have multiple continues and not all are narrow. This suggests that
// the continue candidates are ambiguous
if (!all_continues_are_narrow && (continue_count >= 2 && intersection.size() >= 4))
return true;
// if the best continue is not narrow and we also have at least 2 possible choices, the
// intersection size does not matter anymore
if (num_continue_names.second >= 2 && best_continue_deviation >= 2 * NARROW_TURN_ANGLE)
if (continue_count_valid >= 2 && best_continue_deviation >= 2 * NARROW_TURN_ANGLE)
return true;
// continue data now most certainly exists
const auto &continue_data = node_based_graph.GetEdgeData(intersection[best_continue].eid);
if (obviousByRoadClass(in_data.road_classification,
// best_continue is obvious by road class
if (obviousByRoadClass(in_way_data.road_classification,
continue_data.road_classification,
best_data.road_classification))
best_option_data.road_classification))
return false;
if (obviousByRoadClass(in_data.road_classification,
best_data.road_classification,
// best_option is obvious by road class
if (obviousByRoadClass(in_way_data.road_classification,
best_option_data.road_classification,
continue_data.road_classification))
return true;
// the best deviation is very straight and not a ramp
if (best_deviation < best_continue_deviation && best_deviation < FUZZY_ANGLE_DIFFERENCE &&
!best_data.road_classification.IsRampClass())
// the best_option deviation is very straight and not a ramp
if (best_option_deviation < best_continue_deviation &&
best_option_deviation < FUZZY_ANGLE_DIFFERENCE &&
!best_option_data.road_classification.IsRampClass())
return true;
// the continue road is of a lower priority, while the road continues on the same priority
// with a better angle
if (best_deviation < best_continue_deviation &&
in_data.road_classification == best_data.road_classification &&
if (best_option_deviation < best_continue_deviation &&
in_way_data.road_classification == best_option_data.road_classification &&
continue_data.road_classification.GetPriority() >
best_data.road_classification.GetPriority())
best_option_data.road_classification.GetPriority())
return true;
return false;
}();
if (check_non_continue)
if (best_over_best_continue)
{
// Find left/right deviation
// skipping over service roads
const std::size_t left_index = [&]() {
const auto index_candidate = (best + 1) % intersection.size();
const auto index_candidate = (best_option + 1) % intersection.size();
if (index_candidate == 0)
return index_candidate;
const auto &candidate_data =
node_based_graph.GetEdgeData(intersection[index_candidate].eid);
if (obviousByRoadClass(in_data.road_classification,
best_data.road_classification,
if (obviousByRoadClass(in_way_data.road_classification,
best_option_data.road_classification,
candidate_data.road_classification))
return (index_candidate + 1) % intersection.size();
else
@@ -570,14 +594,14 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
}();
const auto right_index = [&]() {
BOOST_ASSERT(best > 0);
const auto index_candidate = best - 1;
BOOST_ASSERT(best_option > 0);
const auto index_candidate = best_option - 1;
if (index_candidate == 0)
return index_candidate;
const auto candidate_data =
node_based_graph.GetEdgeData(intersection[index_candidate].eid);
if (obviousByRoadClass(in_data.road_classification,
best_data.road_classification,
if (obviousByRoadClass(in_way_data.road_classification,
best_option_data.road_classification,
candidate_data.road_classification))
return index_candidate - 1;
else
@@ -589,28 +613,32 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
const double right_deviation =
angularDeviation(intersection[right_index].angle, STRAIGHT_ANGLE);
if (best_deviation < MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
// return best_option candidate if it is nearly straight and distinct from the nearest other
// out
// way
if (best_option_deviation < MAXIMAL_ALLOWED_NO_TURN_DEVIATION &&
std::min(left_deviation, right_deviation) > FUZZY_ANGLE_DIFFERENCE)
return best;
return best_option;
const auto &left_data = node_based_graph.GetEdgeData(intersection[left_index].eid);
const auto &right_data = node_based_graph.GetEdgeData(intersection[right_index].eid);
const bool obvious_to_left =
left_index == 0 || obviousByRoadClass(in_data.road_classification,
best_data.road_classification,
left_index == 0 || obviousByRoadClass(in_way_data.road_classification,
best_option_data.road_classification,
left_data.road_classification);
const bool obvious_to_right =
right_index == 0 || obviousByRoadClass(in_data.road_classification,
best_data.road_classification,
right_index == 0 || obviousByRoadClass(in_way_data.road_classification,
best_option_data.road_classification,
right_data.road_classification);
// if the best turn isn't narrow, but there is a nearly straight turn, we don't consider the
// if the best_option turn isn't narrow, but there is a nearly straight turn, we don't
// consider the
// turn obvious
const auto check_narrow = [&intersection, best_deviation](const std::size_t index) {
const auto check_narrow = [&intersection, best_option_deviation](const std::size_t index) {
return angularDeviation(intersection[index].angle, STRAIGHT_ANGLE) <=
FUZZY_ANGLE_DIFFERENCE &&
(best_deviation > NARROW_TURN_ANGLE || intersection[index].entry_allowed);
(best_option_deviation > NARROW_TURN_ANGLE || intersection[index].entry_allowed);
};
// other narrow turns?
@@ -620,20 +648,23 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
if (check_narrow(left_index) && !obvious_to_left)
return 0;
// check if a turn is distinct enough
// checks if a given way in the intersection is distinct enough from the best_option
// candidate
const auto isDistinct = [&](const std::size_t index, const double deviation) {
/*
If the neighbor is not possible to enter, we allow for a lower
distinction rate. If the road category is smaller, its also adjusted. Only
roads of the same priority require the full distinction ratio.
*/
const auto &best_option_data =
node_based_graph.GetEdgeData(intersection[best_option].eid);
const auto adjusted_distinction_ratio = [&]() {
// not allowed competitors are easily distinct
if (!intersection[index].entry_allowed)
return 0.7 * DISTINCTION_RATIO;
// a bit less obvious are road classes
else if (in_data.road_classification == best_data.road_classification &&
best_data.road_classification.GetPriority() <
else if (in_way_data.road_classification == best_option_data.road_classification &&
best_option_data.road_classification.GetPriority() <
node_based_graph.GetEdgeData(intersection[index].eid)
.road_classification.GetPriority())
return 0.8 * DISTINCTION_RATIO;
@@ -641,7 +672,7 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
else
return DISTINCTION_RATIO;
}();
return index == 0 || deviation / best_deviation >= adjusted_distinction_ratio ||
return index == 0 || deviation / best_option_deviation >= adjusted_distinction_ratio ||
(deviation <= NARROW_TURN_ANGLE && !intersection[index].entry_allowed);
};
@@ -649,25 +680,24 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
const bool distinct_to_right = isDistinct(right_index, right_deviation);
// Well distinct turn that is nearly straight
if ((distinct_to_left || obvious_to_left) && (distinct_to_right || obvious_to_right))
return best;
return best_option;
}
else
{
const double deviation =
angularDeviation(intersection[best_continue].angle, STRAIGHT_ANGLE);
const auto &continue_data = node_based_graph.GetEdgeData(intersection[best_continue].eid);
if (std::abs(deviation) < 1)
if (std::abs(best_continue_deviation) < 1)
return best_continue;
// check if any other similar best continues exist
for (std::size_t i = 1; i < intersection.size(); ++i)
std::size_t i, last = intersection.size();
for (i = 1; i < last; ++i)
{
if (i == best_continue || !intersection[i].entry_allowed)
continue;
const auto &turn_data = node_based_graph.GetEdgeData(intersection[i].eid);
const bool is_obvious_by_road_class =
obviousByRoadClass(in_data.road_classification,
obviousByRoadClass(in_way_data.road_classification,
continue_data.road_classification,
turn_data.road_classification);
@@ -677,7 +707,9 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
continue;
// continuation could be grouped with a straight turn and the turning road is a ramp
if (turn_data.road_classification.IsRampClass() && deviation < GROUP_ANGLE)
if (turn_data.road_classification.IsRampClass() &&
best_continue_deviation < GROUP_ANGLE &&
!continue_data.road_classification.IsRampClass())
continue;
// perfectly straight turns prevent obviousness
@@ -685,9 +717,9 @@ std::size_t IntersectionHandler::findObviousTurn(const EdgeID via_edge,
if (turn_deviation < FUZZY_ANGLE_DIFFERENCE)
return 0;
const auto deviation_ratio = turn_deviation / deviation;
const auto deviation_ratio = turn_deviation / best_continue_deviation;
// in comparison to normal devitions, a continue road can offer a smaller distinction
// in comparison to normal deviations, a continue road can offer a smaller distinction
// ratio. Other roads close to the turn angle are not as obvious, if one road continues.
if (deviation_ratio < DISTINCTION_RATIO / 1.5)
return 0;