fix coordinate extraction / errors in offset detector
This commit is contained in:
Moritz Kobitzsch
parent
560d8ffec0
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5775679f64
@ -32,9 +32,9 @@ Feature: Slipways and Dedicated Turn Lanes
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| restriction | abc | cfg | c | no_right_turn |
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When I route I should get
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| waypoints | route | turns |
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| a,g | first,second,second | depart,turn right,arrive |
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| a,1 | first,, | depart,turn slight right,arrive |
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| waypoints | route | turns |
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| a,g | first,second,second | depart,turn right,arrive |
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| a,1 | first,, | depart,turn right,arrive |
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Scenario: Turn Instead of Ramp - Max-Speed
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Given the node map
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@ -63,9 +63,9 @@ Feature: Slipways and Dedicated Turn Lanes
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| restriction | abc | cfg | c | no_right_turn |
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When I route I should get
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| waypoints | route | turns |
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| a,g | first,second,second | depart,turn right,arrive |
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| a,1 | first,, | depart,turn slight right,arrive |
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| waypoints | route | turns |
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| a,g | first,second,second | depart,turn right,arrive |
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| a,1 | first,, | depart,turn right,arrive |
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Scenario: Turn Instead of Ramp
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@ -94,8 +94,8 @@ Feature: Slipways and Dedicated Turn Lanes
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| efg | primary | second |
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When I route I should get
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| waypoints | route | turns |
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| a,g | first,,second,second | depart,off ramp slight right,turn straight,arrive |
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| waypoints | route | turns |
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| a,g | first,,second,second | depart,off ramp right,turn straight,arrive |
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Scenario: Turn Instead of Ramp
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Given the node map
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@ -119,8 +119,8 @@ Feature: Slipways and Dedicated Turn Lanes
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| efg | primary | second |
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When I route I should get
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| waypoints | route | turns |
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| a,g | first,,second,second | depart,off ramp slight right,turn straight,arrive |
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| waypoints | route | turns |
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| a,g | first,,second,second | depart,off ramp right,turn straight,arrive |
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Scenario: Inner city expressway with on road
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Given the node map
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@ -201,14 +201,14 @@ Feature: Simple Turns
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| ef | residential | road | 2 | yes |
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When I route I should get
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| waypoints | route | turns |
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| a,c | road,road | depart,arrive |
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| c,a | road,road | depart,arrive |
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| g,a | turn,road,road | depart,turn left,arrive |
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| g,c | turn,road,road | depart,turn right,arrive |
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| g,f | turn,road | depart,arrive |
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| c,f | road,road,road | depart,continue right,arrive |
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| a,f | road,road,road | depart,continue uturn,arrive |
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| waypoints | route | turns | locations |
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| a,c | road,road | depart,arrive | a,c |
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| c,a | road,road | depart,arrive | c,a |
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| g,a | turn,road,road | depart,turn left,arrive | g,b,a |
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| g,c | turn,road,road | depart,turn right,arrive | g,b,c |
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| g,f | turn,road,road | depart,turn left,arrive | g,e,f |
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| c,f | road,road,road | depart,continue right,arrive | c,b,f |
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| a,f | road,road,road | depart,continue uturn,arrive | a,b,f |
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# http://www.openstreetmap.org/#map=19/52.48753/13.52838
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Scenario: Traffic Circle
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@ -773,9 +773,9 @@ Feature: Simple Turns
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When I route I should get
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| waypoints | route | turns |
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| a,j | Siemens,Siemens,Siemens | depart,continue straight,arrive |
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| a,j | Siemens,Siemens,Siemens | depart,continue slight right,arrive |
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| a,g | Siemens,Erna,Erna | depart,new name slight left,arrive |
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| g,j | Erna,Siemens,Siemens | depart,turn sharp left,arrive |
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| g,j | Erna,Siemens,Siemens | depart,turn left,arrive |
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| g,a | Erna,Siemens,Siemens | depart,new name slight right,arrive |
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#http://www.openstreetmap.org/#map=19/52.51303/13.32170
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@ -212,7 +212,7 @@ void ExtractorCallbacks::ProcessWay(const osmium::Way &input_way, const Extracti
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return lane_description;
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};
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// convert the lane description into an ID and, if necessary, remembr the description in the
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// convert the lane description into an ID and, if necessary, remember the description in the
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// description_map
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const auto requestId = [&](const std::string &lane_string) {
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if (lane_string.empty())
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@ -38,6 +38,24 @@ const constexpr double FAR_LOOKAHEAD_DISTANCE = 20.0;
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// directions or a lane count specified, we use 2. Overestimating only makes our calculations safer,
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// so we are fine for 1-lane ways. larger than 2 lanes should usually be specified in the data.
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const constexpr std::uint16_t ASSUMED_LANE_COUNT = 2;
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// When looking at lane offsets, motorway exits often are modelled not at a 90 degree angle but at
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// some slight turn. To correctly detect these offsets, we need to allow for a bit more than just
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// the lane width as an offset
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double GetOffsetCorrectionFactor(const RoadClassification &road_classification)
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{
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if (road_classification.IsMotorwayClass() || road_classification.IsRampClass())
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return 2.5;
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switch (road_classification.GetClass())
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{
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case RoadPriorityClass::TRUNK:
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return 2.0;
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case RoadPriorityClass::PRIMARY:
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return 1.5;
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default:
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return 1.0;
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};
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};
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}
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CoordinateExtractor::CoordinateExtractor(
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@ -77,7 +95,8 @@ util::Coordinate CoordinateExtractor::ExtractRepresentativeCoordinate(
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std::vector<util::Coordinate> coordinates) const
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{
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const auto considered_lanes =
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(intersection_lanes == 0) ? ASSUMED_LANE_COUNT : intersection_lanes;
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GetOffsetCorrectionFactor(node_based_graph.GetEdgeData(turn_edge).road_classification) *
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((intersection_lanes == 0) ? ASSUMED_LANE_COUNT : intersection_lanes);
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/* if we are looking at a straight line, we don't care where exactly the coordinate
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* is. Simply return the final coordinate. Turn angles/turn vectors are the same no matter which
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@ -104,7 +123,7 @@ util::Coordinate CoordinateExtractor::ExtractRepresentativeCoordinate(
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const auto &turn_edge_data = node_based_graph.GetEdgeData(turn_edge);
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// roundabouts, check early to avoid other costly checks
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if (turn_edge_data.roundabout || turn_edge_data.circular )
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if (turn_edge_data.roundabout || turn_edge_data.circular)
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return TrimCoordinatesToLength(std::move(coordinates),
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distance_to_skip_over_due_to_coordinate_inaccuracies)
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.back();
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@ -654,7 +673,7 @@ bool CoordinateExtractor::IsDirectOffset(const std::vector<util::Coordinate> &co
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// a road usually is connected to the middle of the lanes. So the lane-offset has to
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// consider half to road
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const auto lane_offset = 0.5 * considered_lanes * ASSUMED_LANE_WIDTH;
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return std::abs(width - lane_offset) < 0.5 * ASSUMED_LANE_WIDTH;
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return width - lane_offset < ASSUMED_LANE_WIDTH; // less or going over at most a small bit
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};
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// Check whether the very first coordinate is simply an offset. This is the case if the initial
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@ -665,8 +684,10 @@ bool CoordinateExtractor::IsDirectOffset(const std::vector<util::Coordinate> &co
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if (offset_index + 1 >= coordinates.size())
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return false;
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BOOST_ASSERT(segment_distances.size() == coordinates.size());
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// the straight part has to be around the lane distance
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if (!IsCloseToLaneDistance(segment_distances[offset_index]))
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if (!IsCloseToLaneDistance(std::accumulate(
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segment_distances.begin(), segment_distances.begin() + offset_index + 1, 0.)))
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return false;
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// the segment itself cannot be short
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@ -674,14 +695,32 @@ bool CoordinateExtractor::IsDirectOffset(const std::vector<util::Coordinate> &co
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return false;
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// if the remaining segment is short, we don't consider it an offset
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if ((segment_length - std::max(straight_distance, segment_distances[1])) > 0.1 * segment_length)
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if ((segment_length - std::max(straight_distance, segment_distances[1])) < 0.1 * segment_length)
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return false;
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// when we compare too long a distance, we run into problems due to turning roads. Here we
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// compute which index to consider when checking if the remaining road remains straight
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const auto segment_offset_past_thirty_meters =
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std::find_if(segment_distances.begin() + offset_index,
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segment_distances.end(),
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[accumulated_distance = 0.](const auto value) mutable {
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accumulated_distance += value;
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return value >= 30;
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});
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// transform the found offset in the segment distances into the appropriate part in the
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// coordinates array
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const auto deviation_compare_end =
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coordinates.begin() +
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std::min<std::size_t>(
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coordinates.size(), // don't go over
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std::distance(segment_distances.begin(), segment_offset_past_thirty_meters) + 1);
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// finally, we cannot be far off from a straight line for the remaining coordinates
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return 0.5 * ASSUMED_LANE_WIDTH > GetMaxDeviation(coordinates.begin() + offset_index,
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coordinates.end(),
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deviation_compare_end,
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coordinates[offset_index],
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coordinates.back());
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*(deviation_compare_end - 1));
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}
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std::vector<double>
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