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adjusting u-turn handling in lane matching to fully fix 2706

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This commit is contained in:
Moritz Kobitzsch
2016-08-08 15:44:58 +02:00
committed by Patrick Niklaus
parent 11aed6c93e
commit 9485c97738
5 changed files with 91 additions and 21 deletions
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src/extractor/guidance/turn_lane_matcher.cpp
+40 -6
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@@ -1,5 +1,5 @@
#include "extractor/guidance/turn_lane_matcher.hpp"
#include "extractor/guidance/toolkit.hpp"
#include "extractor/guidance/turn_lane_matcher.hpp"
#include "util/guidance/toolkit.hpp"
#include <boost/assert.hpp>
@@ -134,17 +134,17 @@ typename Intersection::const_iterator findBestMatch(const TurnLaneType::Mask &ta
// possible that it is forbidden. In addition, the best u-turn angle does not necessarily represent
// the u-turn, since it could be a sharp-left turn instead on a road with a middle island.
typename Intersection::const_iterator
findBestMatchForReverse(const TurnLaneType::Mask &leftmost_tag, const Intersection &intersection)
findBestMatchForReverse(const TurnLaneType::Mask &neighbor_tag, const Intersection &intersection)
{
const auto leftmost_itr = findBestMatch(leftmost_tag, intersection);
if (leftmost_itr + 1 == intersection.cend())
const auto neighbor_itr = findBestMatch(neighbor_tag, intersection);
if ((neighbor_itr + 1 == intersection.cend()) || (neighbor_itr == intersection.cbegin() + 1))
return intersection.begin();
const constexpr double idealized_turn_angles[] = {0, 35, 90, 135, 180, 225, 270, 315};
const TurnLaneType::Mask tag = TurnLaneType::uturn;
const auto idealized_angle = idealized_turn_angles[getMatchingModifier(tag)];
return std::min_element(
intersection.begin() + std::distance(intersection.begin(), leftmost_itr),
intersection.begin() + std::distance(intersection.begin(), neighbor_itr),
intersection.end(),
[idealized_angle, &tag](const ConnectedRoad &lhs, const ConnectedRoad &rhs) {
// prefer valid matches
@@ -165,6 +165,12 @@ findBestMatchForReverse(const TurnLaneType::Mask &leftmost_tag, const Intersecti
bool canMatchTrivially(const Intersection &intersection, const LaneDataVector &lane_data)
{
std::size_t road_index = 1, lane = 0;
if (!lane_data.empty() && lane_data.front().tag == TurnLaneType::uturn)
{
// the very first is a u-turn to the right
if (intersection[0].entry_allowed)
lane = 1;
}
for (; road_index < intersection.size() && lane < lane_data.size(); ++road_index)
{
if (intersection[road_index].entry_allowed)
@@ -207,6 +213,34 @@ Intersection triviallyMatchLanesToTurns(Intersection intersection,
road.turn.lane_data_id = lane_data_id;
};
if (!lane_data.empty() && lane_data.front().tag == TurnLaneType::uturn)
{
// the very first is a u-turn to the right
if (intersection[0].entry_allowed)
{
std::size_t u_turn = 0;
if (node_based_graph.GetEdgeData(intersection[0].turn.eid).reversed)
{
if (intersection.size() <= 1 || !intersection[1].entry_allowed ||
intersection[1].turn.instruction.direction_modifier !=
DirectionModifier::SharpRight)
{
// cannot match u-turn in a valid way
return intersection;
}
u_turn = 1;
road_index = 2;
}
intersection[u_turn].entry_allowed = true;
intersection[u_turn].turn.instruction.type = TurnType::Turn;
intersection[u_turn].turn.instruction.direction_modifier = DirectionModifier::UTurn;
matchRoad(intersection[u_turn], lane_data.back());
// continue with the first lane
lane = 1;
}
}
for (; road_index < intersection.size() && lane < lane_data.size(); ++road_index)
{
if (intersection[road_index].entry_allowed)
@@ -231,7 +265,7 @@ Intersection triviallyMatchLanesToTurns(Intersection intersection,
std::size_t u_turn = 0;
if (node_based_graph.GetEdgeData(intersection[0].turn.eid).reversed)
{
if (intersection.back().entry_allowed ||
if (!intersection.back().entry_allowed ||
intersection.back().turn.instruction.direction_modifier !=
DirectionModifier::SharpLeft)
{