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Remove usage of IntersectionGenerator in EBGF

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This commit is contained in:
Michael Krasnyk 2017-11-21 20:23:35 +01:00
parent 9c033ff461
commit cc1a5ea78d
17 changed files with 895 additions and 920 deletions
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3
features/car/conditional_restrictions.feature
View File

@ -884,7 +884,7 @@ Feature: Car - Turn restrictions
| a | c | albic,dobe,dobe,albic,albic | depart,turn left,continue uturn,turn left,arrive | | a | c | albic,dobe,dobe,albic,albic | depart,turn left,continue uturn,turn left,arrive |
| a | e | albic,dobe,dobe | depart,turn left,arrive | | a | e | albic,dobe,dobe | depart,turn left,arrive |
@no_turning @conditionals @no_turning @conditionals @restriction-way
Scenario: Car - Conditional restriction with multiple time windows Scenario: Car - Conditional restriction with multiple time windows
Given the extract extra arguments "--parse-conditional-restrictions" Given the extract extra arguments "--parse-conditional-restrictions"
# 5pm Wed 02 May, 2017 GMT # 5pm Wed 02 May, 2017 GMT
@ -1054,4 +1054,3 @@ Feature: Car - Turn restrictions
| a | f | ab,be,ef,ef | depart,turn right,turn left,arrive | a,b,e,f | | a | f | ab,be,ef,ef | depart,turn right,turn left,arrive | a,b,e,f |
| c | d | bc,be,de,de | depart,turn left,turn right,arrive | c,b,e,d | | c | d | bc,be,de,de | depart,turn left,turn right,arrive | c,b,e,d |
| c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f | | c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f |

20
features/car/restrictions.feature
View File

@ -575,7 +575,7 @@ Feature: Car - Turn restrictions
| c | d | bc,be,de,de | depart,turn left,turn right,arrive | c,b,e,d | | c | d | bc,be,de,de | depart,turn left,turn right,arrive | c,b,e,d |
| c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f | | c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f |
@restriction @overlap @restriction-way @overlap
Scenario: Car - prohibit turn Scenario: Car - prohibit turn
Given the node map Given the node map
""" """
@ -710,7 +710,7 @@ Feature: Car - Turn restrictions
| a | j | left,first,right,right | | a | j | left,first,right,right |
| f | e | right,third,left,left | | f | e | right,third,left,left |
@restriction @restriction-way
Scenario: Car - allow only turn Scenario: Car - allow only turn
Given the node map Given the node map
""" """
@ -742,7 +742,7 @@ Feature: Car - Turn restrictions
| c | d | bc,be,de,de | depart,turn left,turn right,arrive | c,b,e,d | | c | d | bc,be,de,de | depart,turn left,turn right,arrive | c,b,e,d |
| c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f | | c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f |
@restriction @restriction-way
Scenario: Car - allow only turn Scenario: Car - allow only turn
Given the node map Given the node map
""" """
@ -771,7 +771,7 @@ Feature: Car - Turn restrictions
| from | to | route | | from | to | route |
| a | d | ab,be,de,de | | a | d | ab,be,de,de |
@restriction @restriction-way
Scenario: Multi Way restriction Scenario: Multi Way restriction
Given the node map Given the node map
""" """
@ -808,7 +808,7 @@ Feature: Car - Turn restrictions
| from | to | route | | from | to | route |
| a | h | horiz,vert,horiz,horiz | | a | h | horiz,vert,horiz,horiz |
@restriction @restriction-way
Scenario: Multi-Way overlapping single-way Scenario: Multi-Way overlapping single-way
Given the node map Given the node map
""" """
@ -847,7 +847,7 @@ Feature: Car - Turn restrictions
| h | d | hfb,abcd,abcd | depart,end of road right,arrive | h,b,d | | h | d | hfb,abcd,abcd | depart,end of road right,arrive | h,b,d |
@restriction @restriction-way
Scenario: Car - prohibit turn, traffic lights Scenario: Car - prohibit turn, traffic lights
Given the node map Given the node map
""" """
@ -890,7 +890,7 @@ Feature: Car - Turn restrictions
| c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f | | c | f | bc,be,ef,ef | depart,turn left,turn left,arrive | c,b,e,f |
@restriction @overlap @geometry @restriction-way @overlap @geometry
Scenario: Geometry Scenario: Geometry
Given the node map Given the node map
""" """
@ -925,7 +925,7 @@ Feature: Car - Turn restrictions
| c | d | bc,bge,de,de | | c | d | bc,bge,de,de |
| c | f | bc,bge,de,de,ef,ef | | c | f | bc,bge,de,de,ef,ef |
@restriction @overlap @geometry @traffic-signals @restriction-way @overlap @geometry @traffic-signals
Scenario: Geometry Scenario: Geometry
Given the node map Given the node map
""" """
@ -967,7 +967,7 @@ Feature: Car - Turn restrictions
| c | f | bc,bge,de,de,ef,ef | | c | f | bc,bge,de,de,ef,ef |
# don't crash hard on invalid restrictions # don't crash hard on invalid restrictions
@restriction @invalid @restriction-way @invalid
Scenario: Geometry Scenario: Geometry
Given the node map Given the node map
""" """
@ -999,7 +999,7 @@ Feature: Car - Turn restrictions
| a | f | ab,be,ef,ef | | a | f | ab,be,ef,ef |
@restriction @overlap @geometry @restriction @restriction-way @overlap @geometry
Scenario: Duplicated restriction Scenario: Duplicated restriction
Given the node map Given the node map
""" """

63
features/guidance/merge-segregated-roads.feature
View File

@ -393,31 +393,44 @@ Feature: Merge Segregated Roads
""" """
a a
| |
b b-----z
/ \
c h c h
| | | |
| | | |
| | | |
| | | |
| |
| |
| |
| |
| |
d g d g
\ /
e e
| |
f f
""" """
And the ways And the ways
| nodes | name | oneway | | nodes | name | oneway |
| ab | road | no | | ab | road | no |
| ef | road | no | | ef | road | no |
| bcde | road | yes | | bcde | road | yes |
| eghb | road | yes | | eghb | road | yes |
| bz | cross | no |
And the relations
| type | way:from | way:to | node:via | restriction |
| restriction | bz | bcde | b | no_left_turn |
When I route I should get When I route I should get
| waypoints | turns | route | | waypoints | turns | route |
| a,f | depart,arrive | road,road | | a,f | depart,arrive | road,road |
| c,f | depart,arrive | road,road | | c,f | depart,arrive | road,road |
| f,a | depart,arrive | road,road | | f,a | depart,arrive | road,road |
| g,a | depart,arrive | road,road | | g,a | depart,arrive | road,road |
| z,a | depart,turn right,arrive | cross,road,road |
Scenario: Traffic Island Scenario: Traffic Island
Given the node map Given the node map
@ -588,10 +601,10 @@ Feature: Merge Segregated Roads
When I route I should get When I route I should get
| waypoints | route | turns | | waypoints | route | turns |
| a,c | germ,ober | depart,arrive | | a,c | germ,ober | depart,arrive |
| a,g | germ,germ,germ | depart,continue right,arrive | | a,g | germ,germ,germ | depart,continue right,arrive |
| a,1 | germ,germ,germ | depart,continue left,arrive | | a,1 | germ,germ,germ | depart,continue left,arrive |
| d,g | ober,germ,germ | depart,turn left,arrive | | d,g | ober,germ,germ | depart,turn left,arrive |
# https://www.openstreetmap.org/#map=19/51.32888/6.57059 # https://www.openstreetmap.org/#map=19/51.32888/6.57059
Scenario: Places in presence of oneways Scenario: Places in presence of oneways
@ -623,16 +636,16 @@ Feature: Merge Segregated Roads
| cf | albrecht | yes | | cf | albrecht | yes |
When I route I should get When I route I should get
| waypoints | route | turns | | waypoints | route | turns |
| a,l | schwert,albrecht,marianne,marianne | depart,new name straight,turn left,arrive | | a,l | schwert,albrecht,marianne,marianne | depart,new name straight,turn left,arrive |
| a,j | schwert,luise,luise | depart,turn right,arrive | | a,j | schwert,luise,luise | depart,turn right,arrive |
| a,1 | schwert,albrecht,albrecht,albrecht | depart,new name straight,continue uturn,arrive | | a,1 | schwert,albrecht,albrecht,albrecht | depart,new name straight,continue uturn,arrive |
| k,l | marianne,marianne | depart,arrive | | k,l | marianne,marianne | depart,arrive |
| k,j | marianne,albrecht,luise,luise | depart,turn left,turn left,arrive | | k,j | marianne,albrecht,luise,luise | depart,turn left,turn left,arrive |
| k,d | marianne,schwert,schwert | depart,turn right,arrive | | k,d | marianne,schwert,schwert | depart,turn right,arrive |
| i,j | luise,luise | depart,arrive | | i,j | luise,luise | depart,arrive |
| i,d | luise,albrecht,schwert,schwert | depart,turn left,turn straight,arrive | | i,d | luise,albrecht,schwert,schwert | depart,turn left,turn straight,arrive |
| i,l | luise,albrecht,marianne,marianne | depart,turn left,turn left,arrive | | i,l | luise,albrecht,marianne,marianne | depart,turn left,turn left,arrive |
# https://www.openstreetmap.org/#map=19/52.46339/13.40272 # https://www.openstreetmap.org/#map=19/52.46339/13.40272
Scenario: Do not merge links between segregated roads Scenario: Do not merge links between segregated roads

12
features/guidance/turn-angles.feature
View File

@ -961,12 +961,12 @@ Feature: Simple Turns
g g
. .
. .
. .
. .
f h f
h . .
. . . .
. j . j
. . . .
c c
. . . . . .

125
include/extractor/guidance/intersection_normalizer.hpp
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@ -1,125 +0,0 @@
#ifndef OSRM_EXTRACTOR_GUIDANCE_INTERSECTION_NORMALIZER_HPP_
#define OSRM_EXTRACTOR_GUIDANCE_INTERSECTION_NORMALIZER_HPP_
#include "util/attributes.hpp"
#include "util/name_table.hpp"
#include "util/typedefs.hpp"
#include "extractor/guidance/coordinate_extractor.hpp"
#include "extractor/guidance/intersection.hpp"
#include "extractor/guidance/intersection_generator.hpp"
#include "extractor/guidance/intersection_normalization_operation.hpp"
#include "extractor/guidance/mergable_road_detector.hpp"
#include "extractor/query_node.hpp"
#include "extractor/suffix_table.hpp"
#include <utility>
#include <vector>
namespace osrm
{
namespace extractor
{
namespace guidance
{
/*
* An intersection is a central part in computing guidance decisions. However the model in OSM and
* the view we want to use in guidance are not necessarily the same thing. We have to account for
* some models that are chosen explicitly in OSM and that don't actually describe how a human would
* experience an intersection.
*
* For example, if a small pedestrian island is located at a traffic light right in the middle of a
* road, OSM tends to model the road as two separate ways. A human would consider these two ways a
* single road, though. In this normalizer, we try to account for these subtle differences between
* OSM data and human perception to improve our decision base for guidance later on.
*/
class IntersectionNormalizer
{
public:
struct NormalizationResult
{
IntersectionShape normalized_shape;
std::vector<IntersectionNormalizationOperation> performed_merges;
};
IntersectionNormalizer(const util::NodeBasedDynamicGraph &node_based_graph,
const EdgeBasedNodeDataContainer &node_data_container,
const std::vector<util::Coordinate> &node_coordinates,
const util::NameTable &name_table,
const SuffixTable &street_name_suffix_table,
const IntersectionGenerator &intersection_generator);
// The function takes an intersection an converts it to a `perceived` intersection which closer
// represents how a human might experience the intersection
OSRM_ATTR_WARN_UNUSED
NormalizationResult operator()(const NodeID node_at_intersection,
IntersectionShape intersection) const;
private:
const util::NodeBasedDynamicGraph &node_based_graph;
const IntersectionGenerator &intersection_generator;
const MergableRoadDetector mergable_road_detector;
/* check if two indices in an intersection can be seen as a single road in the perceived
* intersection representation. See below for an example. Utility function for
* MergeSegregatedRoads. It also checks for neighboring merges.
* This is due possible segments where multiple roads could end up being merged into one.
* We only support merging two roads, not three or more, though.
* c c
* / /
* a - b -> a - b - (c,d) but not a - b d -> a,b,(cde)
* \ \
* d e
*/
bool CanMerge(const NodeID intersection_node,
const IntersectionShape &intersection,
std::size_t first_index,
std::size_t second_index) const;
// Perform an Actual Merge
IntersectionNormalizationOperation
DetermineMergeDirection(const IntersectionShapeData &lhs,
const IntersectionShapeData &rhs) const;
IntersectionShapeData MergeRoads(const IntersectionShapeData &destination,
const IntersectionShapeData &source) const;
IntersectionShapeData MergeRoads(const IntersectionNormalizationOperation direction,
const IntersectionShapeData &lhs,
const IntersectionShapeData &rhs,
const double opposite_bearing) const;
// Merge segregated roads to omit invalid turns in favor of treating segregated roads as
// one.
// This function combines roads the following way:
//
// * *
// * is converted to *
// v ^ +
// v ^ +
//
// The treatment results in a straight turn angle of 180º rather than a turn angle of approx
// 160
OSRM_ATTR_WARN_UNUSED
NormalizationResult MergeSegregatedRoads(const NodeID intersection_node,
IntersectionShape intersection) const;
// The counterpiece to mergeSegregatedRoads. While we can adjust roads that split up at the
// intersection itself, it can also happen that intersections are connected to joining roads.
//
// * *
// * is converted to *
// v a --- a ---
// v ^ +
// v ^ +
// b
//
// for the local view of b at a.
OSRM_ATTR_WARN_UNUSED
IntersectionShape AdjustBearingsForMergeAtDestination(const NodeID node_at_intersection,
IntersectionShape intersection) const;
};
} // namespace guidance
} // namespace extractor
} // namespace osrm
#endif /* OSRM_EXTRACTOR_GUIDANCE_INTERSECTION_NORMALIZER_HPP_ */

4
include/extractor/guidance/roundabout_handler.hpp
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@ -64,10 +64,6 @@ class RoundaboutHandler : public IntersectionHandler
const EdgeID via_eid, const EdgeID via_eid,
const Intersection &intersection) const; const Intersection &intersection) const;
void invalidateExitAgainstDirection(const NodeID from_nid,
const EdgeID via_eid,
Intersection &intersection) const;
// decide whether we lookk at a roundabout or a rotary // decide whether we lookk at a roundabout or a rotary
RoundaboutType getRoundaboutType(const NodeID nid) const; RoundaboutType getRoundaboutType(const NodeID nid) const;

18
include/extractor/guidance/turn_analysis.hpp
View File

@ -6,7 +6,6 @@
#include "extractor/guidance/intersection.hpp" #include "extractor/guidance/intersection.hpp"
#include "extractor/guidance/intersection_generator.hpp" #include "extractor/guidance/intersection_generator.hpp"
#include "extractor/guidance/intersection_normalization_operation.hpp" #include "extractor/guidance/intersection_normalization_operation.hpp"
#include "extractor/guidance/intersection_normalizer.hpp"
#include "extractor/guidance/motorway_handler.hpp" #include "extractor/guidance/motorway_handler.hpp"
#include "extractor/guidance/roundabout_handler.hpp" #include "extractor/guidance/roundabout_handler.hpp"
#include "extractor/guidance/sliproad_handler.hpp" #include "extractor/guidance/sliproad_handler.hpp"
@ -56,22 +55,6 @@ class TurnAnalysis
Intersection operator()(const NodeID node_prior_to_intersection, Intersection operator()(const NodeID node_prior_to_intersection,
const EdgeID entering_via_edge) const; const EdgeID entering_via_edge) const;
/*
* Returns a normalized intersection without any assigned turn types.
* This intersection can be used as input for intersection classification, turn lane assignment
* and similar.
*/
struct ShapeResult
{
// the basic shape, containing all turns
IntersectionShape intersection_shape;
// normalized shape, merged some roads into others, adjusted bearings
// see intersection_normalizer for further explanations
IntersectionNormalizer::NormalizationResult annotated_normalized_shape;
};
OSRM_ATTR_WARN_UNUSED
ShapeResult ComputeIntersectionShapes(const NodeID node_at_center_of_intersection) const;
// Select turn types based on the intersection shape // Select turn types based on the intersection shape
OSRM_ATTR_WARN_UNUSED OSRM_ATTR_WARN_UNUSED
Intersection AssignTurnTypes(const NodeID from_node, Intersection AssignTurnTypes(const NodeID from_node,
@ -83,7 +66,6 @@ class TurnAnalysis
private: private:
const util::NodeBasedDynamicGraph &node_based_graph; const util::NodeBasedDynamicGraph &node_based_graph;
const IntersectionGenerator intersection_generator; const IntersectionGenerator intersection_generator;
const IntersectionNormalizer intersection_normalizer;
const RoundaboutHandler roundabout_handler; const RoundaboutHandler roundabout_handler;
const MotorwayHandler motorway_handler; const MotorwayHandler motorway_handler;
const TurnHandler turn_handler; const TurnHandler turn_handler;

31
include/extractor/intersection/intersection_analysis.hpp
View File

@ -2,6 +2,7 @@
#define OSRM_EXTRACTOR_INTERSECTION_INTERSECTION_ANALYSIS_HPP #define OSRM_EXTRACTOR_INTERSECTION_INTERSECTION_ANALYSIS_HPP
#include "extractor/compressed_edge_container.hpp" #include "extractor/compressed_edge_container.hpp"
#include "extractor/guidance/mergable_road_detector.hpp"
#include "extractor/guidance/turn_lane_types.hpp" #include "extractor/guidance/turn_lane_types.hpp"
#include "extractor/intersection/intersection_edge.hpp" #include "extractor/intersection/intersection_edge.hpp"
#include "extractor/restriction_index.hpp" #include "extractor/restriction_index.hpp"
@ -25,24 +26,36 @@ IntersectionEdges getIncomingEdges(const util::NodeBasedDynamicGraph &graph,
IntersectionEdges getOutgoingEdges(const util::NodeBasedDynamicGraph &graph, IntersectionEdges getOutgoingEdges(const util::NodeBasedDynamicGraph &graph,
const NodeID intersection); const NodeID intersection);
IntersectionEdgeBearings std::pair<IntersectionEdgeGeometries, std::unordered_set<EdgeID>>
getIntersectionBearings(const util::NodeBasedDynamicGraph &graph, getIntersectionGeometries(const util::NodeBasedDynamicGraph &graph,
const extractor::CompressedEdgeContainer &compressed_geometries, const extractor::CompressedEdgeContainer &compressed_geometries,
const std::vector<util::Coordinate> &node_coordinates, const std::vector<util::Coordinate> &node_coordinates,
const NodeID intersection); const guidance::MergableRoadDetector &detector,
const NodeID intersection);
guidance::IntersectionView
convertToIntersectionView(const util::NodeBasedDynamicGraph &graph,
const EdgeBasedNodeDataContainer &node_data_container,
const RestrictionMap &restriction_map,
const std::unordered_set<NodeID> &barrier_nodes,
const IntersectionEdgeGeometries &edge_geometries,
const guidance::TurnLanesIndexedArray &turn_lanes_data,
const IntersectionEdge &incoming_edge,
const IntersectionEdges &outgoing_edges,
const std::unordered_set<EdgeID> &merged_edges);
bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph, bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
const EdgeBasedNodeDataContainer &node_data_container, const EdgeBasedNodeDataContainer &node_data_container,
const RestrictionMap &restriction_map, const RestrictionMap &restriction_map,
const std::unordered_set<NodeID> &barrier_nodes, const std::unordered_set<NodeID> &barrier_nodes,
const IntersectionEdgeBearings &bearings, const IntersectionEdgeGeometries &geometries,
const guidance::TurnLanesIndexedArray &turn_lanes_data, const guidance::TurnLanesIndexedArray &turn_lanes_data,
const IntersectionEdge &from, const IntersectionEdge &from,
const IntersectionEdge &to); const IntersectionEdge &to);
double computeTurnAngle(const IntersectionEdgeBearings &bearings, double findEdgeBearing(const IntersectionEdgeGeometries &geometries, const EdgeID &edge);
const IntersectionEdge &from,
const IntersectionEdge &to); double findEdgeLength(const IntersectionEdgeGeometries &geometries, const EdgeID &edge);
} }
} }
} }

10
include/extractor/intersection/intersection_edge.hpp
View File

@ -26,15 +26,17 @@ struct IntersectionEdge
using IntersectionEdges = std::vector<IntersectionEdge>; using IntersectionEdges = std::vector<IntersectionEdge>;
struct IntersectionEdgeBearing struct IntersectionEdgeGeometry
{ {
EdgeID edge; EdgeID edge;
float bearing; double initial_bearing;
double perceived_bearing;
double length;
bool operator<(const IntersectionEdgeBearing &other) const { return edge < other.edge; } bool operator<(const IntersectionEdgeGeometry &other) const { return edge < other.edge; }
}; };
using IntersectionEdgeBearings = std::vector<IntersectionEdgeBearing>; using IntersectionEdgeGeometries = std::vector<IntersectionEdgeGeometry>;
} }
} }
} }

218
src/extractor/edge_based_graph_factory.cpp
View File

@ -443,6 +443,17 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
turn_analysis, turn_analysis,
lane_data_map); lane_data_map);
// TODO: add a MergableRoadDetector instance, to be deleted later
guidance::CoordinateExtractor coordinate_extractor(
m_node_based_graph, m_compressed_edge_container, m_coordinates);
guidance::MergableRoadDetector mergable_road_detector(m_node_based_graph,
m_edge_based_node_container,
m_coordinates,
turn_analysis.GetIntersectionGenerator(),
coordinate_extractor,
name_table,
street_name_suffix_table);
bearing_class_by_node_based_node.resize(m_node_based_graph.GetNumberOfNodes(), bearing_class_by_node_based_node.resize(m_node_based_graph.GetNumberOfNodes(),
std::numeric_limits<std::uint32_t>::max()); std::numeric_limits<std::uint32_t>::max());
@ -545,7 +556,7 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
const auto node_based_edge_from, const auto node_based_edge_from,
const auto node_at_center_of_intersection, const auto node_at_center_of_intersection,
const auto node_based_edge_to, const auto node_based_edge_to,
const auto &intersection, const auto incoming_bearing,
const auto &turn, const auto &turn,
const auto entry_class_id) { const auto entry_class_id) {
@ -578,7 +589,7 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
TurnData turn_data = {turn.instruction, TurnData turn_data = {turn.instruction,
turn.lane_data_id, turn.lane_data_id,
entry_class_id, entry_class_id,
util::guidance::TurnBearing(intersection[0].bearing), util::guidance::TurnBearing(incoming_bearing),
util::guidance::TurnBearing(turn.bearing)}; util::guidance::TurnBearing(turn.bearing)};
// compute weight and duration penalties // compute weight and duration penalties
@ -664,59 +675,20 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
node_at_center_of_intersection < end; node_at_center_of_intersection < end;
++node_at_center_of_intersection) ++node_at_center_of_intersection)
{ {
// We capture the thread-local work in these objects, then flush
int new_turns = 0, old_turns = 0; // them in a controlled manner at the end of the parallel range
std::cout << "=== node_at_center_of_intersection "
<< node_at_center_of_intersection << "\n";
const auto &incoming_edges = intersection::getIncomingEdges( const auto &incoming_edges = intersection::getIncomingEdges(
m_node_based_graph, node_at_center_of_intersection); m_node_based_graph, node_at_center_of_intersection);
const auto &outgoing_edges = intersection::getOutgoingEdges( const auto &outgoing_edges = intersection::getOutgoingEdges(
m_node_based_graph, node_at_center_of_intersection); m_node_based_graph, node_at_center_of_intersection);
const auto &edge_bearings = const auto &edge_geometries_and_merged_edges =
intersection::getIntersectionBearings(m_node_based_graph, intersection::getIntersectionGeometries(m_node_based_graph,
m_compressed_edge_container, m_compressed_edge_container,
m_coordinates, m_coordinates,
node_at_center_of_intersection); mergable_road_detector,
node_at_center_of_intersection);
std::cout << "=== new turns \n"; const auto &edge_geometries = edge_geometries_and_merged_edges.first;
for (const auto &incoming_edge : incoming_edges) const auto &merged_edge_ids = edge_geometries_and_merged_edges.second;
{
for (const auto &outgoing_edge : outgoing_edges)
{
const auto turn_angle = intersection::computeTurnAngle(
edge_bearings, incoming_edge, outgoing_edge);
std::cout << incoming_edge.node << "," << incoming_edge.edge << " -> "
<< outgoing_edge.node << "," << outgoing_edge.edge << " -> "
<< m_node_based_graph.GetTarget(outgoing_edge.edge)
<< " is allowed "
<< intersection::isTurnAllowed(m_node_based_graph,
m_edge_based_node_container,
node_restriction_map,
m_barrier_nodes,
edge_bearings,
turn_lanes_data,
incoming_edge,
outgoing_edge)
<< " angle " << turn_angle << "\n";
new_turns += intersection::isTurnAllowed(m_node_based_graph,
m_edge_based_node_container,
node_restriction_map,
m_barrier_nodes,
edge_bearings,
turn_lanes_data,
incoming_edge,
outgoing_edge);
}
}
// We capture the thread-local work in these objects, then flush
// them in a controlled manner at the end of the parallel range
const auto shape_result =
turn_analysis.ComputeIntersectionShapes(node_at_center_of_intersection);
// all nodes in the graph are connected in both directions. We check all // all nodes in the graph are connected in both directions. We check all
// outgoing nodes to find the incoming edge. This is a larger search overhead, // outgoing nodes to find the incoming edge. This is a larger search overhead,
@ -736,45 +708,32 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
// From the flags alone, we cannot determine which nodes are connected to // From the flags alone, we cannot determine which nodes are connected to
// `b` by an outgoing edge. Therefore, we have to search all connected edges for // `b` by an outgoing edge. Therefore, we have to search all connected edges for
// edges entering `b` // edges entering `b`
std::cout << "=== old turns \n";
for (const EdgeID outgoing_edge : for (const auto &incoming_edge : incoming_edges)
m_node_based_graph.GetAdjacentEdgeRange(node_at_center_of_intersection))
{ {
const NodeID node_along_road_entering =
m_node_based_graph.GetTarget(outgoing_edge);
const auto incoming_edge = m_node_based_graph.FindEdge(
node_along_road_entering, node_at_center_of_intersection);
if (m_node_based_graph.GetEdgeData(incoming_edge).reversed)
continue;
++node_based_edge_counter; ++node_based_edge_counter;
auto intersection_with_flags_and_angles = const auto intersection_view =
turn_analysis.GetIntersectionGenerator() convertToIntersectionView(m_node_based_graph,
.TransformIntersectionShapeIntoView( m_edge_based_node_container,
node_along_road_entering, node_restriction_map,
incoming_edge, m_barrier_nodes,
shape_result.annotated_normalized_shape.normalized_shape, edge_geometries,
shape_result.intersection_shape, turn_lanes_data,
shape_result.annotated_normalized_shape.performed_merges); incoming_edge,
outgoing_edges,
merged_edge_ids);
auto intersection = auto intersection = turn_analysis.AssignTurnTypes(
turn_analysis.AssignTurnTypes(node_along_road_entering, incoming_edge.node, incoming_edge.edge, intersection_view);
incoming_edge,
intersection_with_flags_and_angles);
OSRM_ASSERT(intersection.valid(), OSRM_ASSERT(intersection.valid(),
m_coordinates[node_at_center_of_intersection]); m_coordinates[node_at_center_of_intersection]);
intersection = turn_lane_handler.assignTurnLanes( intersection = turn_lane_handler.assignTurnLanes(
node_along_road_entering, incoming_edge, std::move(intersection)); incoming_edge.node, incoming_edge.edge, std::move(intersection));
// the entry class depends on the turn, so we have to classify the // the entry class depends on the turn, so we have to classify the
// interesction for // interesction for every edge
// every edge
const auto turn_classification = classifyIntersection( const auto turn_classification = classifyIntersection(
intersection, m_coordinates[node_at_center_of_intersection]); intersection, m_coordinates[node_at_center_of_intersection]);
@ -792,18 +751,31 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
// check if we are turning off a via way // check if we are turning off a via way
const auto turning_off_via_way = way_restriction_map.IsViaWay( const auto turning_off_via_way = way_restriction_map.IsViaWay(
node_along_road_entering, node_at_center_of_intersection); incoming_edge.node, node_at_center_of_intersection);
for (const auto &turn : intersection) // Save reversed incoming bearing to compute turn angles
const auto reversed_incoming_bearing = util::bearing::reverse(
findEdgeBearing(edge_geometries, incoming_edge.edge));
for (const auto &outgoing_edge : outgoing_edges)
{ {
// only keep valid turns if (!intersection::isTurnAllowed(m_node_based_graph,
if (!turn.entry_allowed) m_edge_based_node_container,
node_restriction_map,
m_barrier_nodes,
edge_geometries,
turn_lanes_data,
incoming_edge,
outgoing_edge))
continue; continue;
old_turns += 1; const auto turn =
std::cout << node_along_road_entering << " -> " std::find_if(intersection.begin(),
<< node_at_center_of_intersection << " -> " intersection.end(),
<< m_node_based_graph.GetTarget(turn.eid) << "\n"; [edge = outgoing_edge.edge](const auto &road) {
return road.eid == edge;
});
BOOST_ASSERT(turn != intersection.end());
// In case a way restriction starts at a given location, add a turn onto // In case a way restriction starts at a given location, add a turn onto
// every artificial node eminating here. // every artificial node eminating here.
@ -826,22 +798,22 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
// duplicated node associated with the turn. (e.g. ab via bc switches bc // duplicated node associated with the turn. (e.g. ab via bc switches bc
// to bc_dup) // to bc_dup)
auto const target_id = way_restriction_map.RemapIfRestricted( auto const target_id = way_restriction_map.RemapIfRestricted(
nbe_to_ebn_mapping[turn.eid], nbe_to_ebn_mapping[outgoing_edge.edge],
node_along_road_entering, incoming_edge.node,
node_at_center_of_intersection, outgoing_edge.node,
m_node_based_graph.GetTarget(turn.eid), m_node_based_graph.GetTarget(outgoing_edge.edge),
m_number_of_edge_based_nodes); m_number_of_edge_based_nodes);
{ // scope to forget edge_with_data after { // scope to forget edge_with_data after
const auto edge_with_data_and_condition = const auto edge_with_data_and_condition =
generate_edge(nbe_to_ebn_mapping[incoming_edge], generate_edge(nbe_to_ebn_mapping[incoming_edge.edge],
target_id, target_id,
node_along_road_entering, incoming_edge.node,
incoming_edge, incoming_edge.edge,
node_at_center_of_intersection, outgoing_edge.node,
turn.eid, outgoing_edge.edge,
intersection, reversed_incoming_bearing,
turn, *turn,
entry_class_id); entry_class_id);
buffer->continuous_data.edges_list.push_back( buffer->continuous_data.edges_list.push_back(
@ -868,7 +840,7 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
if (turning_off_via_way) if (turning_off_via_way)
{ {
const auto duplicated_nodes = way_restriction_map.DuplicatedNodeIDs( const auto duplicated_nodes = way_restriction_map.DuplicatedNodeIDs(
node_along_road_entering, node_at_center_of_intersection); incoming_edge.node, node_at_center_of_intersection);
// next to the normal restrictions tracked in `entry_allowed`, via // next to the normal restrictions tracked in `entry_allowed`, via
// ways might introduce additional restrictions. These are handled // ways might introduce additional restrictions. These are handled
@ -876,12 +848,12 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
for (auto duplicated_node_id : duplicated_nodes) for (auto duplicated_node_id : duplicated_nodes)
{ {
const auto from_id = const auto from_id =
m_number_of_edge_based_nodes - NodeID(m_number_of_edge_based_nodes -
way_restriction_map.NumberOfDuplicatedNodes() + way_restriction_map.NumberOfDuplicatedNodes() +
duplicated_node_id; duplicated_node_id);
auto const node_at_end_of_turn = auto const node_at_end_of_turn =
m_node_based_graph.GetTarget(turn.eid); m_node_based_graph.GetTarget(outgoing_edge.edge);
const auto is_way_restricted = way_restriction_map.IsRestricted( const auto is_way_restricted = way_restriction_map.IsRestricted(
duplicated_node_id, node_at_end_of_turn); duplicated_node_id, node_at_end_of_turn);
@ -896,14 +868,14 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
// add into delayed data // add into delayed data
auto edge_with_data_and_condition = auto edge_with_data_and_condition =
generate_edge(NodeID(from_id), generate_edge(from_id,
nbe_to_ebn_mapping[turn.eid], nbe_to_ebn_mapping[outgoing_edge.edge],
node_along_road_entering, incoming_edge.node,
incoming_edge, incoming_edge.edge,
node_at_center_of_intersection, outgoing_edge.node,
turn.eid, outgoing_edge.edge,
intersection, reversed_incoming_bearing,
turn, *turn,
entry_class_id); entry_class_id);
buffer->delayed_data.push_back( buffer->delayed_data.push_back(
@ -920,8 +892,8 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
{ {
// add a new conditional for the edge we just created // add a new conditional for the edge we just created
buffer->conditionals.push_back( buffer->conditionals.push_back(
{NodeID(from_id), {from_id,
nbe_to_ebn_mapping[turn.eid], nbe_to_ebn_mapping[outgoing_edge.edge],
{static_cast<std::uint64_t>(-1), {static_cast<std::uint64_t>(-1),
m_coordinates[node_at_center_of_intersection], m_coordinates[node_at_center_of_intersection],
restriction.condition}}); restriction.condition}});
@ -930,14 +902,14 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
else else
{ {
auto edge_with_data_and_condition = auto edge_with_data_and_condition =
generate_edge(NodeID(from_id), generate_edge(from_id,
nbe_to_ebn_mapping[turn.eid], nbe_to_ebn_mapping[outgoing_edge.edge],
node_along_road_entering, incoming_edge.node,
incoming_edge, incoming_edge.edge,
node_at_center_of_intersection, outgoing_edge.node,
turn.eid, outgoing_edge.edge,
intersection, reversed_incoming_bearing,
turn, *turn,
entry_class_id); entry_class_id);
buffer->delayed_data.push_back( buffer->delayed_data.push_back(
@ -953,10 +925,6 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
} }
} }
} }
std::cout << "new_turns " << new_turns << " old_turns " << old_turns << "\n";
OSRM_ASSERT(new_turns == old_turns,
m_coordinates[node_at_center_of_intersection]);
} }
return buffer; return buffer;

430
src/extractor/guidance/intersection_normalizer.cpp
View File

@ -1,430 +0,0 @@
#include "extractor/guidance/intersection_normalizer.hpp"
#include "util/bearing.hpp"
#include "util/coordinate_calculation.hpp"
#include <tuple>
#include <utility>
using osrm::util::angularDeviation;
namespace osrm
{
namespace extractor
{
namespace guidance
{
IntersectionNormalizer::IntersectionNormalizer(
const util::NodeBasedDynamicGraph &node_based_graph,
const EdgeBasedNodeDataContainer &node_data_container,
const std::vector<util::Coordinate> &coordinates,
const util::NameTable &name_table,
const SuffixTable &street_name_suffix_table,
const IntersectionGenerator &intersection_generator)
: node_based_graph(node_based_graph), intersection_generator(intersection_generator),
mergable_road_detector(node_based_graph,
node_data_container,
coordinates,
intersection_generator,
intersection_generator.GetCoordinateExtractor(),
name_table,
street_name_suffix_table)
{
}
IntersectionNormalizer::NormalizationResult IntersectionNormalizer::
operator()(const NodeID node_at_intersection, IntersectionShape intersection) const
{
const auto intersection_copy = intersection;
auto merged_shape_and_merges =
MergeSegregatedRoads(node_at_intersection, std::move(intersection));
merged_shape_and_merges.normalized_shape = AdjustBearingsForMergeAtDestination(
node_at_intersection, std::move(merged_shape_and_merges.normalized_shape));
return merged_shape_and_merges;
}
bool IntersectionNormalizer::CanMerge(const NodeID intersection_node,
const IntersectionShape &intersection,
std::size_t fist_index_in_ccw,
std::size_t second_index_in_ccw) const
{
BOOST_ASSERT(((fist_index_in_ccw + 1) % intersection.size()) == second_index_in_ccw);
// don't merge on degree two, since it's most likely a bollard/traffic light or a round way
if (intersection.size() <= 2)
return false;
const auto can_merge = mergable_road_detector.CanMergeRoad(
intersection_node, intersection[fist_index_in_ccw], intersection[second_index_in_ccw]);
/*
* Merging should never depend on order/never merge more than two roads. To ensure that we don't
* merge anything that is impacted by neighboring roads (e.g. three roads of the same name as in
* parking lots/border checkpoints), we check if the neigboring roads would be merged as well.
* In that case, we cannot merge, since we would end up merging multiple items together
*/
const auto is_distinct = [&]() {
const auto next_index_in_ccw = (second_index_in_ccw + 1) % intersection.size();
const auto distinct_to_next_in_ccw = mergable_road_detector.IsDistinctFrom(
intersection[second_index_in_ccw], intersection[next_index_in_ccw]);
const auto prev_index_in_ccw =
(fist_index_in_ccw + intersection.size() - 1) % intersection.size();
const auto distinct_to_prev_in_ccw = mergable_road_detector.IsDistinctFrom(
intersection[prev_index_in_ccw], intersection[fist_index_in_ccw]);
return distinct_to_next_in_ccw && distinct_to_prev_in_ccw;
};
// use lazy evaluation to check only if mergable
return can_merge && is_distinct();
}
IntersectionNormalizationOperation
IntersectionNormalizer::DetermineMergeDirection(const IntersectionShapeData &lhs,
const IntersectionShapeData &rhs) const
{
if (node_based_graph.GetEdgeData(lhs.eid).reversed)
return {lhs.eid, rhs.eid};
else
return {rhs.eid, lhs.eid};
}
IntersectionShapeData IntersectionNormalizer::MergeRoads(const IntersectionShapeData &into,
const IntersectionShapeData &from) const
{
// we only merge small angles. If the difference between both is large, we are looking at a
// bearing leading north. Such a bearing cannot be handled via the basic average. In this
// case we actually need to shift the bearing by half the difference.
const auto aroundZero = [](const double first, const double second) {
return (std::max(first, second) - std::min(first, second)) >= 180;
};
// find the angle between two other angles
const auto combineAngles = [aroundZero](const double first, const double second) {
if (!aroundZero(first, second))
return .5 * (first + second);
else
{
const auto offset = angularDeviation(first, second);
auto new_angle = std::max(first, second) + .5 * offset;
if (new_angle >= 360)
return new_angle - 360;
return new_angle;
}
};
auto result = into;
BOOST_ASSERT(!node_based_graph.GetEdgeData(into.eid).reversed);
result.bearing = combineAngles(into.bearing, from.bearing);
BOOST_ASSERT(0 <= result.bearing && result.bearing < 360.0);
return result;
}
IntersectionShapeData
IntersectionNormalizer::MergeRoads(const IntersectionNormalizationOperation direction,
const IntersectionShapeData &lhs,
const IntersectionShapeData &rhs,
const double opposite_bearing) const
{
// In some intersections, turning roads can introduce artificial turns if we merge here.
// Consider a scenario like:
// 
// a . g - f
// | .
// | .
// |.
// d-b--------e
// |
// c
// 
// Merging `bgf` and `be` would introduce an angle, even though d-b-e is perfectly straight
// We don't change the angle, if such an opposite road exists
if (direction.merged_eid == lhs.eid)
{
// change the angle only if the opposite direction is not nearly straight
if (angularDeviation(opposite_bearing, rhs.bearing) >
(STRAIGHT_ANGLE - MAXIMAL_ALLOWED_NO_TURN_DEVIATION))
return rhs;
else
return MergeRoads(rhs, lhs);
}
else
{
if (angularDeviation(opposite_bearing, lhs.bearing) >
(STRAIGHT_ANGLE - MAXIMAL_ALLOWED_NO_TURN_DEVIATION))
return lhs;
else
return MergeRoads(lhs, rhs);
}
}
/*
* Segregated Roads often merge onto a single intersection.
* While technically representing different roads, they are
* often looked at as a single road.
* Due to the merging, turn Angles seem off, wenn we compute them from the
* initial positions.
*
* b<b<b<b(1)<b<b<b
* aaaaa-b
* b>b>b>b(2)>b>b>b
*
* Would be seen as a slight turn going fro a to (2). A Sharp turn going from
* (1) to (2).
*
* In cases like these, we megre this segregated roads into a single road to
* end up with a case like:
*
* aaaaa-bbbbbb
*
* for the turn representation.
* Anything containing the first u-turn in a merge affects all other angles
* and is handled separately from all others.
*/
IntersectionNormalizer::NormalizationResult
IntersectionNormalizer::MergeSegregatedRoads(const NodeID intersection_node,
IntersectionShape intersection) const
{
const auto getRight = [&](std::size_t index) {
return (index + intersection.size() - 1) % intersection.size();
};
// This map stores for all edges that participated in a merging operation in which edge id they
// end up in the end. We only store what we have merged into other edges.
std::vector<IntersectionNormalizationOperation> merging_map;
const auto merge = [this, &merging_map](const IntersectionShapeData &first,
const IntersectionShapeData &second,
const double opposite_bearing) {
const auto direction = DetermineMergeDirection(first, second);
BOOST_ASSERT(
std::find_if(merging_map.begin(), merging_map.end(), [direction](const auto pair) {
return pair.merged_eid == direction.merged_eid;
}) == merging_map.end());
merging_map.push_back(direction);
return MergeRoads(direction, first, second, opposite_bearing);
};
if (intersection.size() <= 1)
return {intersection, merging_map};
const auto intersection_copy = intersection;
const auto opposite_bearing = [this, intersection_copy](const IntersectionShapeData &lhs,
const IntersectionShapeData &rhs) {
if (node_based_graph.GetEdgeData(lhs.eid).reversed)
{
return intersection_copy.FindClosestBearing(util::bearing::reverse(rhs.bearing))
->bearing;
}
else
{
BOOST_ASSERT(node_based_graph.GetEdgeData(rhs.eid).reversed);
return intersection_copy.FindClosestBearing(util::bearing::reverse(lhs.bearing))
->bearing;
}
};
// check for merges including the basic u-turn
// these result in an adjustment of all other angles. This is due to how these angles are
// perceived. Considering the following example:
//
// c b
// Y
// a
//
// coming from a to b (given a road that splits at the fork into two one-ways), the turn is not
// considered as a turn but rather as going straight.
// Now if we look at the situation merging:
//
// a b
// \ /
// e - + - d
// |
// c
//
// With a,b representing the same road, the intersection itself represents a classif for way
// intersection so we handle it like
//
// (a),b
// |
// e - + - d
// |
// c
//
// To be able to consider this adjusted representation down the line, we merge some roads.
// If the merge occurs at the u-turn edge, we need to adjust all angles, though, since they are
// with respect to the now changed perceived location of a. If we move (a) to the left, we add
// the difference to all angles. Otherwise we subtract it.
// these result in an adjustment of all other angles
if (CanMerge(intersection_node, intersection, intersection.size() - 1, 0))
{
// moving `a` to the left
const auto opposite = opposite_bearing(intersection.front(), intersection.back());
intersection[0] = merge(intersection.front(), intersection.back(), opposite);
// FIXME if we have a left-sided country, we need to switch this off and enable it
// below
intersection.pop_back();
}
else if (CanMerge(intersection_node, intersection, 0, 1))
{
const auto opposite = opposite_bearing(intersection.front(), intersection[1]);
intersection[0] = merge(intersection.front(), intersection[1], opposite);
intersection.erase(intersection.begin() + 1);
}
// a merge including the first u-turn requires an adjustment of the turn angles
// therefore these are handled prior to this step
for (std::size_t index = 2; index < intersection.size(); ++index)
{
if (CanMerge(intersection_node, intersection, getRight(index), index))
{
const auto opposite =
opposite_bearing(intersection[getRight(index)], intersection[index]);
intersection[getRight(index)] =
merge(intersection[getRight(index)], intersection[index], opposite);
intersection.erase(intersection.begin() + index);
--index;
}
}
return {intersection, merging_map};
}
// OSM can have some very steep angles for joining roads. Considering the following intersection:
// x
// |
// v __________c
// /
// a ---d
// \ __________b
//
// with c->d as a oneway
// and d->b as a oneway, the turn von x->d is actually a turn from x->a. So when looking at the
// intersection coming from x, we want to interpret the situation as
// x
// |
// a __ d __ v__________c
// |
// |_______________b
//
// Where we see the turn to `d` as a right turn, rather than going straight.
// We do this by adjusting the local turn angle at `x` to turn onto `d` to be reflective of this
// situation, where `v` would be the node at the intersection.
IntersectionShape
IntersectionNormalizer::AdjustBearingsForMergeAtDestination(const NodeID node_at_intersection,
IntersectionShape intersection) const
{
// nothing to do for dead ends
if (intersection.size() <= 1)
return intersection;
// we don't adjust any road that is longer than 30 meters (between centers of intersections),
// since the road is probably too long otherwise to impact perception.
const double constexpr PRUNING_DISTANCE = 30;
// never adjust u-turns
for (std::size_t index = 0; index < intersection.size(); ++index)
{
auto &road = intersection[index];
// only consider roads that are close
if (road.segment_length > PRUNING_DISTANCE)
continue;
// to find out about the above situation, we need to look at the next intersection (at d in
// the example). If the initial road can be merged to the left/right, we are about to adjust
// the angle.
const auto next_intersection_along_road = intersection_generator.ComputeIntersectionShape(
node_based_graph.GetTarget(road.eid), node_at_intersection);
if (next_intersection_along_road.size() <= 1)
continue;
const auto node_at_next_intersection = node_based_graph.GetTarget(road.eid);
const auto adjustAngle = [](double angle, double offset) {
angle += offset;
if (angle > 360)
return angle - 360.;
else if (angle < 0)
return angle + 360.;
return angle;
};
const auto range = node_based_graph.GetAdjacentEdgeRange(node_at_next_intersection);
if (range.size() <= 1)
continue;
// the order does not matter
const auto get_offset = [](const IntersectionShapeData &lhs,
const IntersectionShapeData &rhs) {
return 0.5 * angularDeviation(lhs.bearing, rhs.bearing);
};
// When offsetting angles in our turns, we don't want to get past the next turn. This
// function simply limits an offset to be at most half the distance to the next turn in the
// offfset direction
const auto get_corrected_offset = [](
const double offset,
const IntersectionShapeData &road,
const IntersectionShapeData &next_road_in_offset_direction) {
const auto offset_limit =
angularDeviation(road.bearing, next_road_in_offset_direction.bearing);
// limit the offset with an additional buffer
return (offset + MAXIMAL_ALLOWED_NO_TURN_DEVIATION > offset_limit) ? 0.5 * offset_limit
: offset;
};
// only if straighmost angles get smaller, we consider it an improvement
auto const improves_straightmost = [&](auto const index, auto const offset) {
const auto itr = next_intersection_along_road.FindClosestBearing(
util::bearing::reverse(next_intersection_along_road[index].bearing));
const auto angle = util::bearing::angleBetween(
util::bearing::reverse(itr->bearing), next_intersection_along_road[index].bearing);
return util::angularDeviation(angle, STRAIGHT_ANGLE) >
util::angularDeviation(angle + offset, STRAIGHT_ANGLE);
};
// check if the u-turn edge at the next intersection could be merged to the left/right. If
// this is the case and the road is not far away (see previous distance check), if
// influences the perceived angle.
if (CanMerge(node_at_next_intersection, next_intersection_along_road, 0, 1))
{
const auto offset =
get_offset(next_intersection_along_road[0], next_intersection_along_road[1]);
if (improves_straightmost(0, -offset) && improves_straightmost(1, offset))
{
const auto corrected_offset = get_corrected_offset(
offset,
road,
intersection[(intersection.size() + index - 1) % intersection.size()]);
// at the target intersection, we merge to the right, so we need to shift the
// current
// angle to the left
road.bearing = adjustAngle(road.bearing, corrected_offset);
}
}
else if (CanMerge(node_at_next_intersection,
next_intersection_along_road,
next_intersection_along_road.size() - 1,
0))
{
const auto offset =
get_offset(next_intersection_along_road[0],
next_intersection_along_road[next_intersection_along_road.size() - 1]);
if (improves_straightmost(0, offset) &&
improves_straightmost(next_intersection_along_road.size() - 1, -offset))
{
const auto corrected_offset = get_corrected_offset(
offset, road, intersection[(index + 1) % intersection.size()]);
// at the target intersection, we merge to the left, so we need to shift the current
// angle to the right
road.bearing = adjustAngle(road.bearing, -corrected_offset);
}
}
}
return intersection;
}
} // namespace guidance
} // namespace extractor
} // namespace osrm

72
src/extractor/guidance/roundabout_handler.cpp
View File

@ -56,7 +56,6 @@ bool RoundaboutHandler::canProcess(const NodeID from_nid,
Intersection RoundaboutHandler:: Intersection RoundaboutHandler::
operator()(const NodeID from_nid, const EdgeID via_eid, Intersection intersection) const operator()(const NodeID from_nid, const EdgeID via_eid, Intersection intersection) const
{ {
invalidateExitAgainstDirection(from_nid, via_eid, intersection);
const auto flags = getRoundaboutFlags(from_nid, via_eid, intersection); const auto flags = getRoundaboutFlags(from_nid, via_eid, intersection);
const auto roundabout_type = getRoundaboutType(node_based_graph.GetTarget(via_eid)); const auto roundabout_type = getRoundaboutType(node_based_graph.GetTarget(via_eid));
// find the radius of the roundabout // find the radius of the roundabout
@ -107,77 +106,6 @@ detail::RoundaboutFlags RoundaboutHandler::getRoundaboutFlags(
return {on_roundabout, can_enter_roundabout, can_exit_roundabout_separately}; return {on_roundabout, can_enter_roundabout, can_exit_roundabout_separately};
} }
void RoundaboutHandler::invalidateExitAgainstDirection(const NodeID from_nid,
const EdgeID via_eid,
Intersection &intersection) const
{
const auto &in_edge_class = node_based_graph.GetEdgeData(via_eid).flags;
if (in_edge_class.roundabout || in_edge_class.circular)
return;
// Find range in which exits that must be invalidated (shaded areas):
// exit..end exit..end begin..exit for ↺ roundabouts
// *************************************
// * <--. ^ <--. / <--. *
// * | / | /░ | *
// * |/ |v░░ -->| *
// * |^ |\ ░ ░░░|\ *
// * |░\ |░\░ ░░░| \ *
// * --'░░░\ --'░░░v --' v *
// *************************************
//
// begin..exit begin..exit exit..end for ↻ roundabouts
// *************************************
// * --.░░░^ --.░░░/ --. ^ *
// * |░/░ |░/ ░░░| / *
// * |/░░ |v ░░░|/ *
// * |^░░ |\ -->| *
// * | \░ | \ | *
// * <--' \ <--' v <--' *
// *************************************
bool roundabout_entry_first = false;
auto invalidate_from = intersection.end(), invalidate_to = intersection.end();
for (auto road = intersection.begin(); road != intersection.end(); ++road)
{
const auto &edge = node_based_graph.GetEdgeData(road->eid);
if (edge.flags.roundabout || edge.flags.circular)
{
if (edge.reversed)
{
if (roundabout_entry_first)
{ // invalidate turns in range exit..end
invalidate_from = road + 1;
invalidate_to = intersection.end();
}
else
{ // invalidate turns in range begin..exit
invalidate_from = intersection.begin() + 1;
invalidate_to = road;
}
}
else
{
roundabout_entry_first = true;
}
}
}
OSRM_ASSERT(invalidate_from <= invalidate_to, coordinates[from_nid]);
// Exiting roundabouts at an entry point is technically a data-modelling issue.
// This workaround handles cases in which an exit precedes and entry. The resulting
// u-turn against the roundabout direction is invalidated.
for (; invalidate_from != invalidate_to; ++invalidate_from)
{
const auto &edge = node_based_graph.GetEdgeData(invalidate_from->eid);
if (!edge.flags.roundabout && !edge.flags.circular &&
node_based_graph.GetTarget(invalidate_from->eid) != from_nid)
{
invalidate_from->entry_allowed = false;
}
}
}
// If we want to see a roundabout as a turn, the exits have to be distinct enough to be seen a // If we want to see a roundabout as a turn, the exits have to be distinct enough to be seen a
// dedicated turns. We are limiting it to four-way intersections with well distinct bearings. // dedicated turns. We are limiting it to four-way intersections with well distinct bearings.
// All entry/roads and exit roads have to be simple. Not segregated roads. // All entry/roads and exit roads have to be simple. Not segregated roads.

37
src/extractor/guidance/turn_analysis.cpp
View File

@ -35,12 +35,6 @@ TurnAnalysis::TurnAnalysis(const util::NodeBasedDynamicGraph &node_based_graph,
barrier_nodes, barrier_nodes,
coordinates, coordinates,
compressed_edge_container), compressed_edge_container),
intersection_normalizer(node_based_graph,
node_data_container,
coordinates,
name_table,
street_name_suffix_table,
intersection_generator),
roundabout_handler(node_based_graph, roundabout_handler(node_based_graph,
node_data_container, node_data_container,
coordinates, coordinates,
@ -88,24 +82,6 @@ TurnAnalysis::TurnAnalysis(const util::NodeBasedDynamicGraph &node_based_graph,
{ {
} }
Intersection TurnAnalysis::operator()(const NodeID node_prior_to_intersection,
const EdgeID entering_via_edge) const
{
TurnAnalysis::ShapeResult shape_result =
ComputeIntersectionShapes(node_based_graph.GetTarget(entering_via_edge));
// assign valid flags to normalized_shape
const auto intersection_view = intersection_generator.TransformIntersectionShapeIntoView(
node_prior_to_intersection,
entering_via_edge,
shape_result.annotated_normalized_shape.normalized_shape,
shape_result.intersection_shape,
shape_result.annotated_normalized_shape.performed_merges);
// assign the turn types to the intersection
return AssignTurnTypes(node_prior_to_intersection, entering_via_edge, intersection_view);
}
Intersection TurnAnalysis::AssignTurnTypes(const NodeID node_prior_to_intersection, Intersection TurnAnalysis::AssignTurnTypes(const NodeID node_prior_to_intersection,
const EdgeID entering_via_edge, const EdgeID entering_via_edge,
const IntersectionView &intersection_view) const const IntersectionView &intersection_view) const
@ -191,19 +167,6 @@ Intersection TurnAnalysis::AssignTurnTypes(const NodeID node_prior_to_intersecti
return intersection; return intersection;
} }
TurnAnalysis::ShapeResult
TurnAnalysis::ComputeIntersectionShapes(const NodeID node_at_center_of_intersection) const
{
ShapeResult intersection_shape;
intersection_shape.intersection_shape =
intersection_generator.ComputeIntersectionShape(node_at_center_of_intersection);
intersection_shape.annotated_normalized_shape = intersection_normalizer(
node_at_center_of_intersection, intersection_shape.intersection_shape);
return intersection_shape;
}
// Sets basic turn types as fallback for otherwise unhandled turns // Sets basic turn types as fallback for otherwise unhandled turns
Intersection TurnAnalysis::setTurnTypes(const NodeID node_prior_to_intersection, Intersection TurnAnalysis::setTurnTypes(const NodeID node_prior_to_intersection,
const EdgeID, const EdgeID,

2
src/extractor/guidance/turn_lane_matcher.cpp
View File

@ -228,7 +228,6 @@ Intersection triviallyMatchLanesToTurns(Intersection intersection,
u_turn = 1; u_turn = 1;
road_index = 2; road_index = 2;
} }
intersection[u_turn].entry_allowed = true;
intersection[u_turn].instruction.type = TurnType::Continue; intersection[u_turn].instruction.type = TurnType::Continue;
intersection[u_turn].instruction.direction_modifier = DirectionModifier::UTurn; intersection[u_turn].instruction.direction_modifier = DirectionModifier::UTurn;
@ -268,7 +267,6 @@ Intersection triviallyMatchLanesToTurns(Intersection intersection,
} }
u_turn = intersection.size() - 1; u_turn = intersection.size() - 1;
} }
intersection[u_turn].entry_allowed = true;
intersection[u_turn].instruction.type = TurnType::Continue; intersection[u_turn].instruction.type = TurnType::Continue;
intersection[u_turn].instruction.direction_modifier = DirectionModifier::UTurn; intersection[u_turn].instruction.direction_modifier = DirectionModifier::UTurn;

509
src/extractor/intersection/intersection_analysis.cpp
View File

@ -1,8 +1,13 @@
#include "extractor/intersection/intersection_analysis.hpp" #include "extractor/intersection/intersection_analysis.hpp"
#include "util/assert.hpp"
#include "util/bearing.hpp" #include "util/bearing.hpp"
#include "util/coordinate_calculation.hpp" #include "util/coordinate_calculation.hpp"
#include "extractor/guidance/coordinate_extractor.hpp"
#include <boost/optional/optional_io.hpp>
namespace osrm namespace osrm
{ {
namespace extractor namespace extractor
@ -38,14 +43,14 @@ IntersectionEdges getOutgoingEdges(const util::NodeBasedDynamicGraph &graph,
for (const auto outgoing_edge : graph.GetAdjacentEdgeRange(intersection_node)) for (const auto outgoing_edge : graph.GetAdjacentEdgeRange(intersection_node))
{ {
if (!graph.GetEdgeData(outgoing_edge).reversed) // TODO: to use TurnAnalysis all outgoing edges are required, to be uncommented later
// if (!graph.GetEdgeData(outgoing_edge).reversed)
{ {
result.push_back({intersection_node, outgoing_edge}); result.push_back({intersection_node, outgoing_edge});
} }
} }
// Enforce ordering of outgoing edges BOOST_ASSERT(std::is_sorted(result.begin(), result.end()));
std::sort(result.begin(), result.end());
return result; return result;
} }
@ -65,7 +70,7 @@ getEdgeCoordinates(const extractor::CompressedEdgeContainer &compressed_geometri
// extracts the geometry in coordinates from the compressed edge container // extracts the geometry in coordinates from the compressed edge container
std::vector<util::Coordinate> result; std::vector<util::Coordinate> result;
const auto &geometry = compressed_geometries.GetBucketReference(edge); const auto &geometry = compressed_geometries.GetBucketReference(edge);
result.reserve(geometry.size() + 2); result.reserve(geometry.size() + 1);
result.push_back(node_coordinates[from_node]); result.push_back(node_coordinates[from_node]);
std::transform(geometry.begin(), std::transform(geometry.begin(),
@ -74,67 +79,399 @@ getEdgeCoordinates(const extractor::CompressedEdgeContainer &compressed_geometri
[&node_coordinates](const auto &compressed_edge) { [&node_coordinates](const auto &compressed_edge) {
return node_coordinates[compressed_edge.node_id]; return node_coordinates[compressed_edge.node_id];
}); });
result.push_back(node_coordinates[to_node]);
// filter duplicated coordinates // filter duplicated coordinates
result.erase(std::unique(result.begin(), result.end()), result.end()); result.erase(std::unique(result.begin(), result.end()), result.end());
return result; return result;
} }
IntersectionEdgeBearings namespace
getIntersectionBearings(const util::NodeBasedDynamicGraph &graph,
const extractor::CompressedEdgeContainer &compressed_geometries,
const std::vector<util::Coordinate> &node_coordinates,
const NodeID intersection_node)
{ {
IntersectionEdgeBearings result; double findAngleBisector(double alpha, double beta)
{
alpha *= M_PI / 180.;
beta *= M_PI / 180.;
const auto average =
180. * std::atan2(std::sin(alpha) + std::sin(beta), std::cos(alpha) + std::cos(beta)) /
M_PI;
return std::fmod(average + 360., 360.);
}
double findClosestOppositeBearing(const IntersectionEdgeGeometries &edge_geometries,
const double bearing)
{
BOOST_ASSERT(!edge_geometries.empty());
const auto min = std::min_element(
edge_geometries.begin(),
edge_geometries.end(),
[bearing = util::bearing::reverse(bearing)](const auto &lhs, const auto &rhs) {
return util::angularDeviation(lhs.perceived_bearing, bearing) <
util::angularDeviation(rhs.perceived_bearing, bearing);
});
return util::bearing::reverse(min->perceived_bearing);
}
std::pair<bool, double> findMergedBearing(const util::NodeBasedDynamicGraph &graph,
const IntersectionEdgeGeometries &edge_geometries,
std::size_t lhs_index,
std::size_t rhs_index,
bool neighbor_intersection)
{
// Function returns a pair with a flag and a value of bearing for merged roads
// If the flag is false the bearing must not be used as a merged value at neighbor intersections
using guidance::STRAIGHT_ANGLE;
using guidance::MAXIMAL_ALLOWED_NO_TURN_DEVIATION;
using util::bearing::angleBetween;
using util::angularDeviation;
const auto &lhs = edge_geometries[lhs_index];
const auto &rhs = edge_geometries[rhs_index];
BOOST_ASSERT(graph.GetEdgeData(lhs.edge).reversed != graph.GetEdgeData(rhs.edge).reversed);
const auto &entry = graph.GetEdgeData(lhs.edge).reversed ? rhs : lhs;
const auto opposite_bearing =
findClosestOppositeBearing(edge_geometries, entry.perceived_bearing);
const auto merged_bearing = findAngleBisector(rhs.perceived_bearing, lhs.perceived_bearing);
if (angularDeviation(angleBetween(opposite_bearing, entry.perceived_bearing), STRAIGHT_ANGLE) <
MAXIMAL_ALLOWED_NO_TURN_DEVIATION)
{
// In some intersections, turning roads can introduce artificial turns if we merge here.
// Consider a scenario like:
// 
// a . g - f
// | .
// | .
// |.
// d-b--------e
// |
// c
// 
// Merging `bgf` and `be` would introduce an angle, even though d-b-e is perfectly straight
// We don't change the angle, if such an opposite road exists
return {false, entry.perceived_bearing};
}
if (neighbor_intersection)
{
// Check that the merged bearing makes both turns closer to straight line
const auto turn_angle_lhs = angleBetween(opposite_bearing, lhs.perceived_bearing);
const auto turn_angle_rhs = angleBetween(opposite_bearing, rhs.perceived_bearing);
const auto turn_angle_new = angleBetween(opposite_bearing, merged_bearing);
if (util::angularDeviation(turn_angle_lhs, STRAIGHT_ANGLE) <
util::angularDeviation(turn_angle_new, STRAIGHT_ANGLE) ||
util::angularDeviation(turn_angle_rhs, STRAIGHT_ANGLE) <
util::angularDeviation(turn_angle_new, STRAIGHT_ANGLE))
return {false, opposite_bearing};
}
return {true, merged_bearing};
}
bool isRoadsPairMergeable(const guidance::MergableRoadDetector &detector,
const IntersectionEdgeGeometries &edge_geometries,
const NodeID intersection_node,
const std::size_t index)
{
const auto size = edge_geometries.size();
BOOST_ASSERT(index < size);
const auto &llhs = edge_geometries[(index + size - 1) % size];
const auto &lhs = edge_geometries[index];
const auto &rhs = edge_geometries[(index + 1) % size];
const auto &rrhs = edge_geometries[(index + 2) % size];
// TODO: check IsDistinctFrom - it is an angle and name-only check
// also check CanMergeRoad for all merging scenarios
return detector.IsDistinctFrom({llhs.edge, llhs.perceived_bearing, llhs.length},
{lhs.edge, lhs.perceived_bearing, lhs.length}) &&
detector.CanMergeRoad(intersection_node,
{lhs.edge, lhs.perceived_bearing, lhs.length},
{rhs.edge, rhs.perceived_bearing, rhs.length}) &&
detector.IsDistinctFrom({rhs.edge, rhs.perceived_bearing, rhs.length},
{rrhs.edge, rrhs.perceived_bearing, rrhs.length});
}
auto getIntersectionLanes(const util::NodeBasedDynamicGraph &graph, const NodeID intersection_node)
{
std::uint8_t max_lanes_intersection = 0;
for (auto outgoing_edge : graph.GetAdjacentEdgeRange(intersection_node))
{
max_lanes_intersection =
std::max(max_lanes_intersection,
graph.GetEdgeData(outgoing_edge).flags.road_classification.GetNumberOfLanes());
}
return max_lanes_intersection;
}
IntersectionEdgeGeometries
getIntersectionOutgoingGeometries(const util::NodeBasedDynamicGraph &graph,
const extractor::CompressedEdgeContainer &compressed_geometries,
const std::vector<util::Coordinate> &node_coordinates,
const NodeID intersection_node)
{
IntersectionEdgeGeometries edge_geometries;
// TODO: keep CoordinateExtractor to reproduce bearings, simplify later
const guidance::CoordinateExtractor coordinate_extractor(
graph, compressed_geometries, node_coordinates);
const auto max_lanes_intersection = getIntersectionLanes(graph, intersection_node);
// Collect outgoing edges
for (const auto outgoing_edge : graph.GetAdjacentEdgeRange(intersection_node)) for (const auto outgoing_edge : graph.GetAdjacentEdgeRange(intersection_node))
{ {
const auto remote_node = graph.GetTarget(outgoing_edge); const auto remote_node = graph.GetTarget(outgoing_edge);
const auto incoming_edge = graph.FindEdge(remote_node, intersection_node);
const auto &geometry = getEdgeCoordinates( const auto &geometry = getEdgeCoordinates(
compressed_geometries, node_coordinates, intersection_node, outgoing_edge, remote_node); compressed_geometries, node_coordinates, intersection_node, outgoing_edge, remote_node);
// TODO: add MergableRoadDetector logic // OSRM_ASSERT(geometry.size() >= 2, node_coordinates[intersection_node]);
const auto outgoing_bearing =
util::coordinate_calculation::bearing(geometry[0], geometry[1]);
result.push_back({outgoing_edge, static_cast<float>(outgoing_bearing)}); const auto close_coordinate =
result.push_back( coordinate_extractor.ExtractCoordinateAtLength(2. /*m*/, geometry);
{incoming_edge, static_cast<float>(util::bearing::reverse(outgoing_bearing))}); const auto initial_bearing =
util::coordinate_calculation::bearing(geometry[0], close_coordinate);
for (auto x : geometry) const auto representative_coordinate =
std::cout << x << ", "; graph.GetOutDegree(intersection_node) <= 2
std::cout << "\n"; ? coordinate_extractor.GetCoordinateCloseToTurn(
intersection_node, outgoing_edge, false, remote_node)
: coordinate_extractor.ExtractRepresentativeCoordinate(intersection_node,
outgoing_edge,
false,
remote_node,
max_lanes_intersection,
geometry);
const auto perceived_bearing =
util::coordinate_calculation::bearing(geometry[0], representative_coordinate);
const auto edge_length = util::coordinate_calculation::getLength(
geometry.begin(), geometry.end(), util::coordinate_calculation::haversineDistance);
edge_geometries.push_back({outgoing_edge, initial_bearing, perceived_bearing, edge_length});
} }
for (auto x : result) // TODO: remove to fix https://github.com/Project-OSRM/osrm-backend/issues/4704
std::cout << x.edge << "," << x.bearing << "; "; if (!edge_geometries.empty())
std::cout << "\n"; { // Adjust perceived bearings to keep the initial order with respect to the first edge
// Sort geometries by initial bearings
std::sort(edge_geometries.begin(),
edge_geometries.end(),
[base_bearing = util::bearing::reverse(edge_geometries.front().initial_bearing)](
const auto &lhs, const auto &rhs) {
return (util::bearing::angleBetween(lhs.initial_bearing, base_bearing) <
util::bearing::angleBetween(rhs.initial_bearing, base_bearing)) ||
(lhs.initial_bearing == rhs.initial_bearing &&
util::bearing::angleBetween(lhs.perceived_bearing,
rhs.perceived_bearing) < 180.);
});
// Enforce ordering of edges // Make a bearings ordering functor
std::sort(result.begin(), result.end()); const auto base_bearing = util::bearing::reverse(edge_geometries.front().perceived_bearing);
return result; const auto bearings_order = [base_bearing](const auto &lhs, const auto &rhs) {
return util::bearing::angleBetween(lhs.perceived_bearing, base_bearing) <
util::bearing::angleBetween(rhs.perceived_bearing, base_bearing);
};
// Check the perceived bearings order is the same as the initial one
for (auto curr = edge_geometries.begin(), next = std::next(curr);
next != edge_geometries.end();
++curr, ++next)
{
if (bearings_order(*next, *curr))
{ // If the true bearing is out of the initial order (next before current) then
// adjust the next bearing to keep the order. The adjustment angle is at most
// 0.5° or a half-angle between the current bearing and the base bearing.
// to prevent overlapping over base bearing + 360°.
const auto angle_adjustment = std::min(
.5,
util::restrictAngleToValidRange(base_bearing - curr->perceived_bearing) / 2.);
next->perceived_bearing =
util::restrictAngleToValidRange(curr->perceived_bearing + angle_adjustment);
}
}
}
return edge_geometries;
}
} }
auto findEdgeBearing(const IntersectionEdgeBearings &bearings, const EdgeID &edge) std::pair<IntersectionEdgeGeometries, std::unordered_set<EdgeID>>
getIntersectionGeometries(const util::NodeBasedDynamicGraph &graph,
const extractor::CompressedEdgeContainer &compressed_geometries,
const std::vector<util::Coordinate> &node_coordinates,
const guidance::MergableRoadDetector &detector,
const NodeID intersection_node)
{
IntersectionEdgeGeometries edge_geometries = getIntersectionOutgoingGeometries(
graph, compressed_geometries, node_coordinates, intersection_node);
const auto edges_number = edge_geometries.size();
std::vector<bool> merged_edges(edges_number, false);
// TODO: intersection views do not contain merged and not allowed edges
// but contain other restricted edges that are used in TurnAnalysis,
// to be deleted after TurnAnalysis refactoring
std::unordered_set<EdgeID> merged_edge_ids;
if (edges_number >= 3)
{ // Adjust bearings of mergeable roads
for (std::size_t index = 0; index < edges_number; ++index)
{
if (isRoadsPairMergeable(detector, edge_geometries, intersection_node, index))
{ // Merge bearings of roads left & right
const auto next = (index + 1) % edges_number;
auto &lhs = edge_geometries[index];
auto &rhs = edge_geometries[next];
merged_edges[index] = true;
merged_edges[next] = true;
const auto merge = findMergedBearing(graph, edge_geometries, index, next, false);
lhs.perceived_bearing = merge.second;
rhs.perceived_bearing = merge.second;
// Only one of the edges must be reversed, mark it as merged to remove from
// intersection view
BOOST_ASSERT(graph.GetEdgeData(lhs.edge).reversed ^
graph.GetEdgeData(rhs.edge).reversed);
merged_edge_ids.insert(graph.GetEdgeData(lhs.edge).reversed ? lhs.edge : rhs.edge);
}
}
}
if (edges_number >= 2)
{ // Adjust bearings of roads that will be merged at the neighbor intersections
const double constexpr PRUNING_DISTANCE = 30.;
for (std::size_t index = 0; index < edges_number; ++index)
{
auto &edge_geometry = edge_geometries[index];
// Don't adjust bearings of roads that were merged at the current intersection
// or have neighbor intersection farer than the pruning distance
if (merged_edges[index] || edge_geometry.length > PRUNING_DISTANCE)
continue;
const auto neighbor_intersection_node = graph.GetTarget(edge_geometry.edge);
const auto neighbor_geometries = getIntersectionOutgoingGeometries(
graph, compressed_geometries, node_coordinates, neighbor_intersection_node);
const auto neighbor_edges = neighbor_geometries.size();
if (neighbor_edges <= 1)
continue;
const auto neighbor_curr = std::distance(
neighbor_geometries.begin(),
std::find_if(neighbor_geometries.begin(),
neighbor_geometries.end(),
[&graph, &intersection_node](const auto &road) {
return graph.GetTarget(road.edge) == intersection_node;
}));
BOOST_ASSERT(static_cast<std::size_t>(neighbor_curr) != neighbor_geometries.size());
const auto neighbor_prev = (neighbor_curr + neighbor_edges - 1) % neighbor_edges;
const auto neighbor_next = (neighbor_curr + 1) % neighbor_edges;
if (isRoadsPairMergeable(
detector, neighbor_geometries, neighbor_intersection_node, neighbor_prev))
{ // Neighbor intersection has mergable neighbor_prev and neighbor_curr roads
BOOST_ASSERT(!isRoadsPairMergeable(
detector, neighbor_geometries, neighbor_intersection_node, neighbor_curr));
// TODO: merge with an angle bisector, but not a reversed closed turn, to be
// checked as a difference with the previous implementation
const auto merge = findMergedBearing(
graph, neighbor_geometries, neighbor_prev, neighbor_curr, true);
if (merge.first)
{
const auto offset = util::angularDeviation(
merge.second, neighbor_geometries[neighbor_curr].perceived_bearing);
// Adjust bearing of AB at the node A if at the node B roads BA (neighbor_curr)
// and BC (neighbor_prev) will be merged and will have merged bearing Bb.
// The adjustment value is ∠bBA with negative sign (counter-clockwise) to Aa
// A ~~~ a
// \ 
// b --- B ---
// /
// C
edge_geometry.perceived_bearing =
std::fmod(edge_geometry.perceived_bearing + 360. - offset, 360.);
}
}
else if (isRoadsPairMergeable(
detector, neighbor_geometries, neighbor_intersection_node, neighbor_curr))
{ // Neighbor intersection has mergable neighbor_curr and neighbor_next roads
BOOST_ASSERT(!isRoadsPairMergeable(
detector, neighbor_geometries, neighbor_intersection_node, neighbor_prev));
// TODO: merge with an angle bisector, but not a reversed closed turn, to be
// checked as a difference with the previous implementation
const auto merge = findMergedBearing(
graph, neighbor_geometries, neighbor_curr, neighbor_next, true);
if (merge.first)
{
const auto offset = util::angularDeviation(
merge.second, neighbor_geometries[neighbor_curr].perceived_bearing);
// Adjust bearing of AB at the node A if at the node B roads BA (neighbor_curr)
// and BC (neighbor_next) will be merged and will have merged bearing Bb.
// The adjustment value is ∠bBA with positive sign (clockwise) to Aa
// a ~~~ A
// /
// --- B --- b
// \ 
// C
edge_geometry.perceived_bearing =
std::fmod(edge_geometry.perceived_bearing + offset, 360.);
}
}
}
}
// Add incoming edges with reversed bearings
edge_geometries.resize(2 * edges_number);
for (std::size_t index = 0; index < edges_number; ++index)
{
const auto &geometry = edge_geometries[index];
const auto remote_node = graph.GetTarget(geometry.edge);
const auto incoming_edge = graph.FindEdge(remote_node, intersection_node);
edge_geometries[edges_number + index] = {incoming_edge,
util::bearing::reverse(geometry.initial_bearing),
util::bearing::reverse(geometry.perceived_bearing),
geometry.length};
}
// Enforce ordering of edges by IDs
std::sort(edge_geometries.begin(), edge_geometries.end());
return std::make_pair(edge_geometries, merged_edge_ids);
}
inline auto findEdge(const IntersectionEdgeGeometries &geometries, const EdgeID &edge)
{ {
const auto it = std::lower_bound( const auto it = std::lower_bound(
bearings.begin(), bearings.end(), edge, [](const auto &edge_bearing, const auto edge) { geometries.begin(), geometries.end(), edge, [](const auto &geometry, const auto edge) {
return edge_bearing.edge < edge; return geometry.edge < edge;
}); });
BOOST_ASSERT(it != bearings.end() && it->edge == edge); BOOST_ASSERT(it != geometries.end() && it->edge == edge);
return it->bearing; return it;
} }
double computeTurnAngle(const IntersectionEdgeBearings &bearings, double findEdgeBearing(const IntersectionEdgeGeometries &geometries, const EdgeID &edge)
const IntersectionEdge &from,
const IntersectionEdge &to)
{ {
return util::bearing::angleBetween(findEdgeBearing(bearings, from.edge), return findEdge(geometries, edge)->perceived_bearing;
findEdgeBearing(bearings, to.edge)); }
double findEdgeLength(const IntersectionEdgeGeometries &geometries, const EdgeID &edge)
{
return findEdge(geometries, edge)->length;
} }
template <typename RestrictionsRange> template <typename RestrictionsRange>
@ -164,13 +501,17 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
const EdgeBasedNodeDataContainer &node_data_container, const EdgeBasedNodeDataContainer &node_data_container,
const RestrictionMap &restriction_map, const RestrictionMap &restriction_map,
const std::unordered_set<NodeID> &barrier_nodes, const std::unordered_set<NodeID> &barrier_nodes,
const IntersectionEdgeBearings &bearings, const IntersectionEdgeGeometries &geometries,
const guidance::TurnLanesIndexedArray &turn_lanes_data, const guidance::TurnLanesIndexedArray &turn_lanes_data,
const IntersectionEdge &from, const IntersectionEdge &from,
const IntersectionEdge &to) const IntersectionEdge &to)
{ {
BOOST_ASSERT(graph.GetTarget(from.edge) == to.node); BOOST_ASSERT(graph.GetTarget(from.edge) == to.node);
// TODO: to use TurnAnalysis all outgoing edges are required, to be removed later
if (graph.GetEdgeData(from.edge).reversed || graph.GetEdgeData(to.edge).reversed)
return false;
const auto intersection_node = to.node; const auto intersection_node = to.node;
const auto destination_node = graph.GetTarget(to.edge); const auto destination_node = graph.GetTarget(to.edge);
auto const &restrictions = restriction_map.Restrictions(from.node, intersection_node); auto const &restrictions = restriction_map.Restrictions(from.node, intersection_node);
@ -181,7 +522,7 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
// Precompute reversed bearing of the `from` edge // Precompute reversed bearing of the `from` edge
const auto from_edge_reversed_bearing = const auto from_edge_reversed_bearing =
util::bearing::reverse(findEdgeBearing(bearings, from.edge)); util::bearing::reverse(findEdgeBearing(geometries, from.edge));
// Collect some information about the intersection // Collect some information about the intersection
// 1) number of allowed exits and adjacent bidirectional edges // 1) number of allowed exits and adjacent bidirectional edges
@ -210,7 +551,7 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
// "Linked Roundabouts" is an example of tie between two linked roundabouts // "Linked Roundabouts" is an example of tie between two linked roundabouts
// A tie breaker for that maximizes ∠(roundabout_from_bearing, ¬from_edge_bearing) // A tie breaker for that maximizes ∠(roundabout_from_bearing, ¬from_edge_bearing)
const auto angle = util::bearing::angleBetween( const auto angle = util::bearing::angleBetween(
findEdgeBearing(bearings, reverse_edge), from_edge_reversed_bearing); findEdgeBearing(geometries, reverse_edge), from_edge_reversed_bearing);
if (angle > roundabout_from_angle) if (angle > roundabout_from_angle)
{ {
roundabout_from = reverse_edge; roundabout_from = reverse_edge;
@ -221,7 +562,7 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
{ {
// a tie breaker that maximizes ∠(¬from_edge_bearing, roundabout_to_bearing) // a tie breaker that maximizes ∠(¬from_edge_bearing, roundabout_to_bearing)
const auto angle = util::bearing::angleBetween(from_edge_reversed_bearing, const auto angle = util::bearing::angleBetween(from_edge_reversed_bearing,
findEdgeBearing(bearings, eid)); findEdgeBearing(geometries, eid));
if (angle > roundabout_to_angle) if (angle > roundabout_to_angle)
{ {
roundabout_to = eid; roundabout_to = eid;
@ -246,7 +587,7 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
return true; return true;
// Allow U-turns at dead-ends if there is at most one bidirectional road at the intersection // Allow U-turns at dead-ends if there is at most one bidirectional road at the intersection
// The condition allows a U-turns d→a→d and c→b→c ("Bike - Around the Block" test) // The condition allows U-turns d→a→d and c→b→c ("Bike - Around the Block" test)
// a→b // a→b
// ↕ ↕ // ↕ ↕
// d↔c // d↔c
@ -281,9 +622,9 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
if (roundabout_from != SPECIAL_EDGEID && roundabout_to != SPECIAL_EDGEID) if (roundabout_from != SPECIAL_EDGEID && roundabout_to != SPECIAL_EDGEID)
{ {
// Get bearings of edges // Get bearings of edges
const auto roundabout_from_bearing = findEdgeBearing(bearings, roundabout_from); const auto roundabout_from_bearing = findEdgeBearing(geometries, roundabout_from);
const auto roundabout_to_bearing = findEdgeBearing(bearings, roundabout_to); const auto roundabout_to_bearing = findEdgeBearing(geometries, roundabout_to);
const auto to_bearing = findEdgeBearing(bearings, to.edge); const auto to_edge_bearing = findEdgeBearing(geometries, to.edge);
// Get angles from the roundabout edge to three other edges // Get angles from the roundabout edge to three other edges
const auto roundabout_angle = const auto roundabout_angle =
@ -291,10 +632,14 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
const auto roundabout_from_angle = const auto roundabout_from_angle =
util::bearing::angleBetween(roundabout_from_bearing, from_edge_reversed_bearing); util::bearing::angleBetween(roundabout_from_bearing, from_edge_reversed_bearing);
const auto roundabout_to_angle = const auto roundabout_to_angle =
util::bearing::angleBetween(roundabout_from_bearing, to_bearing); util::bearing::angleBetween(roundabout_from_bearing, to_edge_bearing);
// Restrict turning over a roundabout if `roundabout_to_angle` is in // Restrict turning over a roundabout if `roundabout_to_angle` is in
// a sector between `roundabout_from_bearing` to `from_bearing` // a sector between `roundabout_from_bearing` to `from_bearing` (shaded area)
//
// roundabout_angle = 270° roundabout_angle = 90°
// roundabout_from_angle = 150° roundabout_from_angle = 150°
// roundabout_to_angle = 90° roundabout_to_angle = 270°
// //
// 150° 150° // 150° 150°
// v░░░░░░ ░░░░░░░░░v // v░░░░░░ ░░░░░░░░░v
@ -312,6 +657,76 @@ bool isTurnAllowed(const util::NodeBasedDynamicGraph &graph,
return true; return true;
} }
// TODO: the function adapts intersection geometry data to TurnAnalysis
guidance::IntersectionView
convertToIntersectionView(const util::NodeBasedDynamicGraph &graph,
const EdgeBasedNodeDataContainer &node_data_container,
const RestrictionMap &restriction_map,
const std::unordered_set<NodeID> &barrier_nodes,
const IntersectionEdgeGeometries &edge_geometries,
const guidance::TurnLanesIndexedArray &turn_lanes_data,
const IntersectionEdge &incoming_edge,
const IntersectionEdges &outgoing_edges,
const std::unordered_set<EdgeID> &merged_edges)
{
const auto incoming_bearing = findEdgeBearing(edge_geometries, incoming_edge.edge);
guidance::IntersectionView intersection_view;
guidance::IntersectionViewData uturn{{SPECIAL_EDGEID, 0., 0.}, false, 0.};
std::size_t allowed_uturns_number = 0;
for (const auto &outgoing_edge : outgoing_edges)
{
const auto is_uturn = [](const auto angle) {
return std::fabs(angle) < std::numeric_limits<double>::epsilon();
};
const auto edge_it = findEdge(edge_geometries, outgoing_edge.edge);
const auto outgoing_bearing = edge_it->perceived_bearing;
const auto initial_outgoing_bearing = edge_it->initial_bearing;
const auto segment_length = edge_it->length;
const auto turn_angle = std::fmod(
std::round(util::bearing::angleBetween(incoming_bearing, outgoing_bearing) * 1e8) / 1e8,
360.);
const auto is_turn_allowed = intersection::isTurnAllowed(graph,
node_data_container,
restriction_map,
barrier_nodes,
edge_geometries,
turn_lanes_data,
incoming_edge,
outgoing_edge);
const auto is_uturn_angle = is_uturn(turn_angle);
const auto is_merged = merged_edges.count(outgoing_edge.edge) != 0;
guidance::IntersectionViewData road{
{outgoing_edge.edge, outgoing_bearing, segment_length}, is_turn_allowed, turn_angle};
if (graph.GetTarget(outgoing_edge.edge) == incoming_edge.node)
{ // Save the true U-turn road to add later if no allowed U-turns will be added
uturn = road;
}
else if (is_turn_allowed || (!is_merged && !is_uturn_angle))
{ // Add roads that have allowed entry or not U-turns and not merged
allowed_uturns_number += is_uturn_angle;
intersection_view.push_back(road);
}
}
BOOST_ASSERT(uturn.eid != SPECIAL_EDGEID);
if (uturn.entry_allowed || allowed_uturns_number == 0)
{ // Add the true U-turn if it is allowed or no other U-turns found
intersection_view.insert(intersection_view.begin(), uturn);
}
// Order roads in counter-clockwise order starting from the U-turn edge
std::sort(intersection_view.begin(),
intersection_view.end(),
[](const auto &lhs, const auto &rhs) { return lhs.angle < rhs.angle; });
return intersection_view;
}
} }
} }
} }

6
unit_tests/extractor/graph_compressor.cpp
View File

@ -26,10 +26,8 @@ namespace
// creates a default edge of unit weight // creates a default edge of unit weight
inline InputEdge MakeUnitEdge(const NodeID from, const NodeID to) inline InputEdge MakeUnitEdge(const NodeID from, const NodeID to)
{ {
// src, tgt, dist, edge_id, name_id, fwd, bkwd, roundabout, circular, startpoint, local access, return {from, // source
// split edge, travel_mode to, // target
return {from,
to,
1, // weight 1, // weight
1, // duration 1, // duration
GeometryID{0, false}, // geometry_id GeometryID{0, false}, // geometry_id

255
unit_tests/extractor/intersection_analysis_tests.cpp Normal file
View File

@ -0,0 +1,255 @@
#include "extractor/intersection/intersection_analysis.hpp"
#include "extractor/graph_compressor.hpp"
#include "../common/range_tools.hpp"
#include "../unit_tests/mocks/mock_scripting_environment.hpp"
#include <boost/test/test_case_template.hpp>
#include <boost/test/unit_test.hpp>
BOOST_AUTO_TEST_SUITE(intersection_analysis_tests)
using namespace osrm;
using namespace osrm::extractor;
using namespace osrm::extractor::guidance;
using namespace osrm::extractor::intersection;
using InputEdge = util::NodeBasedDynamicGraph::InputEdge;
using Graph = util::NodeBasedDynamicGraph;
BOOST_AUTO_TEST_CASE(simple_intersection_connectivity)
{
std::unordered_set<NodeID> barrier_nodes{6};
std::unordered_set<NodeID> traffic_lights;
std::vector<NodeBasedEdgeAnnotation> annotations{
{EMPTY_NAMEID, 0, INAVLID_CLASS_DATA, TRAVEL_MODE_DRIVING, false},
{EMPTY_NAMEID, 1, INAVLID_CLASS_DATA, TRAVEL_MODE_DRIVING, false}};
std::vector<TurnRestriction> restrictions{TurnRestriction{NodeRestriction{0, 2, 1}, false}};
std::vector<ConditionalTurnRestriction> conditional_restrictions;
CompressedEdgeContainer container;
test::MockScriptingEnvironment scripting_environment;
TurnLanesIndexedArray turn_lanes_data{{0, 0, 3},
{TurnLaneType::uturn | TurnLaneType::left,
TurnLaneType::straight,
TurnLaneType::straight | TurnLaneType::right}};
// Graph with an additional turn restriction 0→2→1 and bollard at 6
// 0→5↔6↔7
// ↕
// 1↔2←3
// ↓
// 4
const auto unit_edge =
[](const NodeID from, const NodeID to, bool allowed, AnnotationID annotation) {
return InputEdge{from,
to,
1,
1,
GeometryID{0, false},
!allowed,
NodeBasedEdgeClassification(),
annotation};
};
std::vector<InputEdge> edges = {unit_edge(0, 2, true, 1),
unit_edge(0, 5, true, 0),
unit_edge(1, 2, true, 0),
unit_edge(2, 0, true, 0),
unit_edge(2, 1, true, 0),
unit_edge(2, 3, false, 0),
unit_edge(2, 4, true, 0),
unit_edge(3, 2, true, 0),
unit_edge(4, 2, false, 0),
unit_edge(5, 0, false, 0),
unit_edge(5, 6, true, 0),
unit_edge(6, 5, true, 0),
unit_edge(6, 7, true, 0),
unit_edge(7, 6, true, 0)};
IntersectionEdgeGeometries edge_geometries{
{0, 180, 180, 10.}, // 0→2
{1, 90, 90, 10.}, // 0→5
{2, 90, 90, 10.}, // 1→2
{3, 0, 0, 10.}, // 2→0
{4, 270, 270, 10.}, // 2→1
{5, 90, 90, 10.}, // 2→3
{6, 180, 180, 10.}, // 2→4
{7, 270, 270, 10.}, // 3→2
{8, 0, 0, 10.}, // 4→2
{9, 270, 270, 10.}, // 5→0
{10, 90, 90, 10.}, // 5→6
{11, 270, 270, 10.}, // 6→5
{12, 90, 90, 10.}, // 6→7
{13, 270, 270, 10.} // 7→6
};
Graph graph(8, edges);
GraphCompressor().Compress(barrier_nodes,
traffic_lights,
scripting_environment,
restrictions,
conditional_restrictions,
graph,
annotations,
container);
REQUIRE_SIZE_RANGE(getIncomingEdges(graph, 2), 3);
REQUIRE_SIZE_RANGE(getOutgoingEdges(graph, 2), 4);
EdgeBasedNodeDataContainer node_data_container(
std::vector<EdgeBasedNode>(graph.GetNumberOfEdges()), annotations);
RestrictionMap restriction_map(restrictions, IndexNodeByFromAndVia());
const auto connectivity_matrix = [&](NodeID node) {
std::vector<bool> result;
const auto incoming_edges = getIncomingEdges(graph, node);
const auto outgoing_edges = getOutgoingEdges(graph, node);
for (const auto incoming_edge : incoming_edges)
{
for (const auto outgoing_edge : outgoing_edges)
{
result.push_back(isTurnAllowed(graph,
node_data_container,
restriction_map,
barrier_nodes,
edge_geometries,
turn_lanes_data,
incoming_edge,
outgoing_edge));
}
}
return result;
};
CHECK_EQUAL_RANGE(connectivity_matrix(0), 1, 1); // from node 2 allowed U-turn and to node 5
CHECK_EQUAL_RANGE(connectivity_matrix(1), 1); // from node 2 allowed U-turn
CHECK_EQUAL_RANGE(connectivity_matrix(2),
// clang-format off
1, 0, 0, 1, // from node 0 to node 4 and a U-turn at 2
1, 0, 0, 1, // from node 1 to nodes 0 and 4
1, 1, 0, 1 // from node 3 to nodes 0, 1 and 4
// clang-format on
);
REQUIRE_SIZE_RANGE(connectivity_matrix(3), 0); // no incoming edges, empty matrix
CHECK_EQUAL_RANGE(connectivity_matrix(4), 0); // from node 2 not allowed U-turn
CHECK_EQUAL_RANGE(connectivity_matrix(5),
// clang-format off
0, 1, // from node 0 to node 6
0, 1, // from node 6 a U-turn to node 6
// clang-format on
);
CHECK_EQUAL_RANGE(connectivity_matrix(6),
// clang-format off
1, 0, // from node 5 a U-turn to node 5
0, 1, // from node 7 a U-turn to node 7
// clang-format on
);
}
BOOST_AUTO_TEST_CASE(roundabout_intersection_connectivity)
{
std::unordered_set<NodeID> barrier_nodes;
std::unordered_set<NodeID> traffic_lights;
std::vector<NodeBasedEdgeAnnotation> annotations;
std::vector<TurnRestriction> restrictions;
std::vector<ConditionalTurnRestriction> conditional_restrictions;
CompressedEdgeContainer container;
test::MockScriptingEnvironment scripting_environment;
TurnLanesIndexedArray turn_lanes_data;
// Graph with roundabout edges 5→0→2
// 1 2 3
// ↘ ↑ ↙
// 0
// ↙ ↑ ↘
// 4 5 6
const auto unit_edge = [](const NodeID from, const NodeID to, bool allowed, bool roundabout) {
return InputEdge{
from,
to,
1,
1,
GeometryID{0, false},
!allowed,
NodeBasedEdgeClassification{true, false, false, roundabout, false, false, false, {}},
0};
};
std::vector<InputEdge> edges = {unit_edge(0, 1, false, false),
unit_edge(0, 2, true, true),
unit_edge(0, 3, false, false),
unit_edge(0, 4, true, false),
unit_edge(0, 5, false, true),
unit_edge(0, 6, true, false),
unit_edge(1, 0, true, false),
unit_edge(2, 0, false, true),
unit_edge(3, 0, true, false),
unit_edge(4, 0, false, false),
unit_edge(5, 0, true, true),
unit_edge(6, 0, false, false)};
IntersectionEdgeGeometries edge_geometries{
{0, 315, 315, 10}, // 0→1
{1, 0, 0, 10}, // 0→2
{2, 45, 45, 10}, // 0→3
{3, 225, 225, 10}, // 0→4
{4, 180, 180, 10}, // 0→5
{5, 135, 135, 10}, // 0→6
{6, 135, 135, 10}, // 1→0
{7, 180, 180, 10}, // 2→0
{8, 225, 225, 10}, // 3→0
{9, 45, 45, 10}, // 4→0
{10, 0, 0, 10}, // 5→0
{11, 315, 315, 10} // 6→0
};
Graph graph(7, edges);
GraphCompressor().Compress(barrier_nodes,
traffic_lights,
scripting_environment,
restrictions,
conditional_restrictions,
graph,
annotations,
container);
REQUIRE_SIZE_RANGE(getIncomingEdges(graph, 0), 3);
REQUIRE_SIZE_RANGE(getOutgoingEdges(graph, 0), 6);
EdgeBasedNodeDataContainer node_data_container(
std::vector<EdgeBasedNode>(graph.GetNumberOfEdges()), annotations);
RestrictionMap restriction_map(restrictions, IndexNodeByFromAndVia());
const auto connectivity_matrix = [&](NodeID node) {
std::vector<bool> result;
const auto incoming_edges = getIncomingEdges(graph, node);
const auto outgoing_edges = getOutgoingEdges(graph, node);
for (const auto incoming_edge : incoming_edges)
{
for (const auto outgoing_edge : outgoing_edges)
{
result.push_back(isTurnAllowed(graph,
node_data_container,
restriction_map,
barrier_nodes,
edge_geometries,
turn_lanes_data,
incoming_edge,
outgoing_edge));
}
}
return result;
};
CHECK_EQUAL_RANGE(connectivity_matrix(0),
// clang-format off
0, 1, 0, 0, 0, 1, // from node 1 to nodes 2 and 6
0, 1, 0, 1, 0, 0, // from node 3 to nodes 2 and 4
0, 1, 0, 1, 0, 1 // from node 5 to nodes 2, 4 and 6
// clang-format on
);
}
BOOST_AUTO_TEST_SUITE_END()