Moritz Kobitzsch
2ddd98ee6d
- separates node-based graph creation and compression from edge-based graph creation - moves usage of edge-based node data-container to pre-processing as well, unifying access to node-based data - single struct instead of separate vectors for annotation data in engine (single place of modification)
489 lines
22 KiB
C++
489 lines
22 KiB
C++
#include "extractor/guidance/intersection_generator.hpp"
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#include "extractor/geojson_debug_policies.hpp"
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#include "util/geojson_debug_logger.hpp"
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#include "util/assert.hpp"
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#include "util/bearing.hpp"
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#include "util/coordinate_calculation.hpp"
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#include "util/log.hpp"
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#include <algorithm>
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#include <cmath>
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#include <functional> // mem_fn
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#include <limits>
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#include <numeric>
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#include <utility>
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#include <boost/range/algorithm/count_if.hpp>
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namespace osrm
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{
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namespace extractor
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{
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namespace guidance
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{
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namespace
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{
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const constexpr bool USE_LOW_PRECISION_MODE = true;
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// the inverse of use low precision mode
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const constexpr bool USE_HIGH_PRECISION_MODE = !USE_LOW_PRECISION_MODE;
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}
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IntersectionGenerator::IntersectionGenerator(
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const util::NodeBasedDynamicGraph &node_based_graph,
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const EdgeBasedNodeDataContainer &node_data_container,
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const RestrictionMap &restriction_map,
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const std::unordered_set<NodeID> &barrier_nodes,
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const std::vector<util::Coordinate> &coordinates,
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const CompressedEdgeContainer &compressed_edge_container)
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: node_based_graph(node_based_graph), node_data_container(node_data_container),
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restriction_map(restriction_map), barrier_nodes(barrier_nodes), coordinates(coordinates),
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coordinate_extractor(node_based_graph, compressed_edge_container, coordinates)
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{
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}
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IntersectionView IntersectionGenerator::operator()(const NodeID from_node,
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const EdgeID via_eid) const
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{
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return GetConnectedRoads(from_node, via_eid, USE_HIGH_PRECISION_MODE);
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}
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IntersectionShape
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IntersectionGenerator::ComputeIntersectionShape(const NodeID node_at_center_of_intersection,
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const boost::optional<NodeID> sorting_base,
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const bool use_low_precision_angles) const
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{
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const auto intersection_degree = node_based_graph.GetOutDegree(node_at_center_of_intersection);
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const util::Coordinate turn_coordinate = coordinates[node_at_center_of_intersection];
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// compute bearings in a relatively small circle to prevent wrong roads order with true bearings
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struct RoadWithInitialBearing
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{
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double bearing;
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IntersectionShapeData road;
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};
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std::vector<RoadWithInitialBearing> initial_roads_ordering;
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// reserve enough items (+ the possibly missing u-turn edge)
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initial_roads_ordering.reserve(intersection_degree);
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// number of lanes at the intersection changes how far we look down the road
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const auto edge_range = node_based_graph.GetAdjacentEdgeRange(node_at_center_of_intersection);
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const auto max_lanes_intersection =
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std::accumulate(edge_range.begin(),
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edge_range.end(),
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std::uint8_t{0},
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[this](const auto current_max, const auto current_eid) {
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return std::max(current_max,
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node_based_graph.GetEdgeData(current_eid)
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.flags.road_classification.GetNumberOfLanes());
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});
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for (const EdgeID edge_connected_to_intersection :
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node_based_graph.GetAdjacentEdgeRange(node_at_center_of_intersection))
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{
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BOOST_ASSERT(edge_connected_to_intersection != SPECIAL_EDGEID);
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const NodeID to_node = node_based_graph.GetTarget(edge_connected_to_intersection);
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double bearing = 0.;
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auto coordinates = coordinate_extractor.GetCoordinatesAlongRoad(
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node_at_center_of_intersection, edge_connected_to_intersection, !INVERT, to_node);
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const auto close_coordinate =
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coordinate_extractor.ExtractCoordinateAtLength(2. /*m*/, coordinates);
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const auto initial_bearing =
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util::coordinate_calculation::bearing(turn_coordinate, close_coordinate);
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const auto segment_length = util::coordinate_calculation::getLength(
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coordinates.begin(),
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coordinates.end(),
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util::coordinate_calculation::haversineDistance);
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const auto extract_coordinate = [&](const NodeID from_node,
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const EdgeID via_eid,
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const bool traversed_in_reverse,
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const NodeID to_node) {
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return (use_low_precision_angles || intersection_degree <= 2)
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? coordinate_extractor.GetCoordinateCloseToTurn(
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from_node, via_eid, traversed_in_reverse, to_node)
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: coordinate_extractor.ExtractRepresentativeCoordinate(
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from_node,
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via_eid,
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traversed_in_reverse,
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to_node,
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max_lanes_intersection,
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std::move(coordinates));
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};
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// we have to look down the road a bit to get the correct turn
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const auto coordinate_along_edge_leaving = extract_coordinate(
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node_at_center_of_intersection, edge_connected_to_intersection, !INVERT, to_node);
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bearing =
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util::coordinate_calculation::bearing(turn_coordinate, coordinate_along_edge_leaving);
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// OSM data sometimes contains duplicated nodes with identical coordinates, or
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// because of coordinate precision rounding, end up at the same coordinate.
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// It's impossible to calculate a bearing between these, so we log a warning
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// that the data should be checked.
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// The bearing calculation should return 0 in these cases, which may not be correct,
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// but is at least not random.
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if (turn_coordinate == coordinate_along_edge_leaving)
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{
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util::Log(logDEBUG) << "Zero length segment at " << coordinate_along_edge_leaving
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<< " could cause invalid intersection exit bearing.";
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BOOST_ASSERT(std::abs(bearing) <= 0.1);
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}
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initial_roads_ordering.push_back(
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{initial_bearing, {edge_connected_to_intersection, bearing, segment_length}});
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}
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if (!initial_roads_ordering.empty())
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{
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const auto base_initial_bearing = [&]() {
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if (sorting_base)
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{
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const auto itr = std::find_if(initial_roads_ordering.begin(),
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initial_roads_ordering.end(),
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[&](const auto &data) {
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return node_based_graph.GetTarget(
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data.road.eid) == *sorting_base;
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});
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if (itr != initial_roads_ordering.end())
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return util::bearing::reverse(itr->bearing);
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}
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return util::bearing::reverse(initial_roads_ordering.begin()->bearing);
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}();
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// sort roads with respect to the initial bearings, a tie-breaker for equal initial bearings
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// is to order roads via final bearings to have roads in clockwise order
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//
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// rhs <---. lhs <----.
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// / /
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// lhs / rhs /
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//
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// lhs road is before rhs one rhs road is before lhs one
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// bearing::angleBetween < 180 bearing::angleBetween > 180
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const auto initial_bearing_order = makeCompareShapeDataAngleToBearing(base_initial_bearing);
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std::sort(initial_roads_ordering.begin(),
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initial_roads_ordering.end(),
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[&initial_bearing_order](const auto &lhs, const auto &rhs) {
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return initial_bearing_order(lhs, rhs) ||
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(lhs.bearing == rhs.bearing &&
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util::bearing::angleBetween(lhs.road.bearing, rhs.road.bearing) <
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180);
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});
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// copy intersection data in the initial order
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IntersectionShape intersection;
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intersection.reserve(initial_roads_ordering.size());
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std::transform(initial_roads_ordering.begin(),
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initial_roads_ordering.end(),
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std::back_inserter(intersection),
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[](const auto &entry) { return entry.road; });
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if (intersection.size() > 2)
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{ // Check bearings ordering with respect to true bearings
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const auto base_bearing = intersection.front().bearing;
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const auto bearings_order =
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makeCompareShapeDataAngleToBearing(util::bearing::reverse(base_bearing));
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for (auto curr = intersection.begin(), next = std::next(curr);
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next != intersection.end();
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++curr, ++next)
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{
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if (bearings_order(*next, *curr))
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{ // If the true bearing is out of the initial order (next before current) then
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// adjust the next bearing to keep the order. The adjustment angle is at most
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// 0.5° or a half-angle between the current bearing and the base bearing.
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// to prevent overlapping over base bearing + 360°.
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const auto angle_adjustment = std::min(
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.5, util::restrictAngleToValidRange(base_bearing - curr->bearing) / 2.);
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next->bearing =
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util::restrictAngleToValidRange(curr->bearing + angle_adjustment);
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}
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}
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}
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return intersection;
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}
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return IntersectionShape{};
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}
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// a
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// |
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// |
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// v
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// For an intersection from_node --via_eid--> turn_node ----> c
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// ^
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// |
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// |
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// b
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// This functions returns _all_ turns as if the graph was undirected.
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// That means we not only get (from_node, turn_node, c) in the above example
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// but also (from_node, turn_node, a), (from_node, turn_node, b). These turns are
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// marked as invalid and only needed for intersection classification.
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IntersectionView IntersectionGenerator::GetConnectedRoads(const NodeID from_node,
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const EdgeID via_eid,
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const bool use_low_precision_angles) const
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{
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// make sure the via-eid is valid
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BOOST_ASSERT([this](const NodeID from_node, const EdgeID via_eid) {
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const auto range = node_based_graph.GetAdjacentEdgeRange(from_node);
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return range.front() <= via_eid && via_eid <= range.back();
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}(from_node, via_eid));
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auto intersection = ComputeIntersectionShape(
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node_based_graph.GetTarget(via_eid), boost::none, use_low_precision_angles);
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return TransformIntersectionShapeIntoView(from_node, via_eid, std::move(intersection));
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}
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IntersectionGenerationParameters
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IntersectionGenerator::SkipDegreeTwoNodes(const NodeID starting_node, const EdgeID via_edge) const
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{
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NodeID query_node = starting_node;
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EdgeID query_edge = via_edge;
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const auto get_next_edge = [this](const NodeID from, const EdgeID via) {
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const NodeID new_node = node_based_graph.GetTarget(via);
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BOOST_ASSERT(node_based_graph.GetOutDegree(new_node) == 2);
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const EdgeID begin_edges_new_node = node_based_graph.BeginEdges(new_node);
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return (node_based_graph.GetTarget(begin_edges_new_node) == from) ? begin_edges_new_node + 1
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: begin_edges_new_node;
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};
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std::unordered_set<NodeID> visited_nodes;
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// skip trivial nodes without generating the intersection in between, stop at the very first
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// intersection of degree > 2
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while (0 == visited_nodes.count(query_node) &&
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2 == node_based_graph.GetOutDegree(node_based_graph.GetTarget(query_edge)))
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{
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visited_nodes.insert(query_node);
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const auto next_node = node_based_graph.GetTarget(query_edge);
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const auto next_edge = get_next_edge(query_node, query_edge);
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query_node = next_node;
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query_edge = next_edge;
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// check if there is a relevant change in the graph
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if (!CanBeCompressed(node_based_graph.GetEdgeData(query_edge),
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node_based_graph.GetEdgeData(next_edge),
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node_data_container) ||
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(node_based_graph.GetTarget(next_edge) == starting_node))
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break;
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}
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return {query_node, query_edge};
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}
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IntersectionView IntersectionGenerator::TransformIntersectionShapeIntoView(
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const NodeID previous_node,
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const EdgeID entering_via_edge,
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const IntersectionShape &intersection_shape) const
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{
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// requires a copy of the intersection
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return TransformIntersectionShapeIntoView(previous_node,
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entering_via_edge,
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intersection_shape, // creates a copy
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intersection_shape, // reference to local
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{}); // empty vector of performed merges
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}
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IntersectionView IntersectionGenerator::TransformIntersectionShapeIntoView(
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const NodeID previous_node,
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const EdgeID entering_via_edge,
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const IntersectionShape &normalized_intersection,
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const IntersectionShape &intersection,
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const std::vector<IntersectionNormalizationOperation> &performed_merges) const
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{
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const auto node_at_intersection = node_based_graph.GetTarget(entering_via_edge);
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// request all turn restrictions
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auto const restrictions = restriction_map.Restrictions(previous_node, node_at_intersection);
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// check turn restrictions to find a node that is the only allowed target when coming from a
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// node to an intersection
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// d
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// |
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// a - b - c and `only_straight_on ab | bc would return `c` for `a,b`
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const auto find_only_valid_turn = [&]() -> boost::optional<NodeID> {
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const auto itr = std::find_if(restrictions.first, restrictions.second, [](auto pair) {
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return pair.second->is_only;
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});
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if (itr != restrictions.second)
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return itr->second->AsNodeRestriction().to;
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else
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return boost::none;
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};
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const auto only_valid_turn = find_only_valid_turn();
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// barriers change our behaviour regarding u-turns
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const bool is_barrier_node = barrier_nodes.find(node_at_intersection) != barrier_nodes.end();
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const auto connect_to_previous_node = [this, previous_node](const IntersectionShapeData road) {
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return node_based_graph.GetTarget(road.eid) == previous_node;
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};
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// check which of the edges is the u-turn edge
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const auto uturn_edge_itr =
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std::find_if(intersection.begin(), intersection.end(), connect_to_previous_node);
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// there needs to be a connection, otherwise stuff went seriously wrong. Note that this is not
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// necessarily the same id as `entering_via_edge`.
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// In cases where parallel edges are present, we only remember the minimal edge. Both share
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// exactly the same coordinates, so the u-turn is still the best choice here.
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BOOST_ASSERT(uturn_edge_itr != intersection.end());
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const auto is_restricted = [&](const NodeID destination) {
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// check if we have a dedicated destination
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if (only_valid_turn)
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return *only_valid_turn != destination;
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// check if explicitly forbidden
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return restrictions.second !=
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std::find_if(restrictions.first, restrictions.second, [&](const auto &restriction) {
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return restriction.second->AsNodeRestriction().to == destination;
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});
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};
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const auto is_allowed_turn = [&](const IntersectionShapeData &road) {
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const auto &road_data = node_based_graph.GetEdgeData(road.eid);
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const NodeID road_destination_node = node_based_graph.GetTarget(road.eid);
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// reverse edges are never valid turns because the resulting turn would look like this:
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// from_node --via_edge--> node_at_intersection <--onto_edge-- to_node
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// however we need this for capture intersection shape for incoming one-ways
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return !road_data.reversed &&
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// we are not turning over a barrier
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(!is_barrier_node || road_destination_node == previous_node) &&
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// don't allow restricted turns
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!is_restricted(road_destination_node);
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};
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// due to merging of roads, the u-turn might actually not be part of the intersection anymore
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// uturn is a pair of {edge id, bearing}
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const auto uturn = [&]() {
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const auto merge_entry = std::find_if(
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performed_merges.begin(), performed_merges.end(), [&uturn_edge_itr](const auto entry) {
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return entry.merged_eid == uturn_edge_itr->eid;
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});
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if (merge_entry != performed_merges.end())
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{
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const auto merged_into_id = merge_entry->into_eid;
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const auto merged_u_turn = std::find_if(
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normalized_intersection.begin(),
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normalized_intersection.end(),
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[&](const IntersectionShapeData &road) { return road.eid == merged_into_id; });
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BOOST_ASSERT(merged_u_turn != normalized_intersection.end());
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return std::make_pair(merged_u_turn->eid,
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util::bearing::reverse(merged_u_turn->bearing));
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}
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else
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{
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const auto uturn_edge_at_normalized_intersection_itr =
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std::find_if(normalized_intersection.begin(),
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normalized_intersection.end(),
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connect_to_previous_node);
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BOOST_ASSERT(uturn_edge_at_normalized_intersection_itr !=
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normalized_intersection.end());
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return std::make_pair(
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uturn_edge_at_normalized_intersection_itr->eid,
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util::bearing::reverse(uturn_edge_at_normalized_intersection_itr->bearing));
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}
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}();
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IntersectionView intersection_view;
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intersection_view.reserve(normalized_intersection.size());
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std::transform(normalized_intersection.begin(),
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normalized_intersection.end(),
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std::back_inserter(intersection_view),
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[&](const IntersectionShapeData &road) {
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return IntersectionViewData(
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road,
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is_allowed_turn(road),
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util::bearing::angleBetween(uturn.second, road.bearing));
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});
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const auto uturn_edge_at_intersection_view_itr =
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std::find_if(intersection_view.begin(), intersection_view.end(), connect_to_previous_node);
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// number of found valid exit roads
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const auto valid_count =
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std::count_if(intersection_view.begin(),
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intersection_view.end(),
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[](const IntersectionViewData &road) { return road.entry_allowed; });
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// in general, we don't wan't to allow u-turns. If we don't look at a barrier, we have to check
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// for dead end streets. These are the only ones that we allow uturns for, next to barriers
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// (which are also kind of a dead end, but we don't have to check these again :))
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if (uturn_edge_at_intersection_view_itr != intersection_view.end() &&
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((uturn_edge_at_intersection_view_itr->entry_allowed && !is_barrier_node &&
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valid_count != 1) ||
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valid_count == 0))
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{
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const auto allow_uturn_at_dead_end = [&]() {
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const auto &uturn_data = node_based_graph.GetEdgeData(uturn_edge_itr->eid);
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// we can't turn back onto oneway streets
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if (uturn_data.reversed)
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return false;
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// don't allow explicitly restricted turns
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if (is_restricted(previous_node))
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return false;
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// we define dead ends as roads that can only be entered via the possible u-turn
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const auto is_bidirectional = [&](const EdgeID entering_via_edge) {
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const auto to_node = node_based_graph.GetTarget(entering_via_edge);
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const auto reverse_edge = node_based_graph.FindEdge(to_node, node_at_intersection);
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BOOST_ASSERT(reverse_edge != SPECIAL_EDGEID);
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return !node_based_graph.GetEdgeData(reverse_edge).reversed;
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};
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const auto bidirectional_edges = [&]() {
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std::uint32_t count = 0;
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for (const auto eid : node_based_graph.GetAdjacentEdgeRange(node_at_intersection))
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if (is_bidirectional(eid))
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++count;
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return count;
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}();
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// Checking for dead-end streets is kind of difficult. There is obvious dead ends
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// (single road connected)
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return bidirectional_edges <= 1;
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}();
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uturn_edge_at_intersection_view_itr->entry_allowed = allow_uturn_at_dead_end;
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}
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std::sort(std::begin(intersection_view),
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std::end(intersection_view),
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std::mem_fn(&IntersectionViewData::CompareByAngle));
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|
|
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// Move entering_via_edge to intersection front and place all roads prior entering_via_edge
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|
// at the end of the intersection view with 360° angle
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|
auto entering_via_it = std::find_if(intersection_view.begin(),
|
|
intersection_view.end(),
|
|
[&uturn](auto &road) { return road.eid == uturn.first; });
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|
|
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OSRM_ASSERT(entering_via_it != intersection_view.end() && entering_via_it->angle >= 0. &&
|
|
entering_via_it->angle < std::numeric_limits<double>::epsilon(),
|
|
coordinates[node_at_intersection]);
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|
|
|
if (entering_via_it != intersection_view.begin() && entering_via_it != intersection_view.end())
|
|
{
|
|
std::for_each(
|
|
intersection_view.begin(), entering_via_it, [](auto &road) { road.angle = 360.; });
|
|
std::rotate(intersection_view.begin(), entering_via_it, intersection_view.end());
|
|
}
|
|
|
|
return intersection_view;
|
|
}
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|
|
|
const CoordinateExtractor &IntersectionGenerator::GetCoordinateExtractor() const
|
|
{
|
|
return coordinate_extractor;
|
|
}
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|
|
|
} // namespace guidance
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|
} // namespace extractor
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} // namespace osrm
|