259 lines
11 KiB
C++
259 lines
11 KiB
C++
#ifndef OSRM_EXTRACTOR_COORDINATE_EXTRACTOR_HPP_
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#define OSRM_EXTRACTOR_COORDINATE_EXTRACTOR_HPP_
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#include <utility>
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#include <vector>
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#include "extractor/compressed_edge_container.hpp"
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#include "extractor/query_node.hpp"
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#include "util/attributes.hpp"
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#include "util/coordinate.hpp"
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#include "util/node_based_graph.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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class CoordinateExtractor
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{
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public:
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CoordinateExtractor(const util::NodeBasedDynamicGraph &node_based_graph,
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const extractor::CompressedEdgeContainer &compressed_geometries,
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const std::vector<util::Coordinate> &node_coordinates);
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/* Find a interpolated coordinate a long the compressed geometries. The desired coordinate
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* should be in a certain distance. This method is dedicated to find representative coordinates
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* at turns.
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* Note: The segment between intersection and turn coordinate can be zero, if the OSM modelling
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* is unfortunate. See https://github.com/Project-OSRM/osrm-backend/issues/3470
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*/
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OSRM_ATTR_WARN_UNUSED
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util::Coordinate GetCoordinateAlongRoad(const NodeID intersection_node,
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const EdgeID turn_edge,
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const bool traversed_in_reverse,
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const NodeID to_node,
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const std::uint8_t number_of_in_lanes) const;
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// Given a set of precomputed coordinates, select the representative coordinate along the road
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// that best describes the turn
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OSRM_ATTR_WARN_UNUSED
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util::Coordinate
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ExtractRepresentativeCoordinate(const NodeID intersection_node,
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const EdgeID turn_edge,
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const bool traversed_in_reverse,
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const NodeID to_node,
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const std::uint8_t intersection_lanes,
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std::vector<util::Coordinate> coordinates) const;
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// instead of finding only a single coordinate, we can also list all coordinates along a
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// road.
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OSRM_ATTR_WARN_UNUSED std::vector<util::Coordinate>
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GetCoordinatesAlongRoad(const NodeID intersection_node,
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const EdgeID turn_edge,
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const bool traversed_in_reverse,
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const NodeID to_node) const;
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// wrapper in case of normal forward edges (traversed_in_reverse = false, to_node =
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// node_based_graph.GetTarget(turn_edge)
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OSRM_ATTR_WARN_UNUSED
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std::vector<util::Coordinate> GetForwardCoordinatesAlongRoad(const NodeID from,
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const EdgeID turn_edge) const;
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// a less precise way to compute coordinates along a route. Due to the heavy interaction of
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// graph traversal and turn instructions, we often don't care for high precision. We only want
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// to check for available connections in order, or find (with room for error) the straightmost
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// turn. This function will offer a bit more error potential but allow for much higher
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// performance
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OSRM_ATTR_WARN_UNUSED
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util::Coordinate GetCoordinateCloseToTurn(const NodeID from_node,
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const EdgeID turn_edge,
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const bool traversed_in_reverse,
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const NodeID to_node) const;
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/* When extracting the coordinates, we first extract all coordinates. We don't care about most
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* of them, though.
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*
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* Our very first step trims the coordinates to a saller set, close to the intersection.. The
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* idea here is to filter all coordinates at the end of the road and consider only the formi
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* close to the intersection:
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*
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* a -------------- v ----------.
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* .
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* .
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* .
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* b
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*
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* For calculating the turn angle for the intersection at `a`, we do not care about the turn
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* between `v` and `b`. This calculation trims the coordinates to the ones immediately at the
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* intersection.
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*
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* The optional length cache needs to store the accumulated distance up to the respective
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* coordinate index [0,d(0,1),...]
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*/
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OSRM_ATTR_WARN_UNUSED
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std::vector<util::Coordinate>
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TrimCoordinatesToLength(std::vector<util::Coordinate> coordinates,
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const double desired_length,
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const std::vector<double> &length_cache = {}) const;
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OSRM_ATTR_WARN_UNUSED
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std::vector<double> PrepareLengthCache(const std::vector<util::Coordinate> &coordinates,
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const double limit) const;
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/* when looking at a set of coordinates, this function allows trimming the vector to a smaller,
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* only containing coordinates up to a given distance along the path. The last coordinate might
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* be interpolated
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*/
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OSRM_ATTR_WARN_UNUSED
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std::vector<util::Coordinate>
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TrimCoordinatesByLengthFront(std::vector<util::Coordinate> coordinates,
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const double desired_length) const;
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/*
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* to correct for the initial offset, we move the lookahead coordinate close
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* to the original road. We do so by subtracting the difference between the
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* turn coordinate and the offset coordinate from the lookahead coordinge:
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*
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* a ------ b ------ c
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* |
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* d
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* \
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* \
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* e
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*
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* is converted to:
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*
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* a ------ b ------ c
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* \
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* \
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* e
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*
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* for fixpoint `b`, vector_base `d` and vector_head `e`
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*/
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OSRM_ATTR_WARN_UNUSED
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util::Coordinate GetCorrectedCoordinate(const util::Coordinate fixpoint,
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const util::Coordinate vector_base,
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const util::Coordinate vector_head) const;
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/* generate a uniform vector of coordinates in same range distances
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*
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* Turns:
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* x ------------ x -- x - x
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*
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* Into:
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* x -- x -- x -- x -- x - x
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*/
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OSRM_ATTR_WARN_UNUSED
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std::vector<util::Coordinate>
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SampleCoordinates(const std::vector<util::Coordinate> &coordinates,
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const double length,
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const double rate) const;
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private:
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const util::NodeBasedDynamicGraph &node_based_graph;
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const extractor::CompressedEdgeContainer &compressed_geometries;
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const std::vector<util::Coordinate> &node_coordinates;
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double ComputeInterpolationFactor(const double desired_distance,
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const double distance_to_first,
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const double distance_to_second) const;
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std::pair<util::Coordinate, util::Coordinate>
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RegressionLine(const std::vector<util::Coordinate> &coordinates) const;
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/* In an ideal world, the road would only have two coordinates if it goes mainly straigt. Since
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* OSM is operating on noisy data, we have some variations going straight.
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*
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* b d
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* a ---------------------------------------------- e
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* c
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*
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* The road from a-e offers a lot of variation, even though it is mostly straight. Here we
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* calculate the distances of all nodes in between to the straight line between a and e. If the
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* distances inbetween are small, we assume a straight road. To calculate these distances, we
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* don't use the coordinates of the road itself but our just calculated regression vector
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*/
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double GetMaxDeviation(std::vector<util::Coordinate>::const_iterator range_begin,
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const std::vector<util::Coordinate>::const_iterator &range_end,
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const util::Coordinate straight_begin,
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const util::Coordinate straight_end) const;
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/*
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* the curve is still best described as looking at the very first vector for the turn angle.
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* Consider:
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*
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* |
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* a - 1
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* | o
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* | 2
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* | o
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* | 3
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* | o
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* | 4
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*
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* The turn itself from a-1 would be considered as a 90 degree turn, even though the road is
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* taking a turn later.
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* In this situaiton we return the very first coordinate, describing the road just at the
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* turn.
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* As an added benefit, we get a straight turn at a curved road:
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*
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* o b o
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* o o
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* o o
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* o o
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* o o
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* a c
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*
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* The turn from a-b to b-c is straight. With every vector we go further down the road, the
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* turn
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* angle would get stronger. Therefore we consider the very first coordinate as our best
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* choice
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*/
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bool IsCurve(const std::vector<util::Coordinate> &coordinates,
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const std::vector<double> &segment_distances,
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const double segment_length,
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const double considered_lane_width,
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const util::NodeBasedEdgeData &edge_data) const;
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/*
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* If the very first coordinate is within lane offsets and the rest offers a near straight line,
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* we use an offset coordinate.
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*
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* ----------------------------------------
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*
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* ----------------------------------------
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* a -
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* ----------------------------------------
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* \
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* ----------------------------------------
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* \
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* b --------------------c
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*
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* Will be considered a very slight turn, instead of the near 90 degree turn we see right here.
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*/
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bool IsDirectOffset(const std::vector<util::Coordinate> &coordinates,
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const std::size_t straight_index,
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const double straight_distance,
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const double segment_length,
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const std::vector<double> &segment_distances,
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const std::uint8_t considered_lanes) const;
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// find the coordinate at a specific location in the vector
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util::Coordinate ExtractCoordinateAtLength(const double distance,
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const std::vector<util::Coordinate> &coordinates,
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const std::vector<double> &length_cache) const;
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util::Coordinate
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ExtractCoordinateAtLength(const double distance,
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const std::vector<util::Coordinate> &coordinates) const;
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};
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} // namespace guidance
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} // namespace extractor
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} // namespace osrm
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#endif // OSRM_EXTRACTOR_COORDINATE_EXTRACTOR_HPP_
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