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Fix route calculation for GPX

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This commit is contained in:
Victor Shcherb 2020-07-07 17:15:37 +02:00
parent a3a1b047ac
commit 109eb77f88
5 changed files with 88 additions and 55 deletions
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3
OsmAnd-java/src/main/java/net/osmand/IndexConstants.java
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@ -28,9 +28,6 @@ public class IndexConstants {
public static final String EXTRA_EXT = ".extra";
public static final String EXTRA_ZIP_EXT = ".extra.zip";
public static final String TOUR_INDEX_EXT = ".tour"; //$NON-NLS-1$
public static final String TOUR_INDEX_EXT_ZIP = ".tour.zip"; //$NON-NLS-1$
public static final String GEN_LOG_EXT = ".gen.log"; //$NON-NLS-1$
public static final String VOICE_INDEX_EXT_ZIP = ".voice.zip"; //$NON-NLS-1$

47
OsmAnd-java/src/main/java/net/osmand/router/RoutePlannerFrontEnd.java
View file

@ -50,7 +50,7 @@ public class RoutePlannerFrontEnd {
// don't search subsegments shorter than specified distance (also used to step back for car turns)
public double MINIMUM_STEP_APPROXIMATION = 100;
// Parameter to smoother the track itself (could be 0 if it's not recorded track)
public double SMOOTHEN_POINTS_NO_ROUTE = 2;
public double SMOOTHEN_POINTS_NO_ROUTE = 5;
public final RoutingContext ctx;
public int routeCalculations = 0;
@ -92,6 +92,7 @@ public class RoutePlannerFrontEnd {
public double cumDist;
public RouteSegmentPoint pnt;
public List<RouteSegmentResult> routeToTarget;
public List<RouteSegmentResult> stepBackRoute;
public int targetInd = -1;
}
@ -203,11 +204,7 @@ public class RoutePlannerFrontEnd {
}
// TODO last segment not correct (cut) before end point and point of straight line
// TODO add missing turns for straight lines (compare code)
// TODO native matches less roads
// TODO fix progress - next iteration
// TODO fix timings and remove logging every iteration
public GpxRouteApproximation searchGpxRoute(GpxRouteApproximation gctx, List<LatLon> points) throws IOException, InterruptedException {
@ -217,7 +214,7 @@ public class RoutePlannerFrontEnd {
}
List<GpxPoint> gpxPoints = generageGpxPoints(points, gctx);
GpxPoint start = gpxPoints.size() > 0 ? gpxPoints.get(0) : null;
boolean prevRouteFound = false;
GpxPoint prev = null;
while (start != null) {
double routeDist = gctx.MAXIMUM_STEP_APPROXIMATION;
GpxPoint next = findNextGpxPointWithin(gctx, gpxPoints, start, routeDist);
@ -227,13 +224,13 @@ public class RoutePlannerFrontEnd {
while (routeDist >= gctx.MINIMUM_STEP_APPROXIMATION && !routeFound) {
routeFound = initRoutingPoint(next, gctx, gctx.MINIMUM_POINT_APPROXIMATION);
if (routeFound) {
routeFound = findGpxRouteSegment(gctx, gpxPoints, start, next, prevRouteFound);
routeFound = findGpxRouteSegment(gctx, gpxPoints, start, next, prev != null);
if (routeFound) {
// route is found - cut the end of the route and move to next iteration
boolean stepBack = stepBackAndFindPrevPointInRoute(gctx, gpxPoints, start, next);
if (!stepBack) {
// not supported case (workaround increase MAXIMUM_STEP_APPROXIMATION)
log.info("Consider to increase MAXIMUM_STEP_APPROXIMATION to: " + routeDist*2);
log.info("Consider to increase MAXIMUM_STEP_APPROXIMATION to: " + routeDist * 2);
start.routeToTarget = null;
routeFound = false;
break;
@ -257,16 +254,17 @@ public class RoutePlannerFrontEnd {
if (!routeFound) {
// route is not found, move start point by
next = findNextGpxPointWithin(gctx, gpxPoints, start, gctx.MINIMUM_STEP_APPROXIMATION);
if (prevRouteFound) {
if (next == null) {
// TODO finish
// makeSegmentPointPrecise(prev.routeToTarget.get(prev.routeToTarget.size() - 1), start.loc, false);
} else {
if (prev != null) {
prev.routeToTarget.addAll(prev.stepBackRoute);
makeSegmentPointPrecise(prev.routeToTarget.get(prev.routeToTarget.size() - 1), start.loc, false);
if (next != null) {
log.warn("NOT found route from: " + start.pnt.getRoad() + " at " + start.pnt.getSegmentStart());
}
}
prev = null;
} else {
prev = start;
}
prevRouteFound = routeFound;
start = next;
}
@ -289,6 +287,7 @@ public class RoutePlannerFrontEnd {
double d = 0;
int segmendInd = start.routeToTarget.size() - 1;
boolean search = true;
start.stepBackRoute = new ArrayList<RouteSegmentResult>();
mainLoop: for (; segmendInd >= 0 && search; segmendInd--) {
RouteSegmentResult rr = start.routeToTarget.get(segmendInd);
boolean minus = rr.getStartPointIndex() < rr.getEndPointIndex();
@ -300,6 +299,7 @@ public class RoutePlannerFrontEnd {
if (nextInd == rr.getStartPointIndex()) {
segmendInd--;
} else {
start.stepBackRoute.add(new RouteSegmentResult(rr.getObject(), nextInd, rr.getEndPointIndex()));
rr.setEndPointIndex(nextInd);
}
search = false;
@ -311,8 +311,10 @@ public class RoutePlannerFrontEnd {
// here all route segments - 1 is longer than needed distance to step back
return false;
}
while (start.routeToTarget.size() > segmendInd + 1) {
start.routeToTarget.remove(segmendInd + 1);
RouteSegmentResult removed = start.routeToTarget.remove(segmendInd + 1);
start.stepBackRoute.add(removed);
}
RouteSegmentResult res = start.routeToTarget.get(segmendInd);
next.pnt = new RouteSegmentPoint(res.getObject(), res.getEndPointIndex(), 0);
@ -321,7 +323,7 @@ public class RoutePlannerFrontEnd {
private void calculateGpxRoute(GpxRouteApproximation gctx, List<GpxPoint> gpxPoints) {
RouteRegion reg = new RouteRegion();
reg.initRouteEncodingRule(0, "highway", "unmatched");
reg.initRouteEncodingRule(0, "highway", RouteResultPreparation.UNMATCHED_HIGHWAY_TYPE);
List<LatLon> lastStraightLine = null;
for (int i = 0; i < gpxPoints.size(); ) {
GpxPoint pnt = gpxPoints.get(i);
@ -424,8 +426,17 @@ public class RoutePlannerFrontEnd {
rdo.pointsY = y.toArray();
rdo.types = new int[] { 0 } ;
rdo.id = -1;
// comment to see road without straight connections
res.add(new RouteSegmentResult(rdo, 0, rdo.getPointsLength() - 1));
List<RouteSegmentResult> rts = new ArrayList<>();
rts.add(new RouteSegmentResult(rdo, 0, rdo.getPointsLength() - 1));
RouteResultPreparation preparation = new RouteResultPreparation();
try {
preparation.prepareResult(gctx.ctx, rts, false);
} catch (IOException e) {
throw new IllegalStateException(e);
}
// VIEW: comment to see road without straight connections
res.addAll(rts);
}

51
OsmAnd-java/src/main/java/net/osmand/router/RouteResultPreparation.java
View file

@ -44,8 +44,11 @@ public class RouteResultPreparation {
public static boolean PRINT_TO_CONSOLE_ROUTE_INFORMATION_TO_TEST = false;
public static String PRINT_TO_GPX_FILE = null;
private static final float TURN_DEGREE_MIN = 45;
private static final float UNMATCHED_TURN_DEGREE_MINIMUM = 45;
private static final float SPLIT_TURN_DEGREE_NOT_STRAIGHT = 100;
public static final int SHIFT_ID = 6;
private Log log = PlatformUtil.getLog(RouteResultPreparation.class);
public static final String UNMATCHED_HIGHWAY_TYPE = "unmatched";
/**
* Helper method to prepare final result
*/
@ -222,7 +225,7 @@ public class RouteResultPreparation {
private void justifyUTurns(boolean leftSide, List<RouteSegmentResult> result) {
int next;
for (int i = 0; i < result.size() - 1; i = next) {
for (int i = 1; i < result.size() - 1; i = next) {
next = i + 1;
TurnType t = result.get(i).getTurnType();
// justify turn
@ -313,6 +316,7 @@ public class RouteResultPreparation {
RouteSegmentResult rr = result.get(i);
boolean plus = rr.getStartPointIndex() < rr.getEndPointIndex();
int next;
boolean unmatched = UNMATCHED_HIGHWAY_TYPE.equals(rr.getObject().getHighway());
for (int j = rr.getStartPointIndex(); j != rr.getEndPointIndex(); j = next) {
next = plus ? j + 1 : j - 1;
if (j == rr.getStartPointIndex()) {
@ -323,27 +327,33 @@ public class RouteResultPreparation {
}
List<RouteSegmentResult> attachedRoutes = rr.getAttachedRoutes(next);
boolean tryToSplit = next != rr.getEndPointIndex() && !rr.getObject().roundabout() && attachedRoutes != null;
if(rr.getDistance(next, plus ) == 0) {
if (rr.getDistance(next, plus) == 0) {
// same point will be processed next step
tryToSplit = false;
}
if (tryToSplit) {
float distBearing = unmatched ? RouteSegmentResult.DIST_BEARING_DETECT_UNMATCHED : RouteSegmentResult.DIST_BEARING_DETECT;
// avoid small zigzags
float before = rr.getBearing(next, !plus);
float after = rr.getBearing(next, plus);
if(rr.getDistance(next, plus ) < 5) {
after = before + 180;
} else if(rr.getDistance(next, !plus ) < 5) {
before = after - 180;
float before = rr.getBearingEnd(next, distBearing);
float after = rr.getBearingBegin(next, distBearing);
if (rr.getDistance(next, plus) < distBearing) {
after = before;
} else if (rr.getDistance(next, !plus) < distBearing) {
before = after;
}
boolean straight = Math.abs(MapUtils.degreesDiff(before + 180, after)) < TURN_DEGREE_MIN;
double contAngle = Math.abs(MapUtils.degreesDiff(before, after));
boolean straight = contAngle < TURN_DEGREE_MIN;
boolean isSplit = false;
if (unmatched && Math.abs(contAngle) >= UNMATCHED_TURN_DEGREE_MINIMUM) {
isSplit = true;
}
// split if needed
for (RouteSegmentResult rs : attachedRoutes) {
double diff = MapUtils.degreesDiff(before + 180, rs.getBearingBegin());
double diff = MapUtils.degreesDiff(before, rs.getBearingBegin());
if (Math.abs(diff) <= TURN_DEGREE_MIN) {
isSplit = true;
} else if (!straight && Math.abs(diff) < 100) {
} else if (!straight && Math.abs(diff) < SPLIT_TURN_DEGREE_NOT_STRAIGHT) {
isSplit = true;
}
}
@ -1061,18 +1071,17 @@ public class RouteResultPreparation {
}
TurnType t = null;
if (prev != null) {
boolean noAttachedRoads = rr.getAttachedRoutes(rr.getStartPointIndex()).size() == 0;
// add description about turn
double mpi = MapUtils.degreesDiff(prev.getBearingEnd(), rr.getBearingBegin());
if(noAttachedRoads){
// VICTOR : look at the comment inside direction route
// ? avoid small zigzags is covered at (search for "zigzags")
// double begin = rr.getObject().directionRoute(rr.getStartPointIndex(), rr.getStartPointIndex() <
// rr.getEndPointIndex(), 25);
// mpi = MapUtils.degreesDiff(prev.getBearingEnd(), begin);
// avoid small zigzags is covered at (search for "zigzags")
float bearingDist = RouteSegmentResult.DIST_BEARING_DETECT;
// could be || noAttachedRoads, boolean noAttachedRoads = rr.getAttachedRoutes(rr.getStartPointIndex()).size() == 0;
if (UNMATCHED_HIGHWAY_TYPE.equals(rr.getObject().getHighway())) {
bearingDist = RouteSegmentResult.DIST_BEARING_DETECT_UNMATCHED;
}
double mpi = MapUtils.degreesDiff(prev.getBearingEnd(prev.getEndPointIndex(), bearingDist),
rr.getBearingBegin(rr.getStartPointIndex(), bearingDist));
if (mpi >= TURN_DEGREE_MIN) {
if (mpi < 45) {
if (mpi < TURN_DEGREE_MIN) {
// Slight turn detection here causes many false positives where drivers would expect a "normal" TL. Best use limit-angle=TURN_DEGREE_MIN, this reduces TSL to the turn-lanes cases.
t = TurnType.valueOf(TurnType.TSLL, leftSide);
} else if (mpi < 120) {
@ -1085,7 +1094,7 @@ public class RouteResultPreparation {
int[] lanes = getTurnLanesInfo(prev, t.getValue());
t.setLanes(lanes);
} else if (mpi < -TURN_DEGREE_MIN) {
if (mpi > -45) {
if (mpi > -TURN_DEGREE_MIN) {
t = TurnType.valueOf(TurnType.TSLR, leftSide);
} else if (mpi > -120) {
t = TurnType.valueOf(TurnType.TR, leftSide);

34
OsmAnd-java/src/main/java/net/osmand/router/RouteSegmentResult.java
View file

@ -22,7 +22,10 @@ import gnu.trove.map.hash.TIntObjectHashMap;
public class RouteSegmentResult implements StringExternalizable<RouteDataBundle> {
// this should be bigger (50-80m) but tests need to be fixed first
private static final float DIST_BEARING_DETECT = 5;
public static final float DIST_BEARING_DETECT = 5;
public static final float DIST_BEARING_DETECT_UNMATCHED = 50;
private RouteDataObject object;
private int startPointIndex;
private int endPointIndex;
@ -446,19 +449,32 @@ public class RouteSegmentResult implements StringExternalizable<RouteDataBundle>
}
public float getBearingBegin() {
return (float) (object.directionRoute(startPointIndex, startPointIndex < endPointIndex, DIST_BEARING_DETECT) / Math.PI * 180);
return getBearingBegin(startPointIndex, DIST_BEARING_DETECT);
}
public float getBearing(int point, boolean plus) {
return (float) (object.directionRoute(point, plus, DIST_BEARING_DETECT) / Math.PI * 180);
}
public float getDistance(int point, boolean plus) {
return (float) (plus? object.distance(point, endPointIndex): object.distance(startPointIndex, point));
public float getBearingBegin(int point, float dist) {
return getBearing(point, true, dist);
}
public float getBearingEnd() {
return (float) (MapUtils.alignAngleDifference(object.directionRoute(endPointIndex, startPointIndex > endPointIndex, DIST_BEARING_DETECT) - Math.PI) / Math.PI * 180);
return getBearingEnd(endPointIndex, DIST_BEARING_DETECT);
}
public float getBearingEnd(int point, float dist) {
return getBearing(point, false, dist);
}
public float getBearing(int point, boolean begin, float dist) {
if (begin) {
return (float) (object.directionRoute(point, startPointIndex < endPointIndex, dist) / Math.PI * 180);
} else {
double dr = object.directionRoute(point, startPointIndex > endPointIndex, dist);
return (float) (MapUtils.alignAngleDifference(dr - Math.PI) / Math.PI * 180);
}
}
public float getDistance(int point, boolean plus) {
return (float) (plus ? object.distance(point, endPointIndex) : object.distance(startPointIndex, point));
}
public void setSegmentTime(float segmentTime) {

6
OsmAnd/src/net/osmand/plus/routing/RouteCalculationResult.java
View file

@ -493,9 +493,9 @@ public class RouteCalculationResult {
Location current = locations.get(i);
float bearing = current.bearingTo(next);
// try to get close to current location if possible
while(prevBearingLocation < i - 1){
if(locations.get(prevBearingLocation + 1).distanceTo(current) > 70){
prevBearingLocation ++;
while (prevBearingLocation < i - 1) {
if (locations.get(prevBearingLocation + 1).distanceTo(current) > 70) {
prevBearingLocation++;
} else {
break;
}