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pageldev / libOpenDRIVE

Small, lightweight C++ library for handling OpenDRIVE files
Apache License 2.0
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road objects past road limits aren't generated when using paramPoly3 geometries #80

Open dpjiitkgp opened 1 year ago

dpjiitkgp commented 1 year ago

File with_param_poly.xodr: geometry: ParamPoly3 s_offset for object's outline: exceeds max s_offset of planview geometry is odrviewer working: NO

File with_line.xodr: Geometry: Line s_offset for object's outline: exceeds max s_offset of planview geometry is odrviewer working: YES

File with_param_poly3_soffset_within_limit.xodr: Geometry: ParamPoly3 s_offset for object's outline: reduced s_offset so that It can fit within the limit of max s_offset of planview geometry is odrviewer working: YES

param_poly_issue.zip

pageldev commented 1 year ago

This is because the ParamPoly3 geometry doesn't support interpolation past the ends. It's not so easy to fix this due to the way the ParamPoly3 is implemented.

As background: ParamPoly3 uses a CubicBezier under the hood. When the CubicBezier is created it gets sampled from the parametric t=[0.0, 1.0] and a lookup table arc length -> parametric t is created. So basically we can only get t-values for the range [0.0, arc length] and can't get any t-values for past-the-end values (s < 0.0 or s > arc length)

The next step would be extending CubicBezier::get_t to handle values that are not in the valid range. Probably by calculating the arc length for a given t on demand, which is an expensive operation. Alternatively ParamPoly3 could be extended to just linearly extend the ends (like adding Line geometries at the ends)