From 036d85df1e2e7ac2325aafd4a91e73a482058d7b Mon Sep 17 00:00:00 2001
From: wangcongtao <wangcongtao@zhidaoauto.com>
Date: Fri, 18 Dec 2020 10:55:17 +0800
Subject: [PATCH] opt

---
 app/build.gradle                              |   2 +-
 .../java/com/mogo}/utils/CoordinateUtils.java |  53 ++--
 .../mogo/map/impl/amap/AMapApiBuilder.java    |   6 +
 .../impl/amap/AMapCoordinatesTransformer.java |  40 +++
 .../impl/amap/marker/AMapMarkerWrapper.java   |   5 +
 .../mogo/map/impl/amap/utils/ObjectUtils.java |   2 +-
 libraries/map-custom/build.gradle             |   2 +-
 .../map/impl/custom/CustomMapApiBuilder.java  |   6 +
 .../CustomMapCoordinatesTransformer.java      |  38 +++
 .../impl/custom/marker/AMapMarkerWrapper.java | 273 +++++++++---------
 .../map/impl/custom/utils/ObjectUtils.java    |   6 +-
 .../com/mogo/map/CoordinatesTransformer.java  |  13 +
 .../java/com/mogo/map/IMogoMapApiBuilder.java |   2 +
 .../main/java/com/mogo/map/MogoLatLng.java    |   2 +-
 .../java/com/mogo/map/marker/IMogoMarker.java |  37 ++-
 .../mogo/map/marker/MogoMarkerOptions.java    |  22 +-
 .../mogo/map/MogoCoordinatesTransformer.java  |  47 +++
 .../com/mogo/map/MogoMapDelegateFactory.java  |   4 +
 .../drawer/AdasRecognizedResultDrawer.java    |  18 +-
 .../mogo/module/common/drawer/BaseDrawer.java |  11 +
 .../common/drawer/SnapshotSetDataDrawer.java  |  75 ++---
 .../common/drawer/marker/MapMarkerView.java   |  18 +-
 .../common/entity/CloudLocationInfo.java      |  73 +++--
 .../CoordinateSystemTransformationUtil.java   |  88 ------
 .../module_services_marker_vr_bkg.png         | Bin 0 -> 4925 bytes
 .../layout/modudle_services_marker_layout.xml |   2 +-
 .../res/layout/module_commons_layout_car.xml  |  11 +-
 .../com/mogo/module/service/MogoServices.java |  18 +-
 .../handler/RefreshWorkThreadHandler.java     |   3 +
 .../service/location/MogoRTKLocation.java     |   1 +
 .../uploadintime/SnapshotUploadInTime.java    |   2 -
 .../com/mogo/module/v2x/V2XObuManager.java    |   2 +-
 .../com/mogo/service/map/IMogoMapService.java |  10 +-
 .../service/impl/adas/AdasObjectUtils.java    |  14 +-
 .../mogo/service/impl/map/MogoMapService.java |   9 +-
 35 files changed, 533 insertions(+), 382 deletions(-)
 rename {modules/mogo-module-common/src/main/java/com/mogo/module/common => foudations/mogo-utils/src/main/java/com/mogo}/utils/CoordinateUtils.java (54%)
 create mode 100644 libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapCoordinatesTransformer.java
 create mode 100644 libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapCoordinatesTransformer.java
 create mode 100644 libraries/mogo-map-api/src/main/java/com/mogo/map/CoordinatesTransformer.java
 create mode 100644 libraries/mogo-map/src/main/java/com/mogo/map/MogoCoordinatesTransformer.java
 delete mode 100644 modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CoordinateSystemTransformationUtil.java
 create mode 100644 modules/mogo-module-common/src/main/res/drawable-xhdpi/module_services_marker_vr_bkg.png

diff --git a/app/build.gradle b/app/build.gradle
index d2097403e7..7c6106bd98 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -176,7 +176,7 @@ android {
             // 分享时是否隐藏 adas
             buildConfigField 'boolean', 'IS_NEED_HIDE_ADAS_WHEN_SHARE', 'false'
             // 是否需要实时上报坐标
-            buildConfigField 'boolean', 'IS_NEED_UPLOAD_COORDINATES_IN_TIME', 'false'
+            buildConfigField 'boolean', 'IS_NEED_UPLOAD_COORDINATES_IN_TIME', 'true'
         }
         // e系列，采用Launcher方案
         e8xx {
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CoordinateUtils.java b/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java
similarity index 54%
rename from modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CoordinateUtils.java
rename to foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java
index 411d66e5cf..cccab09de0 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CoordinateUtils.java
+++ b/foudations/mogo-utils/src/main/java/com/mogo/utils/CoordinateUtils.java
@@ -1,4 +1,4 @@
-package com.mogo.module.common.utils;
+package com.mogo.utils;
 
 /**
  * @author donghongyu
@@ -19,10 +19,8 @@ public class CoordinateUtils {
         if ( outOfChina( lat, lon ) ) {
             return new double[]{lat, lon};
         }
-        double dLat = transformLat( lon - 105.0,
-                lat - 35.0 );
-        double dLon = transformLon( lon - 105.0,
-                lat - 35.0 );
+        double dLat = transformLat( lon - 105.0, lat - 35.0 );
+        double dLon = transformLon( lon - 105.0, lat - 35.0 );
         double radLat = lat / 180.0 * Math.PI;
         double magic = Math.sin( radLat );
         magic = 1 - ee * magic * magic;
@@ -34,26 +32,18 @@ public class CoordinateUtils {
     }
 
     public static double transformLat( double x, double y ) {
-        double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y
-                + 0.2 * Math.sqrt( x > 0 ? x : -x );
-        ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x
-                * Math.PI ) ) * 2.0 / 3.0;
-        ret += ( 20.0 * Math.sin( y * Math.PI ) + 40.0 * Math.sin( y / 3.0
-                * Math.PI ) ) * 2.0 / 3.0;
-        ret += ( 160.0 * Math.sin( y / 12.0 * Math.PI ) + 320 * Math.sin( y
-                * Math.PI / 30.0 ) ) * 2.0 / 3.0;
+        double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * Math.sqrt( x > 0 ? x : -x );
+        ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x * Math.PI ) ) * 2.0 / 3.0;
+        ret += ( 20.0 * Math.sin( y * Math.PI ) + 40.0 * Math.sin( y / 3.0 * Math.PI ) ) * 2.0 / 3.0;
+        ret += ( 160.0 * Math.sin( y / 12.0 * Math.PI ) + 320 * Math.sin( y * Math.PI / 30.0 ) ) * 2.0 / 3.0;
         return ret;
     }
 
     public static double transformLon( double x, double y ) {
-        double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1
-                * Math.sqrt( x > 0 ? x : -x );
-        ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x
-                * Math.PI ) ) * 2.0 / 3.0;
-        ret += ( 20.0 * Math.sin( x * Math.PI ) + 40.0 * Math.sin( x / 3.0
-                * Math.PI ) ) * 2.0 / 3.0;
-        ret += ( 150.0 * Math.sin( x / 12.0 * Math.PI ) + 300.0 * Math.sin( x
-                / 30.0 * Math.PI ) ) * 2.0 / 3.0;
+        double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * Math.sqrt( x > 0 ? x : -x );
+        ret += ( 20.0 * Math.sin( 6.0 * x * Math.PI ) + 20.0 * Math.sin( 2.0 * x * Math.PI ) ) * 2.0 / 3.0;
+        ret += ( 20.0 * Math.sin( x * Math.PI ) + 40.0 * Math.sin( x / 3.0 * Math.PI ) ) * 2.0 / 3.0;
+        ret += ( 150.0 * Math.sin( x / 12.0 * Math.PI ) + 300.0 * Math.sin( x / 30.0 * Math.PI ) ) * 2.0 / 3.0;
         return ret;
     }
 
@@ -65,4 +55,25 @@ public class CoordinateUtils {
         return false;
     }
 
+    public static final double[] transformGcj02toWgs84( double lat, double lng ) {
+        double[] var10000;
+        if ( outOfChina( lat, lng ) ) {
+            var10000 = new double[]{lng, lat};
+        } else {
+            double dlat = transformLat( lng - 105.0D, lat - 35.0D );
+            double dlng = transformLon( lng - 105.0D, lat - 35.0D );
+            double radlat = lat / 180.0D * Math.PI;
+            double magic = Math.sin( radlat );
+            magic = ( double ) 1 - 0.006693421622965943D * magic * magic;
+            double sqrtmagic = Math.sqrt( magic );
+            dlat = dlat * 180.0D / ( 6335552.717000426D / ( magic * sqrtmagic ) * Math.PI );
+            dlng = dlng * 180.0D / ( 6378245.0D / sqrtmagic * Math.cos( radlat ) * Math.PI );
+            double mglat = lat + dlat;
+            double mglng = lng + dlng;
+            var10000 = new double[]{lng * ( double ) 2 - mglng, lat * ( double ) 2 - mglat};
+        }
+
+        return var10000;
+    }
+
 }
diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapApiBuilder.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapApiBuilder.java
index 9905272f37..81c8f74f37 100644
--- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapApiBuilder.java
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapApiBuilder.java
@@ -4,6 +4,7 @@ import android.content.Context;
 import android.view.ViewGroup;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.map.CoordinatesTransformer;
 import com.mogo.map.IMogoMapApiBuilder;
 import com.mogo.map.IMogoMapView;
 import com.mogo.map.MapApiPath;
@@ -114,6 +115,11 @@ class AMapApiBuilder implements IMogoMapApiBuilder {
         return IconTypeUtils.getResIdByIconType( context, iconType );
     }
 
+    @Override
+    public CoordinatesTransformer getCoordinatesTransformer() {
+        return AMapCoordinatesTransformer.getInstance();
+    }
+
     @Override
     public void init( Context context ) {
         Logger.d( TAG, "init." );
diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapCoordinatesTransformer.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapCoordinatesTransformer.java
new file mode 100644
index 0000000000..5e08f60ae1
--- /dev/null
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapCoordinatesTransformer.java
@@ -0,0 +1,40 @@
+package com.mogo.map.impl.amap;
+
+import com.mogo.map.CoordinatesTransformer;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/12/17
+ *
+ * 描述
+ */
+class AMapCoordinatesTransformer implements CoordinatesTransformer {
+
+    private AMapCoordinatesTransformer() {
+        // private constructor
+    }
+
+    private static final class InstanceHolder {
+        private static final AMapCoordinatesTransformer INSTANCE = new AMapCoordinatesTransformer();
+    }
+
+    public static AMapCoordinatesTransformer getInstance() {
+        return InstanceHolder.INSTANCE;
+    }
+
+    private Object readResolve() {
+        // 阻止反序列化，必须实现 Serializable 接口
+        return InstanceHolder.INSTANCE;
+    }
+
+    @Override
+    public double[] transform( double lat, double lon ) {
+        double[] coor = new double[2];
+        coor[0] = lat;
+        coor[1] = lon;
+        return coor;
+//        return new double[]{lat, lon};
+//        return CoordinateUtils.transformGcj02toWgs84( lat, lon );
+    }
+}
diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java
index 6b8ce91a61..b47d6ef3af 100644
--- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java
@@ -525,6 +525,11 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
         mMovingPointOverlay.startSmoothMove();
     }
 
+    @Override
+    public void startSmoothInMs( List< MogoLatLng > points, long duration ) {
+        startSmooth( points, ( ( int ) ( duration / 1000 ) ) );
+    }
+
     @Override
     public boolean isInfoWindowShowing() {
         if ( mMarker == null ) {
diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/utils/ObjectUtils.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/utils/ObjectUtils.java
index 0f17274188..26bb9545f5 100644
--- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/utils/ObjectUtils.java
+++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/utils/ObjectUtils.java
@@ -192,7 +192,7 @@ public class ObjectUtils {
         if ( latLng == null ) {
             return null;
         }
-        return new LatLng( latLng.lat, latLng.lng );
+        return new LatLng( latLng.lat, latLng.lon );
     }
 
     public static MogoLatLng fromAMap( LatLonPoint point ) {
diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle
index 986849f098..0dc9651ed6 100644
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -67,7 +67,7 @@ dependencies {
         implementation project(':foudations:mogo-commons')
     }
 
-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-7.1.5'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-7.1.8'
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
index 1081ea35b3..9bf1e3ea1f 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapApiBuilder.java
@@ -3,6 +3,7 @@ package com.mogo.map.impl.custom;
 import android.content.Context;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.map.CoordinatesTransformer;
 import com.mogo.map.IMogoMapApiBuilder;
 import com.mogo.map.IMogoMapView;
 import com.mogo.map.MapApiPath;
@@ -116,6 +117,11 @@ class CustomMapApiBuilder implements IMogoMapApiBuilder {
         return IconTypeUtils.getResIdByIconType( context, iconType );
     }
 
+    @Override
+    public CoordinatesTransformer getCoordinatesTransformer() {
+        return CustomMapCoordinatesTransformer.getInstance();
+    }
+
     @Override
     public void init( Context context ) {
         Logger.d( TAG, "init" );
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapCoordinatesTransformer.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapCoordinatesTransformer.java
new file mode 100644
index 0000000000..92994ffaa1
--- /dev/null
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/CustomMapCoordinatesTransformer.java
@@ -0,0 +1,38 @@
+package com.mogo.map.impl.custom;
+
+import com.mogo.map.CoordinatesTransformer;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/12/17
+ *
+ * 描述
+ */
+class CustomMapCoordinatesTransformer implements CoordinatesTransformer {
+
+    private CustomMapCoordinatesTransformer() {
+        // private constructor
+    }
+
+    private static final class InstanceHolder {
+        private static final CustomMapCoordinatesTransformer INSTANCE = new CustomMapCoordinatesTransformer();
+    }
+
+    public static CustomMapCoordinatesTransformer getInstance() {
+        return InstanceHolder.INSTANCE;
+    }
+
+    private Object readResolve() {
+        // 阻止反序列化，必须实现 Serializable 接口
+        return InstanceHolder.INSTANCE;
+    }
+
+    @Override
+    public double[] transform( double lat, double lon ) {
+        double[] coor = new double[2];
+        coor[0] = lat;
+        coor[1] = lon;
+        return coor;
+    }
+}
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
index 4a6b17c1d0..361fb1c8f4 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
@@ -52,35 +52,36 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     private MogoMarkerOptions mMogoMarkerOptions;
     private String mOwner;
 
-    public AMapMarkerWrapper(Marker marker, MogoMarkerOptions mogoMarkerOptions) {
+    public AMapMarkerWrapper( Marker marker, MogoMarkerOptions mogoMarkerOptions ) {
         this.mMarker = marker;
-        if (marker != null) {
+        if ( marker != null ) {
             // 设置自研 marker 的object对象为 IMogoMarker 实例。！！！！
-            marker.setMObject(this);
-            MarkerWrapperClickHelper.getInstance().setMogoMarkerMap(marker.getId(),this);
+            marker.setMObject( this );
+            MarkerWrapperClickHelper.getInstance().setMogoMarkerMap( marker.getId(), this );
         }
-        setObject(mogoMarkerOptions.getObject());
+        setObject( mogoMarkerOptions.getObject() );
         this.mMogoMarkerOptions = mogoMarkerOptions;
-        mMogoMarkerOptions.addObserver(this);
+        mMogoMarkerOptions.addObserver( this );
     }
 
     @Override
-    public void update(Observable o, Object arg) {
-        if (isDestroyed()) {
+    public void update( Observable o, Object arg ) {
+        if ( isDestroyed() ) {
             return;
         }
-        setMarkerOptions(mMogoMarkerOptions);
+        setMarkerOptions( mMogoMarkerOptions );
     }
 
     @Override
     public void destroy() {
-        if (mMogoMarkerOptions != null) {
+        if ( mMogoMarkerOptions != null ) {
             mMogoMarkerOptions.deleteObservers();
             mMogoMarkerOptions = null;
         }
-        if (mMarker != null) {
+        if ( mMarker != null ) {
             mMarker.remove();
-            mMarker.setMObject(null);
+            mMarker.setMObject( null );
+            mMarker.setOnInfoWindowClickListener( null );
             mMarker = null;
         }
         mMogoInfoWindowAdapter = null;
@@ -96,45 +97,45 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
 
     @Override
     public void hideInfoWindow() {
-        if (mMarker != null) {
+        if ( mMarker != null ) {
             mMarker.hideInfoWindow();
         }
     }
 
     @Override
-    public void setAlpha(float alpha) {
-        if (mMarker != null) {
-            mMarker.setAlpha(alpha);
+    public void setAlpha( float alpha ) {
+        if ( mMarker != null ) {
+            mMarker.setAlpha( alpha );
         }
     }
 
     @Override
-    public void setAnchor(float anchorU, float anchorV) {
-        if (mMarker != null) {
-            mMarker.setAnchor(anchorU, anchorV);
+    public void setAnchor( float anchorU, float anchorV ) {
+        if ( mMarker != null ) {
+            mMarker.setAnchor( anchorU, anchorV );
         }
     }
 
     @Override
-    public void setDraggable(boolean paramBoolean) {
+    public void setDraggable( boolean paramBoolean ) {
         if ( mMarker != null ) {
             mMarker.setDraggable( paramBoolean );
         }
     }
 
     @Override
-    public void setIcon(Bitmap icon) {
-        if (icon == null || icon.isRecycled()) {
+    public void setIcon( Bitmap icon ) {
+        if ( icon == null || icon.isRecycled() ) {
             return;
         }
-        if (mMarker != null) {
-            mMarker.setIcon(icon);
+        if ( mMarker != null ) {
+            mMarker.setIcon( icon );
         }
     }
 
     @Override
-    public void setIcons(ArrayList<Bitmap> icons) {
-        if (icons == null || icons.isEmpty()) {
+    public void setIcons( ArrayList< Bitmap > icons ) {
+        if ( icons == null || icons.isEmpty() ) {
             return;
         }
 //        ArrayList<BitmapDescriptor> descriptors = new ArrayList<>();
@@ -153,9 +154,9 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void setInfoWindowEnable(boolean enabled) {
-        if (mMarker != null) {
-            if (enabled) {
+    public void setInfoWindowEnable( boolean enabled ) {
+        if ( mMarker != null ) {
+            if ( enabled ) {
                 mMarker.showInfoWindow();
             } else {
                 mMarker.hideInfoWindow();
@@ -164,20 +165,20 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void setMarkerOptions(MogoMarkerOptions opt) {
+    public void setMarkerOptions( MogoMarkerOptions opt ) {
 
-        final MarkerOptions options = ObjectUtils.fromMogo(opt);
-        if (options == null) {
+        final MarkerOptions options = ObjectUtils.fromMogo( opt );
+        if ( options == null ) {
             return;
         }
-        if (mMarker != null) {
-            mMarker.setMarkerOptions(options);
-            setObject(opt.getObject());
+        if ( mMarker != null ) {
+            mMarker.setMarkerOptions( options );
+            setObject( opt.getObject() );
         }
     }
 
     @Override
-    public void setObject(Object object) {
+    public void setObject( Object object ) {
         mObject = object;
     }
 
@@ -187,89 +188,89 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void setPeriod(int period) {
-        if (mMarker != null) {
-            mMarker.setPeriod(period);
+    public void setPeriod( int period ) {
+        if ( mMarker != null ) {
+            mMarker.setPeriod( period );
         }
     }
 
     @Override
-    public void setPosition(double lat, double lng) {
-        if (mMarker != null) {
-            mMarker.setPosition(new LonLatPoint(lng,lat));
+    public void setPosition( double lat, double lng ) {
+        if ( mMarker != null ) {
+            mMarker.setPosition( new LonLatPoint( lng, lat ) );
         }
     }
 
     @Override
     public MogoLatLng getPosition() {
-        if (mMarker != null) {
+        if ( mMarker != null ) {
             final LonLatPoint latLng = mMarker.getPosition();
-            return ObjectUtils.fromAMap(latLng);
+            return ObjectUtils.fromAMap( latLng );
         }
         return null;
     }
 
     @Override
-    public void setRotateAngle(float rotate) {
-        if (mMarker != null) {
-            mMarker.setRotateAngle(rotate);
+    public void setRotateAngle( float rotate ) {
+        if ( mMarker != null ) {
+            mMarker.setRotateAngle( rotate );
         }
     }
 
     @Override
-    public void setSnippet(String snippet) {
-        if (mMarker != null) {
-            mMarker.setSnippet(snippet);
+    public void setSnippet( String snippet ) {
+        if ( mMarker != null ) {
+            mMarker.setSnippet( snippet );
         }
     }
 
     @Override
-    public void setTitle(String title) {
-        if (mMarker != null) {
-            mMarker.setTitle(title);
+    public void setTitle( String title ) {
+        if ( mMarker != null ) {
+            mMarker.setTitle( title );
         }
     }
 
     @Override
     public void setToTop() {
-        if (mMarker != null) {
+        if ( mMarker != null ) {
             mMarker.setToTop();
         }
     }
 
     @Override
-    public void setVisible(boolean visible) {
-        if (mMarker != null) {
-            mMarker.setVisible(visible);
+    public void setVisible( boolean visible ) {
+        if ( mMarker != null ) {
+            mMarker.setVisible( visible );
         }
     }
 
     @Override
-    public void setZIndex(int zIndex) {
-        if (mMarker != null) {
-            mMarker.setZIndex(zIndex);
+    public void setZIndex( int zIndex ) {
+        if ( mMarker != null ) {
+            mMarker.setZIndex( zIndex );
         }
     }
 
     @Override
     public void showInfoWindow() {
-        if (mMarker != null) {
+        if ( mMarker != null ) {
             mMarker.showInfoWindow();
         }
     }
 
     @Override
-    public void setOnMarkerClickListener(IMogoMarkerClickListener listener) {
+    public void setOnMarkerClickListener( IMogoMarkerClickListener listener ) {
         mMogoMarkerClickListener = listener;
-        if(mMarker != null){
-            mMarker.setOnMarkClickListener(new OnMarkClickListener() {
+        if ( mMarker != null ) {
+            mMarker.setOnMarkClickListener( new OnMarkClickListener() {
                 @Override
-                public void onMarkClick(@NotNull Marker marker) {
-                     if(mMogoMarkerClickListener!= null){
-                         mMogoMarkerClickListener.onMarkerClicked(AMapMarkerWrapper.this);
-                     }
+                public void onMarkClick( @NotNull Marker marker ) {
+                    if ( mMogoMarkerClickListener != null ) {
+                        mMogoMarkerClickListener.onMarkerClicked( AMapMarkerWrapper.this );
+                    }
                 }
-            });
+            } );
         }
     }
 
@@ -279,7 +280,7 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void setInfoWindowAdapter(IMogoInfoWindowAdapter adapter) {
+    public void setInfoWindowAdapter( IMogoInfoWindowAdapter adapter ) {
         mMogoInfoWindowAdapter = adapter;
     }
 
@@ -289,11 +290,11 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void setMarkerIconView(IMogoMarkerIconViewCreator creator) {
-        if (creator != null) {
-            View iconView = creator.createView(this);
-            if (iconView != null) {
-                mMarker.setIcon(iconView);
+    public void setMarkerIconView( IMogoMarkerIconViewCreator creator ) {
+        if ( creator != null ) {
+            View iconView = creator.createView( this );
+            if ( iconView != null ) {
+                mMarker.setIcon( iconView );
             }
         }
     }
@@ -304,25 +305,25 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void setOwner(String mOwner) {
+    public void setOwner( String mOwner ) {
         this.mOwner = mOwner;
     }
 
     @Override
     public String getOwner() {
-        if (mOwner != null) {
+        if ( mOwner != null ) {
             return mOwner;
         }
-        if (mMogoMarkerOptions != null) {
+        if ( mMogoMarkerOptions != null ) {
             return mMogoMarkerOptions.getOwner();
         }
         return null;
     }
 
     @Override
-    public void setPositionByPixels(Point position) {
-        if (mMarker != null) {
-            mMarker.setPosition(MapTools.INSTANCE.fromScreenLocation(position));
+    public void setPositionByPixels( Point position ) {
+        if ( mMarker != null ) {
+            mMarker.setPosition( MapTools.INSTANCE.fromScreenLocation( position ) );
         }
     }
 
@@ -336,11 +337,11 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void startScaleAnimation(float fromX, float toX, float fromY, float toY, int duration, Interpolator interpolator) {
-        if (isDestroyed()) {
+    public void startScaleAnimation( float fromX, float toX, float fromY, float toY, int duration, Interpolator interpolator ) {
+        if ( isDestroyed() ) {
             return;
         }
-        startScaleAnimation(fromX, toX, fromY, toY, duration, interpolator,null);
+        startScaleAnimation( fromX, toX, fromY, toY, duration, interpolator, null );
 //        ScaleAnimation animationScale = new ScaleAnimation(fromX, toX, fromY, toY);
 //        animationScale.setDuration(duration);
 //        animationScale.setFillMode(Animation.FILL_MODE_FORWARDS);
@@ -351,129 +352,134 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     }
 
     @Override
-    public void startScaleAnimation(float fromX, float toX, float fromY, float toY, int duration, Interpolator interpolator, OnMarkerAnimationListener listener) {
-        if (isDestroyed()) {
+    public void startScaleAnimation( float fromX, float toX, float fromY, float toY, int duration, Interpolator interpolator, OnMarkerAnimationListener listener ) {
+        if ( isDestroyed() ) {
             return;
         }
 
-        MarkerScaleAnimation animationScale = new MarkerScaleAnimation(fromX, toX);
-        animationScale.setDuration(duration*1000);
+        MarkerScaleAnimation animationScale = new MarkerScaleAnimation( fromX, toX );
+        animationScale.setDuration( duration * 1000 );
 //        animationScale.setFillMode(Animation.FILL_MODE_FORWARDS);
 //        animationScale.setInterpolator(interpolator);
-        animationScale.setAnimationListener(new MarkerAnimationListener() {
+        animationScale.setAnimationListener( new MarkerAnimationListener() {
             @Override
-            public void onAnimationEnd(@NotNull Animation animation) {
-                if (isDestroyed()) {
+            public void onAnimationEnd( @NotNull Animation animation ) {
+                if ( isDestroyed() ) {
                     return;
                 }
-                if (listener != null) {
+                if ( listener != null ) {
                     listener.onAnimEnd();
                 }
             }
 
             @Override
-            public void onAnimationRepeat(@NotNull Animation animation) {
+            public void onAnimationRepeat( @NotNull Animation animation ) {
 
             }
 
             @Override
-            public void onAnimationStart(@NotNull Animation animation) {
-                if (isDestroyed()) {
+            public void onAnimationStart( @NotNull Animation animation ) {
+                if ( isDestroyed() ) {
                     return;
                 }
-                if (listener != null) {
+                if ( listener != null ) {
                     listener.onAnimStart();
                 }
             }
-        });
+        } );
 
-        mMarker.setMarkerScaleAnimation(animationScale);
+        mMarker.setMarkerScaleAnimation( animationScale );
         mMarker.startAnimation();
     }
 
     @Override
-    public void startJumpAnimation(float high, long duration, Interpolator interpolator, OnMarkerAnimationListener listener) {
-        if (isDestroyed() || high <= 0.0f || interpolator == null || duration < 0) {
+    public void startJumpAnimation( float high, long duration, Interpolator interpolator, OnMarkerAnimationListener listener ) {
+        if ( isDestroyed() || high <= 0.0f || interpolator == null || duration < 0 ) {
             return;
         }
         try {
-            final LonLatPoint latLng = ObjectUtils.fromMogo(getPosition());
+            final LonLatPoint latLng = ObjectUtils.fromMogo( getPosition() );
 //            Point point = AMapWrapper.getAMap().getProjection().toScreenLocation(latLng);
 //            point.y -= WindowUtils.dip2px(AbsMogoApplication.getApp(), high);
 //            LatLng target = AMapWrapper.getAMap().getProjection().fromScreenLocation(point);
             //使用TranslateAnimation,填写一个需要移动的目标点
-            MarkerTranslateAnimation animation = new MarkerTranslateAnimation(latLng);
+            MarkerTranslateAnimation animation = new MarkerTranslateAnimation( latLng );
 //            animation.setInterpolator(interpolator);
-            animation.setAnimationListener(new MarkerAnimationListener() {
+            animation.setAnimationListener( new MarkerAnimationListener() {
                 @Override
-                public void onAnimationEnd(@NotNull Animation animation) {
-                    if (isDestroyed()) {
+                public void onAnimationEnd( @NotNull Animation animation ) {
+                    if ( isDestroyed() ) {
                         return;
                     }
-                    if (listener != null) {
+                    if ( listener != null ) {
                         listener.onAnimEnd();
                     }
                 }
 
                 @Override
-                public void onAnimationRepeat(@NotNull Animation animation) {
+                public void onAnimationRepeat( @NotNull Animation animation ) {
 
                 }
 
                 @Override
-                public void onAnimationStart(@NotNull Animation animation) {
-                    if (isDestroyed()) {
+                public void onAnimationStart( @NotNull Animation animation ) {
+                    if ( isDestroyed() ) {
                         return;
                     }
-                    if (listener != null) {
+                    if ( listener != null ) {
                         listener.onAnimStart();
                     }
                 }
-            });
+            } );
             //整个移动所需要的时间
-            animation.setDuration(duration*1000);
+            animation.setDuration( duration * 1000 );
             //设置动画
-            mMarker.setTranslateAnimation(animation);
+            mMarker.setTranslateAnimation( animation );
             mMarker.startAnimation();
-        } catch (Exception e) {
-            Logger.e(TAG, e, "error.");
+        } catch ( Exception e ) {
+            Logger.e( TAG, e, "error." );
         }
     }
 
     @Override
-    public void setClickable(boolean clickable) {
-        if (mMarker != null) {
-            mMarker.setClickable(clickable);
+    public void setClickable( boolean clickable ) {
+        if ( mMarker != null ) {
+            mMarker.setClickable( clickable );
         }
     }
 
     @Override
-    public void startSmooth(List<MogoLatLng> points, int duration) {
-        if (isDestroyed()) {
+    public void startSmooth( List< MogoLatLng > points, int duration ) {
+        startSmoothInMs( points, duration * 1000 );
+    }
+
+    @Override
+    public void startSmoothInMs( List< MogoLatLng > points, long duration ) {
+        if ( isDestroyed() ) {
             return;
         }
 
-        if (mMarker == null) {
+        if ( mMarker == null ) {
             return;
         }
 
-        if (points == null || points.isEmpty()) {
+        if ( points == null || points.isEmpty() ) {
             return;
         }
 
-        List<LonLatPoint> newPoints = new ArrayList<>();
-        for (int i = 0; i < points.size(); i++) {
-            LonLatPoint point = ObjectUtils.fromMogo(points.get(i));
-            if (point == null) {
+        List< LonLatPoint > newPoints = new ArrayList<>();
+        for ( int i = 0; i < points.size(); i++ ) {
+            LonLatPoint point = ObjectUtils.fromMogo( points.get( i ) );
+            if ( point == null ) {
                 continue;
             }
-            newPoints.add(point);
+            newPoints.add( point );
         }
-        if (newPoints.isEmpty()) {
+        if ( newPoints.isEmpty() ) {
             return;
         }
 
-        mMarker.startSmooth(newPoints,duration*1000);
+        mMarker.startSmooth( newPoints, ( int ) duration );
     }
 
     @Override
@@ -492,4 +498,13 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
             mMarker.setGps( isGps );
         }
     }
+
+    @Override
+    public void use3DResource( int model3D ) {
+        try {
+            mMarker.setMarkerOptions( mMarker.getMarkeOptions().marker3DIcon( model3D ) );
+        } catch ( Exception e ) {
+            Logger.e( TAG, e, "use3DResource" );
+        }
+    }
 }
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
index 1852c8c8ea..b7a9a9586d 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
@@ -68,11 +68,9 @@ public class ObjectUtils {
                 descriptors.add( new BitmapDescriptor( icon ) );
             }
         }
-        BitmapDescriptor descriptor = getBitmapDescriptorFromMogo( opt );
 
         MarkerOptions markerOptions = new MarkerOptions()
                 .position( new LonLatPoint( opt.getLongitude(), opt.getLatitude() ) )
-                .markerIcon( descriptor )
                 .anchor( opt.getU(), opt.getV() )
 //                .icons( descriptors )
 //                .period( opt.getPeriod() )
@@ -85,6 +83,10 @@ public class ObjectUtils {
 //                .draggable( opt.isDraggable() )
                 .setInfoWindowOffset( opt.getOffsetX(), opt.getOffsetY() )
                 .zIndex( opt.getzIndex() );
+        BitmapDescriptor descriptor = getBitmapDescriptorFromMogo( opt );
+        if ( descriptor != null ) {
+            markerOptions.markerIcon( descriptor );
+        }
         if ( opt.getIcon3DRes() != 0 ) {
             markerOptions.marker3DIcon( opt.getIcon3DRes() );
         }
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/CoordinatesTransformer.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/CoordinatesTransformer.java
new file mode 100644
index 0000000000..ae6fcb07ae
--- /dev/null
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/CoordinatesTransformer.java
@@ -0,0 +1,13 @@
+package com.mogo.map;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/12/17
+ *
+ * 目前整个坐标按照高德火星坐标为准，故对于高德和自研地图，需要实现不同的转换，达到适应各自地图的目的
+ */
+interface CoordinatesTransformer {
+
+    double[] transform( double lat, double lon );
+}
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMapApiBuilder.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMapApiBuilder.java
index ac404dbdf7..74fa2d9840 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMapApiBuilder.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMapApiBuilder.java
@@ -49,4 +49,6 @@ interface IMogoMapApiBuilder extends IProvider {
     IMogoTrafficSearch getTrafficSearch();
 
     int getResIdByIconType( Context context, int iconType );
+
+    CoordinatesTransformer getCoordinatesTransformer();
 }
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java
index 74e837f5a7..0c4cf88651 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java
@@ -21,7 +21,7 @@ public class MogoLatLng implements Parcelable {
     public MogoLatLng( double lat, double lon ) {
         this.lat = lat;
         this.lng = lon;
-        this.lon = lng;
+        this.lon = lon;
     }
 
     public double getLat() {
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java
index 7fc854f3d1..b00ed1c4bf 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java
@@ -5,6 +5,8 @@ import android.graphics.Bitmap;
 import android.graphics.Point;
 import android.view.animation.Interpolator;
 
+import androidx.annotation.RawRes;
+
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.marker.anim.OnMarkerAnimationListener;
 
@@ -281,14 +283,14 @@ public interface IMogoMarker {
      * @param listener
      */
     void startScaleAnimationWithAlpha( float fromX,
-                              float toX,
-                              float fromY,
-                              float toY,
-                              float fromAlpha,
-                              float toAlpha,
-                              int duration,
-                              Interpolator interpolator,
-                              OnMarkerAnimationListener listener );
+                                       float toX,
+                                       float fromY,
+                                       float toY,
+                                       float fromAlpha,
+                                       float toAlpha,
+                                       int duration,
+                                       Interpolator interpolator,
+                                       OnMarkerAnimationListener listener );
 
 
     /**
@@ -319,15 +321,32 @@ public interface IMogoMarker {
      */
     void startSmooth( List< MogoLatLng > points, int duration );
 
+    /**
+     * 开始平滑移动，毫秒
+     *
+     * @param points   坐标点
+     * @param duration 时长
+     */
+    void startSmoothInMs( List< MogoLatLng > points, long duration );
+
     /**
      * info window 是否正在显示
+     *
      * @return
      */
     boolean isInfoWindowShowing();
 
     /**
      * 设置是否是gps
+     *
      * @param isGps
      */
-    void setGps(boolean isGps);
+    void setGps( boolean isGps );
+
+    /**
+     * 使用3D资源
+     */
+    default void use3DResource( @RawRes int model3D ) {
+
+    }
 }
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
index fece6e0ea5..fbff166089 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
@@ -73,9 +73,21 @@ public class MogoMarkerOptions extends Observable {
      */
     private boolean mAutoManager = true;
 
-    private @RawRes int mIcon3DRes = 0;
+    private @RawRes
+    int mIcon3DRes = 0;
 
-    public MogoMarkerOptions position( MogoLatLng latLng ){
+    private boolean mIs3DMode = false;
+
+    public MogoMarkerOptions set3DMode( boolean is3DMode ) {
+        mIs3DMode = is3DMode;
+        return this;
+    }
+
+    public boolean is3DMode() {
+        return mIs3DMode;
+    }
+
+    public MogoMarkerOptions position( MogoLatLng latLng ) {
         if ( latLng != null ) {
             latitude( latLng.lat );
             longitude( latLng.lon );
@@ -83,7 +95,7 @@ public class MogoMarkerOptions extends Observable {
         return this;
     }
 
-    public MogoMarkerOptions position( MogoLocation location ){
+    public MogoMarkerOptions position( MogoLocation location ) {
         if ( location != null ) {
             latitude( location.getLatitude() );
             longitude( location.getLongitude() );
@@ -91,7 +103,7 @@ public class MogoMarkerOptions extends Observable {
         return this;
     }
 
-    public MogoMarkerOptions position( Location location ){
+    public MogoMarkerOptions position( Location location ) {
         if ( location != null ) {
             latitude( location.getLatitude() );
             longitude( location.getLongitude() );
@@ -216,7 +228,7 @@ public class MogoMarkerOptions extends Observable {
         return this;
     }
 
-    public MogoMarkerOptions icon3DRes(@RawRes int icon3DRes){
+    public MogoMarkerOptions icon3DRes( @RawRes int icon3DRes ) {
         this.mIcon3DRes = icon3DRes;
         return this;
     }
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoCoordinatesTransformer.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoCoordinatesTransformer.java
new file mode 100644
index 0000000000..e37689fde1
--- /dev/null
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoCoordinatesTransformer.java
@@ -0,0 +1,47 @@
+package com.mogo.map;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/12/17
+ *
+ * 描述
+ */
+class MogoCoordinatesTransformer implements CoordinatesTransformer {
+
+    private CoordinatesTransformer mDelegate;
+
+    private static volatile MogoCoordinatesTransformer sInstance;
+
+    private MogoCoordinatesTransformer(){
+        mDelegate = MogoMapDelegateFactory.getCoordinatesTransformer();
+    }
+
+    public static MogoCoordinatesTransformer getInstance(){
+        if( sInstance == null ){
+            synchronized( MogoCoordinatesTransformer.class ) {
+                if( sInstance == null ){
+                    sInstance = new MogoCoordinatesTransformer();
+                }
+            }
+        }
+        return sInstance;
+    }
+
+    public synchronized void release(){
+        sInstance = null;
+    }
+
+    private Object readResolve() {
+        // 阻止反序列化，必须实现 Serializable 接口
+        return sInstance;
+    }
+
+    @Override
+    public double[] transform( double lat, double lon ) {
+        if ( mDelegate != null ) {
+            return mDelegate.transform( lat, lon );
+        }
+        return null;
+    }
+}
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapDelegateFactory.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapDelegateFactory.java
index 98cdb28c31..5c26b24ccc 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapDelegateFactory.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapDelegateFactory.java
@@ -133,4 +133,8 @@ class MogoMapDelegateFactory {
     public static IMogoTrafficSearch getTrafficSearch() {
         return getApiBuilder().getTrafficSearch();
     }
+
+    public static CoordinatesTransformer getCoordinatesTransformer(){
+        return getApiBuilder().getCoordinatesTransformer();
+    }
 }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
index 345502ad6f..a8d1fa242a 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
@@ -5,7 +5,6 @@ import android.text.TextUtils;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.ImageView;
-import android.widget.TextView;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.map.MogoLatLng;
@@ -13,12 +12,7 @@ import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
-import com.mogo.module.common.constants.AdasRecognizedType;
 import com.mogo.module.common.constants.DataTypes;
-import com.mogo.module.common.constants.SafeType;
-import com.mogo.module.common.constants.VisionMode;
-import com.mogo.module.common.drawer.marker.MarkerResourceManager;
-import com.mogo.module.common.utils.CoordinateUtils;
 import com.mogo.service.adas.entity.ADASRecognizedListResult;
 
 import java.util.ArrayList;
@@ -105,8 +99,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                     if ( latLon == null ) {
                         continue;
                     }
-                    double targetPos[] = CoordinateUtils.transformFromWGSToGCJ( latLon.lat, latLon.lon );
-                    points.add( endLatLon = new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
+//                    double targetPos[] = transformGcj02ToFitMap( latLon.lat, latLon.lon );
+//                    points.add( endLatLon = new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
+                    points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) );
                 }
 
             } else if ( recognizedListResult.latLonList != null
@@ -118,7 +113,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                     continue;
                 }
                 points.add( latLng );
-                points.add( endLatLon = new MogoLatLng( latLng.lat, latLon.lon ) );
+//                double targetPos[] = transformGcj02ToFitMap( latLon.lat, latLon.lon );
+//                points.add( endLatLon = new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
+                points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) );
             }
             if ( endLatLon != null ) {
                 marker.setObject( endLatLon );
@@ -172,12 +169,13 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
             return null;
         }
 
+//        double targetPos[] = transformGcj02ToFitMap( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon );
         MogoMarkerOptions options = new MogoMarkerOptions()
                 .owner( DataTypes.TYPE_MARKER_ADAS )
                 .icon( inflateView( recognizedListResult, machineVision, curSpeed ) )
-                .gps( true )
                 .anchor( 0.5f, 0.5f )
                 .rotate( ( float ) recognizedListResult.heading )
+//                .position( new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
                 .position( new MogoLatLng( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon ) );
         return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
     }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
index 950134d646..1e4297d218 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
@@ -1,5 +1,7 @@
 package com.mogo.module.common.drawer;
 
+import com.mogo.map.CoordinatesTransformer;
+import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.CarModelType;
 import com.mogo.module.common.constants.SafeType;
 
@@ -72,4 +74,13 @@ class BaseDrawer {
         // 根据车道、行驶方向等计算出选用哪个车模图片
         return CarModelType.Other;
     }
+
+    private CoordinatesTransformer mTransformer;
+
+    protected double[] transformGcj02ToFitMap( double lat, double lon ) {
+        if ( mTransformer == null ) {
+            mTransformer = MogoApisHandler.getInstance().getApis().getMapServiceApi().getCoordinatesTransformer();
+        }
+        return mTransformer.transform( lat, lon );
+    }
 }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
index 372ed6a04b..d819d36607 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
@@ -1,13 +1,10 @@
 package com.mogo.module.common.drawer;
 
 import android.content.Context;
-import android.graphics.Bitmap;
 import android.text.TextUtils;
 import android.view.LayoutInflater;
 import android.view.View;
-import android.view.ViewGroup;
 import android.widget.ImageView;
-import android.widget.TextView;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.map.MogoLatLng;
@@ -15,17 +12,10 @@ import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
-import com.mogo.module.common.constants.AdasRecognizedType;
-import com.mogo.module.common.constants.CarModelType;
 import com.mogo.module.common.constants.DataTypes;
-import com.mogo.module.common.constants.SafeType;
-import com.mogo.module.common.constants.VisionMode;
-import com.mogo.module.common.drawer.marker.MarkerResourceManager;
-import com.mogo.module.common.entity.CloudLocationInfo;
 import com.mogo.module.common.entity.CloudRoadData;
 import com.mogo.module.common.entity.MogoSnapshotSetData;
-import com.mogo.module.common.utils.CoordinateUtils;
-import com.mogo.utils.UiThreadHandler;
+import com.mogo.utils.ViewUtils;
 import com.mogo.utils.logger.Logger;
 
 import java.util.ArrayList;
@@ -80,6 +70,8 @@ class SnapshotSetDataDrawer extends BaseDrawer {
 
     private Map< String, MogoLatLng > mLastPositions = new ConcurrentHashMap<>();
 
+    private boolean mIsVrMode = false;
+
     /**
      * 其他车辆、rsu 车辆数据
      *
@@ -128,22 +120,30 @@ class SnapshotSetDataDrawer extends BaseDrawer {
                 }
                 mCloudSnapshotMarkersCaches.put( uniqueKey, marker );
             } else {
-                marker.setGps( false );
+                if ( mIsVrMode != MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
+                    mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode();
+                    if ( mIsVrMode ) {
+                        marker.use3DResource( getVrModel() );
+                    } else {
+                        marker.setIcon( ViewUtils.fromView( inflateView( cloudRoadData, machineVision, 0 ) ) );
+                    }
+                }
+
                 MogoLatLng lastPosition = mLastPositions.get( uniqueKey );
-                double targetPos[] = CoordinateUtils.transformFromWGSToGCJ( target.lat, target.lon );
-                double lastPos[] = CoordinateUtils.transformFromWGSToGCJ( lastPosition.lat, lastPosition.lon );
+//                double targetPos[] = transformGcj02ToFitMap( target.lat, target.lon );
+//                double lastPos[] = transformGcj02ToFitMap( lastPosition.lat, lastPosition.lon );
                 if ( lastPosition != null ) {
                     if ( lastPosition.equals( target ) ) {
-                        marker.setPosition( lastPos[POS_LAT], lastPos[POS_LON] );
+                        marker.setPosition( lastPosition.lat, lastPosition.lon );
                     } else {
                         List< MogoLatLng > points = new ArrayList<>();
-                        points.add( new MogoLatLng( lastPos[POS_LAT], lastPos[POS_LON] ) );
-                        points.add( new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) );
-                        marker.startSmooth( points, 1 );
+                        points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) );
+                        points.add( new MogoLatLng( target.lat, target.lon ) );
+                        marker.startSmoothInMs( points, 1000L );
                     }
                 } else {
                     marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() );
-                    marker.setPosition( targetPos[POS_LAT], targetPos[POS_LON] );
+                    marker.setPosition( target.lat, target.lon );
                 }
             }
             mLastPositions.put( uniqueKey, target );
@@ -197,16 +197,25 @@ class SnapshotSetDataDrawer extends BaseDrawer {
         }
 
         Logger.d( TAG, "draw marker uniqueKey = %s", data.getUniqueKey() );
+//        double coor[] = transformGcj02ToFitMap( data.getLat(), data.getLon() );
         MogoMarkerOptions options = new MogoMarkerOptions()
                 .owner( DataTypes.TYPE_MARKER_CLOUD_DATA )
-                .icon( inflateView( data, machineVision, curSpeed ) )
-                .gps( true )
                 .anchor( 0.5f, 0.5f )
                 .rotate( ( float ) data.getHeading() )
+//                .position( new MogoLatLng( coor[POS_LAT], coor[POS_LON] ) );
                 .position( new MogoLatLng( data.getLat(), data.getLon() ) );
+        if ( mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
+            options.icon3DRes( getVrModel() );
+        } else {
+            options.icon( inflateView( data, machineVision, curSpeed ) );
+        }
         return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_CLOUD_DATA, options );
     }
 
+    private int getVrModel() {
+        return R.raw.taxi;
+    }
+
     private View inflateView( CloudRoadData data, boolean machineVision, double curSpeed ) {
         View rootView = LayoutInflater.from( AbsMogoApplication.getApp() ).inflate( R.layout.module_commons_layout_car, null );
 //        SafeType safeType = getSafeType( data.getDistance(), data.getSpeed(), curSpeed );
@@ -223,28 +232,4 @@ class SnapshotSetDataDrawer extends BaseDrawer {
         iv.setImageResource( R.drawable.icon_map_marker_car_gray );
         return rootView;
     }
-
-    private Bitmap fromView( View view ) {
-        view.setDrawingCacheEnabled( true );
-        processChildView( view );
-        view.destroyDrawingCache();
-        view.measure( View.MeasureSpec.makeMeasureSpec( 0, View.MeasureSpec.UNSPECIFIED ), View.MeasureSpec.makeMeasureSpec( 0, View.MeasureSpec.UNSPECIFIED ) );
-        view.layout( 0, 0, view.getMeasuredWidth(), view.getMeasuredHeight() );
-        Bitmap bitmap = null;
-        return ( bitmap = view.getDrawingCache() ) != null ? bitmap.copy( Bitmap.Config.ARGB_8888, false ) : null;
-    }
-
-    private void processChildView( View view ) {
-        if ( !( view instanceof ViewGroup ) ) {
-            if ( view instanceof TextView ) {
-                ( ( TextView ) view ).setHorizontallyScrolling( false );
-            }
-
-        } else {
-            for ( int var1 = 0; var1 < ( ( ViewGroup ) view ).getChildCount(); ++var1 ) {
-                processChildView( ( ( ViewGroup ) view ).getChildAt( var1 ) );
-            }
-
-        }
-    }
 }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/MapMarkerView.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/MapMarkerView.java
index 97073c1ef6..be7ebf2ab0 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/MapMarkerView.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/MapMarkerView.java
@@ -3,6 +3,7 @@ package com.mogo.module.common.drawer.marker;
 import android.content.Context;
 import android.util.AttributeSet;
 import android.view.LayoutInflater;
+import android.widget.FrameLayout;
 
 import androidx.annotation.Nullable;
 
@@ -26,6 +27,8 @@ import com.mogo.utils.logger.Logger;
 public class MapMarkerView extends MapMarkerBaseView {
     private String TAG = "MapMarkerView";
 
+    private FrameLayout clMarkerTopView;
+
     public MapMarkerView( Context context ) {
         super( context );
     }
@@ -48,6 +51,7 @@ public class MapMarkerView extends MapMarkerBaseView {
     protected void initView( Context context ) {
         LayoutInflater.from( context ).inflate( R.layout.modudle_services_marker_layout, this );
         ivIcon = findViewById( R.id.ivIcon );
+        clMarkerTopView = findViewById( R.id.clMarkerTopView );
         ivCar = findViewById( R.id.ivCar );
     }
 
@@ -57,7 +61,9 @@ public class MapMarkerView extends MapMarkerBaseView {
             Object bindObj = markerShowEntity.getBindObj();
             if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
                 ivCar.setImageResource( R.drawable.icon_map_marker_location_yellow_vr );
+                clMarkerTopView.setBackgroundResource( R.drawable.module_services_marker_vr_bkg );
             } else {
+                clMarkerTopView.setBackgroundResource( R.drawable.module_services_marker_bkg );
                 ivCar.setImageResource( R.drawable.icon_map_marker_location_yellow );
             }
             switch ( markerShowEntity.getMarkerType() ) {
@@ -65,14 +71,14 @@ public class MapMarkerView extends MapMarkerBaseView {
                 case ModuleNames.CARD_TYPE_NOVELTY:
                     if ( bindObj instanceof MarkerExploreWay && ( ( MarkerExploreWay ) bindObj ).getPoiType() != null ) {
                         // 根据poiType获取对应的图片
-                        String poiType = ((MarkerExploreWay) bindObj).getPoiType();
+                        String poiType = ( ( MarkerExploreWay ) bindObj ).getPoiType();
                         PoiWrapper poiWrapper =
-                                CloudPoiManager.getInstance().getWrapperByPoiType(poiType);
-                        if (poiWrapper != null) {
+                                CloudPoiManager.getInstance().getWrapperByPoiType( poiType );
+                        if ( poiWrapper != null ) {
                             // 加载图片
-                            loadPoiTypeIcon(poiWrapper.getIconUrl(),poiWrapper.getIconRes());
-                        }else{
-                            Logger.e(TAG, "未能根据poiType获取对应poi信息，无法渲染marker====" + poiType);
+                            loadPoiTypeIcon( poiWrapper.getIconUrl(), poiWrapper.getIconRes() );
+                        } else {
+                            Logger.e( TAG, "未能根据poiType获取对应poi信息，无法渲染marker====" + poiType );
                         }
                     }
                     break;
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
index 02f0b43109..70dd512fb6 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
@@ -3,6 +3,8 @@ package com.mogo.module.common.entity;
 import android.os.Parcel;
 import android.os.Parcelable;
 
+import com.mogo.utils.CoordinateUtils;
+
 import java.util.Objects;
 
 /**
@@ -19,10 +21,13 @@ public class CloudLocationInfo implements Parcelable {
     private double alt;
     private double speed;
 
+    public double oldLat;
+    public double oldLon;
+
     public CloudLocationInfo() {
     }
 
-    public CloudLocationInfo(CloudLocationInfo info) {
+    public CloudLocationInfo( CloudLocationInfo info ) {
         this.lat = info.getLat();
         this.lon = info.getLon();
         this.heading = info.getHeading();
@@ -32,7 +37,17 @@ public class CloudLocationInfo implements Parcelable {
         this.speed = info.speed;
     }
 
-    protected CloudLocationInfo(Parcel in) {
+    public void convertCoor2GCJ02(){
+        this.oldLat = lat;
+        this.oldLon = lon;
+        double[] amapCoord = CoordinateUtils.transformFromWGSToGCJ( lat, lon );
+        if ( amapCoord != null ) {
+            this.lat = amapCoord[0];
+            this.lon = amapCoord[1];
+        }
+    }
+
+    protected CloudLocationInfo( Parcel in ) {
         lat = in.readDouble();
         lon = in.readDouble();
         heading = in.readDouble();
@@ -43,14 +58,14 @@ public class CloudLocationInfo implements Parcelable {
     }
 
     @Override
-    public void writeToParcel(Parcel dest, int flags) {
-        dest.writeDouble(lat);
-        dest.writeDouble(lon);
-        dest.writeDouble(heading);
-        dest.writeLong(systemTime);
-        dest.writeLong(satelliteTime);
-        dest.writeDouble(alt);
-        dest.writeDouble(speed);
+    public void writeToParcel( Parcel dest, int flags ) {
+        dest.writeDouble( lat );
+        dest.writeDouble( lon );
+        dest.writeDouble( heading );
+        dest.writeLong( systemTime );
+        dest.writeLong( satelliteTime );
+        dest.writeDouble( alt );
+        dest.writeDouble( speed );
     }
 
     @Override
@@ -58,14 +73,14 @@ public class CloudLocationInfo implements Parcelable {
         return 0;
     }
 
-    public static final Creator<CloudLocationInfo> CREATOR = new Creator<CloudLocationInfo>() {
+    public static final Creator< CloudLocationInfo > CREATOR = new Creator< CloudLocationInfo >() {
         @Override
-        public CloudLocationInfo createFromParcel(Parcel in) {
-            return new CloudLocationInfo(in);
+        public CloudLocationInfo createFromParcel( Parcel in ) {
+            return new CloudLocationInfo( in );
         }
 
         @Override
-        public CloudLocationInfo[] newArray(int size) {
+        public CloudLocationInfo[] newArray( int size ) {
             return new CloudLocationInfo[size];
         }
     };
@@ -74,7 +89,7 @@ public class CloudLocationInfo implements Parcelable {
         return lat;
     }
 
-    public void setLat(double lat) {
+    public void setLat( double lat ) {
         this.lat = lat;
     }
 
@@ -82,7 +97,7 @@ public class CloudLocationInfo implements Parcelable {
         return lon;
     }
 
-    public void setLon(double lon) {
+    public void setLon( double lon ) {
         this.lon = lon;
     }
 
@@ -90,7 +105,7 @@ public class CloudLocationInfo implements Parcelable {
         return heading;
     }
 
-    public void setHeading(double heading) {
+    public void setHeading( double heading ) {
         this.heading = heading;
     }
 
@@ -98,7 +113,7 @@ public class CloudLocationInfo implements Parcelable {
         return systemTime;
     }
 
-    public void setSystemTime(long systemTime) {
+    public void setSystemTime( long systemTime ) {
         this.systemTime = systemTime;
     }
 
@@ -106,7 +121,7 @@ public class CloudLocationInfo implements Parcelable {
         return satelliteTime;
     }
 
-    public void setSatelliteTime(long satelliteTime) {
+    public void setSatelliteTime( long satelliteTime ) {
         this.satelliteTime = satelliteTime;
     }
 
@@ -114,7 +129,7 @@ public class CloudLocationInfo implements Parcelable {
         return alt;
     }
 
-    public void setAlt(double alt) {
+    public void setAlt( double alt ) {
         this.alt = alt;
     }
 
@@ -122,7 +137,7 @@ public class CloudLocationInfo implements Parcelable {
         return speed;
     }
 
-    public void setSpeed(double speed) {
+    public void setSpeed( double speed ) {
         this.speed = speed;
     }
 
@@ -141,24 +156,24 @@ public class CloudLocationInfo implements Parcelable {
 
     public String print() {
         return "CloudLocation{ lon: " + lon + " lat: " + lat + " heading: " + heading + " speed: "
-                + speed+"}";
+                + speed + "}";
     }
 
     @Override
-    public boolean equals(Object o) {
-        if (this == o) {
+    public boolean equals( Object o ) {
+        if ( this == o ) {
             return true;
         }
-        if (o == null || getClass() != o.getClass()) {
+        if ( o == null || getClass() != o.getClass() ) {
             return false;
         }
-        CloudLocationInfo that = (CloudLocationInfo) o;
-        return Double.compare(that.lat, lat) == 0 &&
-                Double.compare(that.lon, lon) == 0;
+        CloudLocationInfo that = ( CloudLocationInfo ) o;
+        return Double.compare( that.lat, lat ) == 0 &&
+                Double.compare( that.lon, lon ) == 0;
     }
 
     @Override
     public int hashCode() {
-        return Objects.hash(lat, lon);
+        return Objects.hash( lat, lon );
     }
 }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CoordinateSystemTransformationUtil.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CoordinateSystemTransformationUtil.java
deleted file mode 100644
index ce46444fbe..0000000000
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/CoordinateSystemTransformationUtil.java
+++ /dev/null
@@ -1,88 +0,0 @@
-package com.mogo.module.common.utils;
-
-import java.math.BigDecimal;
-
-/**
- * 坐标系转化
- *
- * @author linyang
- * @since 2020.10.21
- */
-public class CoordinateSystemTransformationUtil {
-
-    private static final double x_PI = 52.35987755982988D;
-    private static final double PI = 3.141592653589793D;
-    private static final double a = 6378245.0D;
-    private static final double ee = 0.006693421622965943D;
-
-    public static final boolean outOfChina( double lat, double lng ) {
-        return lng <= 73.66D || lng >= 135.05D || lat <= 3.86D || lat >= 53.55D;
-    }
-
-    private static final double transformLat( double lng, double lat ) {
-        double ret = -100.0D + 2.0D * lng + 3.0D * lat + 0.2D * lat * lat + 0.1D * lng * lat + 0.2D * Math.sqrt( Math.abs( lng ) );
-        ret += ( 20.0D * Math.sin( 6.0D * lng * 3.141592653589793D ) + 20.0D * Math.sin( 2.0D * lng * 3.141592653589793D ) ) * 2.0D / 3.0D;
-        ret += ( 20.0D * Math.sin( lat * 3.141592653589793D ) + 40.0D * Math.sin( lat / 3.0D * 3.141592653589793D ) ) * 2.0D / 3.0D;
-        ret += ( 160.0D * Math.sin( lat / 12.0D * 3.141592653589793D ) + ( double ) 320 * Math.sin( lat * 3.141592653589793D / 30.0D ) ) * 2.0D / 3.0D;
-        return ret;
-    }
-
-    private static final double transformLon( double lng, double lat ) {
-        double ret = 300.0D + lng + 2.0D * lat + 0.1D * lng * lng + 0.1D * lng * lat + 0.1D * Math.sqrt( Math.abs( lng ) );
-        ret += ( 20.0D * Math.sin( 6.0D * lng * 3.141592653589793D ) + 20.0D * Math.sin( 2.0D * lng * 3.141592653589793D ) ) * 2.0D / 3.0D;
-        ret += ( 20.0D * Math.sin( lng * 3.141592653589793D ) + 40.0D * Math.sin( lng / 3.0D * 3.141592653589793D ) ) * 2.0D / 3.0D;
-        ret += ( 150.0D * Math.sin( lng / 12.0D * 3.141592653589793D ) + 300.0D * Math.sin( lng / 30.0D * 3.141592653589793D ) ) * 2.0D / 3.0D;
-        return ret;
-    }
-
-    public static final double[] transformWgsToGcj( double wgLat, double wgLon ) {
-        double[] point = new double[2];
-        if ( outOfChina( wgLat, wgLon ) ) {
-            point[0] = wgLon;
-            point[1] = wgLat;
-            return point;
-        } else {
-            double dLat = transformLat( wgLon - 105.0D, wgLat - 35.0D );
-            double dLon = transformLon( wgLon - 105.0D, wgLat - 35.0D );
-            double radLat = wgLat / 180.0D * 3.141592653589793D;
-            double magic = Math.sin( radLat );
-            magic = ( double ) 1 - 0.006693421622965943D * magic * magic;
-            double sqrtMagic = Math.sqrt( magic );
-            dLat = dLat * 180.0D / ( 6335552.717000426D / ( magic * sqrtMagic ) * 3.141592653589793D );
-            dLon = dLon * 180.0D / ( 6378245.0D / sqrtMagic * Math.cos( radLat ) * 3.141592653589793D );
-            double mgLat = wgLat + dLat;
-            double mgLon = wgLon + dLon;
-            point[0] = dealRound( mgLon );
-            point[1] = dealRound( mgLat );
-            return point;
-        }
-    }
-
-    public static final double[] transformGcj02toWgs84( double lat, double lng ) {
-        double[] var10000;
-        if ( outOfChina( lat, lng ) ) {
-            var10000 = new double[]{lng, lat};
-        } else {
-            double dlat = transformLat( lng - 105.0D, lat - 35.0D );
-            double dlng = transformLon( lng - 105.0D, lat - 35.0D );
-            double radlat = lat / 180.0D * 3.141592653589793D;
-            double magic = Math.sin( radlat );
-            magic = ( double ) 1 - 0.006693421622965943D * magic * magic;
-            double sqrtmagic = Math.sqrt( magic );
-            dlat = dlat * 180.0D / ( 6335552.717000426D / ( magic * sqrtmagic ) * 3.141592653589793D );
-            dlng = dlng * 180.0D / ( 6378245.0D / sqrtmagic * Math.cos( radlat ) * 3.141592653589793D );
-            double mglat = lat + dlat;
-            double mglng = lng + dlng;
-            var10000 = new double[]{dealRound( lng * ( double ) 2 - mglng ), dealRound( lat * ( double ) 2 - mglat )};
-        }
-
-        return var10000;
-    }
-
-    private static final double dealRound( double value ) {
-        BigDecimal bg = new BigDecimal( value );
-        double result = bg.setScale( 6, 4 ).doubleValue();
-        return result;
-    }
-
-}
diff --git a/modules/mogo-module-common/src/main/res/drawable-xhdpi/module_services_marker_vr_bkg.png b/modules/mogo-module-common/src/main/res/drawable-xhdpi/module_services_marker_vr_bkg.png
new file mode 100644
index 0000000000000000000000000000000000000000..652b21c1d155703ab8839d1abe1716df10246f0d
GIT binary patch
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vmci<$W~T6s^tW8O^xx*tqxipRKb!J@m%2_q6OAWM00000NkvXXu0mjf*?VAU

literal 0
HcmV?d00001

diff --git a/modules/mogo-module-common/src/main/res/layout/modudle_services_marker_layout.xml b/modules/mogo-module-common/src/main/res/layout/modudle_services_marker_layout.xml
index c8b06a6245..d056cf267e 100644
--- a/modules/mogo-module-common/src/main/res/layout/modudle_services_marker_layout.xml
+++ b/modules/mogo-module-common/src/main/res/layout/modudle_services_marker_layout.xml
@@ -15,7 +15,7 @@
         android:background="@drawable/module_services_marker_bkg"
         android:layout_height="@dimen/module_service_marker_bubble_height">
 
-        <ImageView
+        <com.mogo.service.imageloader.MogoImageView
             android:id="@+id/ivIcon"
             android:layout_width="@dimen/module_service_marker_bubble_icon_width"
             android:layout_height="@dimen/module_service_marker_bubble_icon_height"
diff --git a/modules/mogo-module-common/src/main/res/layout/module_commons_layout_car.xml b/modules/mogo-module-common/src/main/res/layout/module_commons_layout_car.xml
index 81eef40fb4..eb830f921a 100644
--- a/modules/mogo-module-common/src/main/res/layout/module_commons_layout_car.xml
+++ b/modules/mogo-module-common/src/main/res/layout/module_commons_layout_car.xml
@@ -7,15 +7,6 @@
     <ImageView
         android:id="@+id/module_commons_marker_car_model"
         android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:src="@drawable/module_common_online_car_vr_middle" />
+        android:layout_height="wrap_content" />
 
-
-    <TextView
-        android:id="@+id/module_commons_marker_car_speed"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_gravity="center"
-        android:visibility="gone"
-        android:textColor="#FF0000" />
 </FrameLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
index 6fc36fbb25..4822887cbc 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -12,11 +12,7 @@ import android.os.Message;
 import android.text.TextUtils;
 import android.view.MotionEvent;
 
-import androidx.annotation.NonNull;
-
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.commons.network.ParamsProvider;
-import com.mogo.commons.network.SubscribeImpl;
 import com.mogo.commons.storage.SpStorage;
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.commons.voice.IMogoVoiceCmdCallBack;
@@ -29,7 +25,6 @@ import com.mogo.map.navi.IMogoAimlessModeListener;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.map.navi.IMogoNavi;
 import com.mogo.map.navi.IMogoNaviListener;
-import com.mogo.map.navi.MogoCongestionInfo;
 import com.mogo.map.navi.MogoTraffic;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.map.uicontroller.IMogoMapUIController;
@@ -46,9 +41,6 @@ import com.mogo.module.service.intent.IntentHandlerFactory;
 import com.mogo.module.service.marker.MapMarkerManager;
 import com.mogo.module.service.network.RefreshCallback;
 import com.mogo.module.service.network.RefreshModel;
-import com.mogo.module.service.network.bean.HomeCompanyDistanceForPushData;
-import com.mogo.module.service.network.bean.HomeCompanyDistanceForPushResponse;
-import com.mogo.module.service.onlinecar.panel.NavigationTargetInfo;
 import com.mogo.module.service.receiver.MogoReceiver;
 import com.mogo.module.service.refresh.AutoRefreshStrategy;
 import com.mogo.module.service.refresh.CustomRefreshStrategy;
@@ -71,14 +63,8 @@ import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.NetworkUtils;
 import com.mogo.utils.WorkThreadHandler;
 import com.mogo.utils.logger.Logger;
-import com.mogo.utils.network.RequestOptions;
-import com.mogo.utils.network.utils.GsonUtil;
 
 import java.util.List;
-import java.util.Map;
-
-import io.reactivex.android.schedulers.AndroidSchedulers;
-import io.reactivex.schedulers.Schedulers;
 
 /**
  * @author congtaowang
@@ -398,7 +384,9 @@ public class MogoServices implements IMogoMapListener,
         intent.addFlags( Intent.FLAG_INCLUDE_STOPPED_PACKAGES );
         mContext.sendBroadcast( intent );
 
-        SnapshotUploadInTime.getInstance().start( mContext );
+        if ( DebugConfig.isNeedUploadCoordinatesDurationInTime() ) {
+            SnapshotUploadInTime.getInstance().start( mContext );
+        }
     }
 
     public void initLocationServiceProcess( Context context ) {
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/handler/RefreshWorkThreadHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/handler/RefreshWorkThreadHandler.java
index 043d49971f..c6f2f186b4 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/handler/RefreshWorkThreadHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/handler/RefreshWorkThreadHandler.java
@@ -58,6 +58,9 @@ abstract class RefreshWorkThreadHandler extends Handler {
         if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isSearchUIShow() ) {
             return;
         }
+        if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
+            return;
+        }
         MogoApisHandler.getInstance().getApis().getStatusManagerApi().setUserInteractionStatus( TAG, true, false );
         MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().recoverLockMode();
     }
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
index 9ab2c99113..028d73b216 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
@@ -121,6 +121,7 @@ public class MogoRTKLocation {
                 cloudLocationInfo.setSpeed(location.getSpeed());
                 cloudLocationInfo.setSatelliteTime(location.getTime());
                 cloudLocationInfo.setSystemTime(System.currentTimeMillis());
+                cloudLocationInfo.convertCoor2GCJ02();
                 cacheList.add(cloudLocationInfo);
             }
         }
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
index 660a736b93..4b6d2f185b 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
@@ -12,8 +12,6 @@ import com.mogo.module.service.websocket.OnePerSecondSendContent;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.connection.IMogoOnWebSocketMessageListener;
 import com.mogo.service.connection.WebSocketMsgType;
-import com.mogo.utils.logger.Logger;
-import com.mogo.utils.network.utils.GsonUtil;
 
 import java.util.ArrayList;
 import java.util.List;
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
index fb4766fe4f..bdbf0ea9db 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
@@ -14,7 +14,6 @@ import com.mogo.map.location.MogoLocation;
 import com.mogo.module.common.entity.V2XMessageEntity;
 import com.mogo.module.common.entity.V2XObuEventEntity;
 import com.mogo.module.common.entity.V2XPushMessageEntity;
-import com.mogo.module.common.utils.CoordinateUtils;
 import com.mogo.module.v2x.listener.V2XLocationListener;
 import com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario;
 import com.mogo.module.v2x.utils.ADASUtils;
@@ -22,6 +21,7 @@ import com.mogo.module.v2x.utils.DrivingDirectionUtils;
 import com.mogo.module.v2x.utils.ObuConfig;
 import com.mogo.module.v2x.utils.TestOnLineCarUtils;
 import com.mogo.service.entrance.IMogoEntranceButtonController;
+import com.mogo.utils.CoordinateUtils;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.mogo.module.obu.ObuConstant;
 import com.zhidao.mogo.module.obu.ObuManager;
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/map/IMogoMapService.java b/services/mogo-service-api/src/main/java/com/mogo/service/map/IMogoMapService.java
index 9f4a081015..770dcbfa8a 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/map/IMogoMapService.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/map/IMogoMapService.java
@@ -3,6 +3,7 @@ package com.mogo.service.map;
 import android.content.Context;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
+import com.mogo.map.CoordinatesTransformer;
 import com.mogo.map.IMogoMapViewInstanceHandler;
 import com.mogo.map.listener.IMogoHosListenerRegister;
 import com.mogo.map.location.IMogoLocationClient;
@@ -85,7 +86,7 @@ public interface IMogoMapService extends IProvider {
      * @param context
      * @return
      */
-    IMogoAimless getAimless(Context context);
+    IMogoAimless getAimless( Context context );
 
     /**
      * marker 操作
@@ -136,4 +137,11 @@ public interface IMogoMapService extends IProvider {
      * @return
      */
     IMogoTrafficSearch getTrafficSearchApi();
+
+    /**
+     * 坐标转换工具
+     *
+     * @return
+     */
+    CoordinatesTransformer getCoordinatesTransformer();
 }
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
index 97a33a325c..a606a556bb 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
@@ -6,6 +6,7 @@ import com.mogo.commons.utils.MortonCode;
 import com.mogo.service.adas.entity.ADASRecognizedListResult;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
+import com.mogo.utils.CoordinateUtils;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
@@ -66,8 +67,14 @@ class AdasObjectUtils {
         }
         ADASRecognizedResult result = new ADASRecognizedResult();
         result.uuid = rectBean.getUuid();
-        result.lat = rectBean.getLat();
-        result.lon = rectBean.getLon();
+        double amapCoord[] = CoordinateUtils.transformFromWGSToGCJ( rectBean.getLat(), rectBean.getLon() );
+        if ( amapCoord != null ) {
+            result.lat = amapCoord[0];
+            result.lon = amapCoord[1];
+        } else {
+            result.lat = rectBean.getLat();
+            result.lon = rectBean.getLon();
+        }
         result.type = Integer.valueOf( rectBean.getType() );
         result.heading = rectBean.getHeading();
         result.systemTime = Long.valueOf( rectBean.getSystemTime() );
@@ -108,7 +115,8 @@ class AdasObjectUtils {
                     recognizedListResult.distanceX = model.getDistance_x();
                     recognizedListResult.distanceY = model.getDistance_y();
                 }
-                recognizedListResult.latLonList.add( new ADASRecognizedListResult.LatLon( model.getLat(), model.getLon() ) );
+                double amapCoord[] = CoordinateUtils.transformFromWGSToGCJ( model.getLat(), model.getLon() );
+                recognizedListResult.latLonList.add( new ADASRecognizedListResult.LatLon( amapCoord[0], amapCoord[1] ) );
             }
         }
         if ( result.isEmpty() ) {
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java b/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java
index c0f318594e..6bf52684a8 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/map/MogoMapService.java
@@ -3,8 +3,10 @@ package com.mogo.service.impl.map;
 import android.content.Context;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.map.CoordinatesTransformer;
 import com.mogo.map.IMogoMapViewInstanceHandler;
 import com.mogo.map.MogoAimless;
+import com.mogo.map.MogoCoordinatesTransformer;
 import com.mogo.map.MogoGeoSearch;
 import com.mogo.map.MogoInputtipsSearch;
 import com.mogo.map.MogoLocationClient;
@@ -74,7 +76,7 @@ public class MogoMapService implements IMogoMapService {
     }
 
     @Override
-    public IMogoAimless getAimless(Context context) {
+    public IMogoAimless getAimless( Context context ) {
         return MogoAimless.getInstance( context );
     }
 
@@ -113,6 +115,11 @@ public class MogoMapService implements IMogoMapService {
         return new MogoTrafficSearch();
     }
 
+    @Override
+    public CoordinatesTransformer getCoordinatesTransformer() {
+        return MogoCoordinatesTransformer.getInstance();
+    }
+
     @Override
     public void init( Context context ) {
     }