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机器视觉地图绘制点

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wangcongtao
2020-10-28 15:51:49 +08:00
parent f951c62d10
commit 37a465f90f
8 changed files with 90 additions and 31 deletions
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1
modules/mogo-module-common/src/main/aidl/com/mogo/module/common/machinevision/IMachineVisionInterface.aidl
View File

@@ -1,6 +1,7 @@
// IMachineVisionInterface.aidl
package com.mogo.module.common.machinevision;
import com.mogo.module.common.entity.MogoSnapshotSetData;
import com.mogo.service.adas.entity.ADASRecognizedListResult;
// Declare any non-default types here with import statements

27
modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java Normal file
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@@ -0,0 +1,27 @@
package com.mogo.module.common.constants;
public
/**
* @author congtaowang
* @since 2020/10/27
* <p>
* 描述
*/
class AdasRecognizedType {
//背景
public static final int classIdBackground = 0;
//人
public static final int classIdPerson = 1;
//自行车
public static final int classIdBicycle = 2;
//小轿车
public static final int classIdCar = 3;
//摩托车
public static final int classIdMoto = 4;
//红绿灯
public static final int classIdTrafficSign = 5;
//bus
public static final int classIdTrafficBus = 6;
//track
public static final int classIdTrafficTruck = 8;
}

20
modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/DataTypes.java Normal file
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@@ -0,0 +1,20 @@
package com.mogo.module.common.constants;
public
/**
* @author congtaowang
* @since 2020/10/28
*
* 描述
*/
class DataTypes {
/**
* adas识别数据
*/
public static final String TYPE_MARKER_ADAS = "TYPE_MARKER_ADAS";
/**
* 云端下发数据
*/
public static final String TYPE_MARKER_CLOUD_DATA = "TYPE_MARKER_CLOUD_DATA";
}

31
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/AdasRecognizedResultDrawer.java → modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.service.marker;
package com.mogo.module.common.drawer;
import android.content.Context;
import android.graphics.BitmapFactory;
@@ -8,9 +8,10 @@ import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.ModuleNames;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
import com.mogo.module.service.ServiceConst;
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.service.adas.entity.ADASRecognizedListResult;
import java.util.ArrayList;
@@ -61,7 +62,7 @@ class AdasRecognizedResultDrawer {
public void renderAdasRecognizedResult( List< ADASRecognizedListResult > resultList ) {
if ( resultList == null || resultList.isEmpty() ) {
MarkerServiceHandler.getApis().getMapServiceApi().getMarkerManager( mContext ).removeMarkers( ServiceConst.TYPE_MARKER_ADAS );
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).removeMarkers( DataTypes.TYPE_MARKER_ADAS );
return;
}
purgeAdasRecognizedData( resultList );
@@ -79,9 +80,9 @@ class AdasRecognizedResultDrawer {
mAdasRecognizedMarkersCaches.put( uniqueKey, marker );
}
List< MogoLatLng > points = new ArrayList<>();
if ( recognizedListResult.latLonList != null
|| recognizedListResult.latLonList.size() > 1 ) {
List< MogoLatLng > points = new ArrayList<>();
for ( int j = 0; j < recognizedListResult.latLonList.size(); j++ ) {
ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( j );
if ( latLon == null ) {
@@ -89,11 +90,19 @@ class AdasRecognizedResultDrawer {
}
points.add( new MogoLatLng( latLon.lat, latLon.lon ) );
}
if ( points.size() >= 1 ) {
marker.startSmooth( points, 1000 );
} else {
} else {
// 原来的点和新的点做一个数组进行平滑移动
MogoLatLng latLng = marker.getPosition();
ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( 0 );
if ( latLon == null ) {
continue;
}
points.add( latLng );
points.add( new MogoLatLng( latLng.lat, latLon.lon ) );
}
if ( points.size() >= 1 ) {
marker.startSmooth( points, 1000 );
}
}
}
@@ -143,9 +152,9 @@ class AdasRecognizedResultDrawer {
}
MogoMarkerOptions options = new MogoMarkerOptions()
.owner( ServiceConst.TYPE_MARKER_ADAS )
.owner( DataTypes.TYPE_MARKER_ADAS )
.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.map_custom_ic_current_location2 ) )
.position( new MogoLatLng( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon ) );
return MarkerServiceHandler.getMapService().getMarkerManager( mContext ).addMarker( ModuleNames.CARD_TYPE_ROAD_CONDITION, options );
return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( ModuleNames.CARD_TYPE_ROAD_CONDITION, options );
}
}

29
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/SnapshotSetDataDrawer.java → modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.service.marker;
package com.mogo.module.common.drawer;
import android.content.Context;
import android.graphics.BitmapFactory;
@@ -8,12 +8,13 @@ import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.ModuleNames;
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.entity.CloudLocationInfo;
import com.mogo.module.common.entity.CloudRoadData;
import com.mogo.module.common.entity.MogoSnapshotSetData;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
import com.mogo.module.service.ServiceConst;
import java.util.ArrayList;
import java.util.HashMap;
@@ -67,7 +68,7 @@ class SnapshotSetDataDrawer {
*
* @param data
*/
public void renderSnapshotData( MogoSnapshotSetData data ) {
public void renderSnapshotData( MogoSnapshotSetData data, boolean filterAdasData ) {
if ( data == null || data.getAllList() == null || data.getAllList().isEmpty() ) {
return;
}
@@ -76,7 +77,7 @@ class SnapshotSetDataDrawer {
if ( cloudRoadData == null ) {
continue;
}
if ( cloudRoadData.getDistance() < 50 ) {
if ( filterAdasData && cloudRoadData.getDistance() < 50 ) {
// 过滤 adas 识别的车辆
continue;
}
@@ -89,9 +90,9 @@ class SnapshotSetDataDrawer {
marker = drawSnapshotDataMarker( cloudRoadData );
mCloudSnapshotMarkersCaches.put( uniqueKey, marker );
}
List< MogoLatLng > points = new ArrayList<>();
if ( cloudRoadData.getCoordinates() != null
|| cloudRoadData.getCoordinates().size() > 1 ) {
List< MogoLatLng > points = new ArrayList<>();
for ( int j = 0; j < cloudRoadData.getCoordinates().size(); j++ ) {
CloudLocationInfo poi = cloudRoadData.getCoordinates().get( j );
if ( poi == null ) {
@@ -101,11 +102,13 @@ class SnapshotSetDataDrawer {
double lng = poi.getLon();
points.add( new MogoLatLng( lat, lng ) );
}
if ( points.size() >= 1 ) {
marker.startSmooth( points, 1000 );
} else {
}
} else {
points.add( marker.getPosition() );
points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) );
}
if ( points.size() >= 1 ) {
marker.startSmooth( points, 1000 );
}
}
}
@@ -156,9 +159,9 @@ class SnapshotSetDataDrawer {
}
MogoMarkerOptions options = new MogoMarkerOptions()
.owner( ServiceConst.TYPE_MARKER_CLOUD_DATA )
.owner( DataTypes.TYPE_MARKER_CLOUD_DATA )
.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.map_custom_ic_current_location2 ) )
.position( new MogoLatLng( data.getLat(), data.getLon() ) );
return MarkerServiceHandler.getMapService().getMarkerManager( mContext ).addMarker( ModuleNames.CARD_TYPE_ROAD_CONDITION, options );
return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( ModuleNames.CARD_TYPE_ROAD_CONDITION, options );
}
}

9
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -1,7 +1,6 @@
package com.mogo.module.service.marker;
import android.content.Context;
import android.graphics.BitmapFactory;
import android.graphics.Rect;
import android.text.TextUtils;
import android.view.animation.LinearInterpolator;
@@ -17,8 +16,8 @@ import com.mogo.map.marker.anim.OnMarkerAnimationListener;
import com.mogo.map.uicontroller.EnumMapUI;
import com.mogo.module.common.ModuleNames;
import com.mogo.module.common.api.CallChatApi;
import com.mogo.module.common.entity.CloudLocationInfo;
import com.mogo.module.common.entity.CloudRoadData;
import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
import com.mogo.module.common.entity.MarkerCarPois;
import com.mogo.module.common.entity.MarkerCardResult;
import com.mogo.module.common.entity.MarkerExploreWay;
@@ -38,7 +37,6 @@ import com.mogo.module.service.network.RefreshModel;
import com.mogo.module.service.utils.ViewUtils;
import com.mogo.module.service.vrmode.VrModeController;
import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
import com.mogo.service.adas.entity.ADASRecognizedListResult;
import com.mogo.service.connection.IMogoOnMessageListener;
import com.mogo.service.connection.IMogoOnWebSocketMessageListener;
import com.mogo.service.connection.WebSocketMsgType;
@@ -57,7 +55,6 @@ import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
/**
* author : donghongyu
@@ -162,7 +159,7 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
if ( data == null ) {
return;
}
SnapshotSetDataDrawer.getInstance().renderSnapshotData( data );
SnapshotSetDataDrawer.getInstance().renderSnapshotData( data, true );
VrModeController.getInstance().renderMogoSnapshotSetData( data );
}

3
modules/mogo-modules-mvision/src/main/java/com/mogo/module/machine/vision/MachineVisionMapViewHandler.java
View File

@@ -1,5 +1,6 @@
package com.mogo.module.machine.vision;
import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
import com.mogo.module.common.entity.MogoSnapshotSetData;
public
@@ -50,6 +51,6 @@ class MachineVisionMapViewHandler {
if ( mMachineVisionMapView == null ) {
return;
}
SnapshotSetDataDrawer.getInstance().renderSnapshotData( data, false );
}
}

1
services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedListResult.java
View File

@@ -18,6 +18,7 @@ class ADASRecognizedListResult {
public List< LatLon > latLonList;
public static class LatLon {
public LatLon( double lat, double lon ) {
this.lat = lat;
this.lon = lon;