机器视觉地图绘制点
This commit is contained in:
wangcongtao
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package com.mogo.module.common.constants;
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public
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/**
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* @author congtaowang
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* @since 2020/10/27
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* <p>
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* 描述
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*/
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class AdasRecognizedType {
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//背景
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public static final int classIdBackground = 0;
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//人
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public static final int classIdPerson = 1;
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//自行车
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public static final int classIdBicycle = 2;
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//小轿车
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public static final int classIdCar = 3;
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//摩托车
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public static final int classIdMoto = 4;
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//红绿灯
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public static final int classIdTrafficSign = 5;
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//bus
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public static final int classIdTrafficBus = 6;
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//track
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public static final int classIdTrafficTruck = 8;
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}
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@@ -0,0 +1,20 @@
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package com.mogo.module.common.constants;
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public
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/**
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* @author congtaowang
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* @since 2020/10/28
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*
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* 描述
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*/
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class DataTypes {
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/**
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* adas识别数据
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*/
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public static final String TYPE_MARKER_ADAS = "TYPE_MARKER_ADAS";
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/**
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* 云端下发数据
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*/
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public static final String TYPE_MARKER_CLOUD_DATA = "TYPE_MARKER_CLOUD_DATA";
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}
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package com.mogo.module.common.drawer;
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import android.content.Context;
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import android.graphics.BitmapFactory;
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import com.mogo.commons.AbsMogoApplication;
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import com.mogo.map.MogoLatLng;
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import com.mogo.map.marker.IMogoMarker;
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import com.mogo.map.marker.MogoMarkerOptions;
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import com.mogo.module.common.ModuleNames;
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import com.mogo.module.common.MogoApisHandler;
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import com.mogo.module.common.R;
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import com.mogo.module.common.constants.AdasRecognizedType;
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import com.mogo.module.common.constants.DataTypes;
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import com.mogo.service.adas.entity.ADASRecognizedListResult;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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public
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/**
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* @author congtaowang
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* @since 2020/10/28
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*
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* 绘制adas近景识别到的车辆
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*/
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class AdasRecognizedResultDrawer {
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private static volatile AdasRecognizedResultDrawer sInstance;
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private Context mContext;
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private AdasRecognizedResultDrawer() {
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mContext = AbsMogoApplication.getApp();
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}
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public static AdasRecognizedResultDrawer getInstance() {
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if ( sInstance == null ) {
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synchronized ( AdasRecognizedResultDrawer.class ) {
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if ( sInstance == null ) {
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sInstance = new AdasRecognizedResultDrawer();
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}
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}
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}
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return sInstance;
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}
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public synchronized void release() {
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sInstance = null;
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}
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private Object readResolve() {
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// 阻止反序列化，必须实现 Serializable 接口
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return sInstance;
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}
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// adas marker 缓存
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private Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
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public void renderAdasRecognizedResult( List< ADASRecognizedListResult > resultList ) {
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if ( resultList == null || resultList.isEmpty() ) {
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MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).removeMarkers( DataTypes.TYPE_MARKER_ADAS );
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return;
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}
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purgeAdasRecognizedData( resultList );
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for ( ADASRecognizedListResult recognizedListResult : resultList ) {
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if ( recognizedListResult == null ) {
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continue;
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}
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IMogoMarker marker = null;
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String uniqueKey = recognizedListResult.uuid;
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if ( mAdasRecognizedMarkersCaches.containsKey( uniqueKey ) ) {
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marker = mAdasRecognizedMarkersCaches.get( uniqueKey );
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}
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if ( marker == null || marker.isDestroyed() ) {
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marker = drawAdasRecognizedDataMarker( recognizedListResult );
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mAdasRecognizedMarkersCaches.put( uniqueKey, marker );
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}
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List< MogoLatLng > points = new ArrayList<>();
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if ( recognizedListResult.latLonList != null
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|| recognizedListResult.latLonList.size() > 1 ) {
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for ( int j = 0; j < recognizedListResult.latLonList.size(); j++ ) {
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ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( j );
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if ( latLon == null ) {
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continue;
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}
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points.add( new MogoLatLng( latLon.lat, latLon.lon ) );
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}
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} else {
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// 原来的点和新的点做一个数组进行平滑移动
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MogoLatLng latLng = marker.getPosition();
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ADASRecognizedListResult.LatLon latLon = recognizedListResult.latLonList.get( 0 );
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if ( latLon == null ) {
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continue;
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}
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points.add( latLng );
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points.add( new MogoLatLng( latLng.lat, latLon.lon ) );
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}
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if ( points.size() >= 1 ) {
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marker.startSmooth( points, 1000 );
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}
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}
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}
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/**
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* 过滤adas数据中，不存在的 marker
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*
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* @param resultList
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*/
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private void purgeAdasRecognizedData( List< ADASRecognizedListResult > resultList ) {
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if ( resultList == null || resultList.isEmpty() ) {
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return;
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}
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if ( mAdasRecognizedMarkersCaches.isEmpty() ) {
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return;
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}
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Map< String, IMogoMarker > existMarker = new HashMap<>();
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for ( ADASRecognizedListResult recognizedListResult : resultList ) {
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if ( recognizedListResult == null ) {
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continue;
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}
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String uniqueKey = recognizedListResult.uuid;
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if ( mAdasRecognizedMarkersCaches.containsKey( uniqueKey ) ) {
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existMarker.put( uniqueKey, mAdasRecognizedMarkersCaches.get( uniqueKey ) );
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}
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}
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if ( !existMarker.isEmpty() ) {
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for ( String key : mAdasRecognizedMarkersCaches.keySet() ) {
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if ( !existMarker.containsKey( key ) ) {
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try {
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IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( key );
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marker.destroy();
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} catch ( Exception e ) {
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e.printStackTrace();
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}
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}
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}
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}
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}
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private IMogoMarker drawAdasRecognizedDataMarker( ADASRecognizedListResult recognizedListResult ) {
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if ( recognizedListResult == null ) {
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return null;
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}
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if ( recognizedListResult.type == AdasRecognizedType.classIdBackground ) {
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}
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MogoMarkerOptions options = new MogoMarkerOptions()
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.owner( DataTypes.TYPE_MARKER_ADAS )
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.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.map_custom_ic_current_location2 ) )
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.position( new MogoLatLng( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon ) );
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return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( ModuleNames.CARD_TYPE_ROAD_CONDITION, options );
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}
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}
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@@ -0,0 +1,167 @@
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package com.mogo.module.common.drawer;
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import android.content.Context;
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import android.graphics.BitmapFactory;
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import com.mogo.commons.AbsMogoApplication;
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import com.mogo.map.MogoLatLng;
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import com.mogo.map.marker.IMogoMarker;
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import com.mogo.map.marker.MogoMarkerOptions;
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import com.mogo.module.common.ModuleNames;
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import com.mogo.module.common.MogoApisHandler;
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import com.mogo.module.common.R;
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import com.mogo.module.common.constants.AdasRecognizedType;
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import com.mogo.module.common.constants.DataTypes;
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import com.mogo.module.common.entity.CloudLocationInfo;
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import com.mogo.module.common.entity.CloudRoadData;
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import com.mogo.module.common.entity.MogoSnapshotSetData;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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public
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/**
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* @author congtaowang
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* @since 2020/10/28
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*
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* 云端数据绘制
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*/
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class SnapshotSetDataDrawer {
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private static volatile SnapshotSetDataDrawer sInstance;
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private Context mContext;
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private SnapshotSetDataDrawer() {
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mContext = AbsMogoApplication.getApp();
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}
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public static SnapshotSetDataDrawer getInstance() {
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if ( sInstance == null ) {
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synchronized ( SnapshotSetDataDrawer.class ) {
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if ( sInstance == null ) {
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sInstance = new SnapshotSetDataDrawer();
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}
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}
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}
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return sInstance;
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}
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public synchronized void release() {
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sInstance = null;
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}
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private Object readResolve() {
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// 阻止反序列化，必须实现 Serializable 接口
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return sInstance;
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}
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// 云端 marker 缓存
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private Map< String, IMogoMarker > mCloudSnapshotMarkersCaches = new ConcurrentHashMap<>();
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/**
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* 其他车辆、rsu 车辆数据
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*
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* @param data
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*/
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public void renderSnapshotData( MogoSnapshotSetData data, boolean filterAdasData ) {
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if ( data == null || data.getAllList() == null || data.getAllList().isEmpty() ) {
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return;
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}
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purgeCloudSnapshotData( data );
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for ( CloudRoadData cloudRoadData : data.getAllList() ) {
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if ( cloudRoadData == null ) {
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continue;
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}
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if ( filterAdasData && cloudRoadData.getDistance() < 50 ) {
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// 过滤 adas 识别的车辆
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continue;
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}
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IMogoMarker marker = null;
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String uniqueKey = cloudRoadData.getUniqueKey();
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if ( mCloudSnapshotMarkersCaches.containsKey( uniqueKey ) ) {
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marker = mCloudSnapshotMarkersCaches.get( uniqueKey );
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}
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if ( marker == null || marker.isDestroyed() ) {
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marker = drawSnapshotDataMarker( cloudRoadData );
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mCloudSnapshotMarkersCaches.put( uniqueKey, marker );
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}
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List< MogoLatLng > points = new ArrayList<>();
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if ( cloudRoadData.getCoordinates() != null
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|| cloudRoadData.getCoordinates().size() > 1 ) {
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for ( int j = 0; j < cloudRoadData.getCoordinates().size(); j++ ) {
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CloudLocationInfo poi = cloudRoadData.getCoordinates().get( j );
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if ( poi == null ) {
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continue;
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}
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double lat = poi.getLat();
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double lng = poi.getLon();
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points.add( new MogoLatLng( lat, lng ) );
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}
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} else {
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points.add( marker.getPosition() );
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points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) );
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}
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if ( points.size() >= 1 ) {
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marker.startSmooth( points, 1000 );
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}
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}
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}
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/**
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* 过滤本次数据中，不存在的 marker
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*
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* @param data
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*/
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private void purgeCloudSnapshotData( MogoSnapshotSetData data ) {
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if ( data == null || data.getAllList() == null || data.getAllList().isEmpty() ) {
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return;
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}
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if ( mCloudSnapshotMarkersCaches.isEmpty() ) {
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return;
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}
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Map< String, IMogoMarker > existMarker = new HashMap<>();
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for ( CloudRoadData cloudRoadData : data.getAllList() ) {
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if ( cloudRoadData == null ) {
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continue;
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}
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String uniqueKey = cloudRoadData.getUniqueKey();
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if ( mCloudSnapshotMarkersCaches.containsKey( uniqueKey ) ) {
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existMarker.put( uniqueKey, mCloudSnapshotMarkersCaches.get( uniqueKey ) );
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}
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}
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if ( !existMarker.isEmpty() ) {
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for ( String key : mCloudSnapshotMarkersCaches.keySet() ) {
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if ( !existMarker.containsKey( key ) ) {
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try {
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IMogoMarker marker = mCloudSnapshotMarkersCaches.remove( key );
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marker.destroy();
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} catch ( Exception e ) {
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e.printStackTrace();
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}
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}
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}
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}
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}
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private IMogoMarker drawSnapshotDataMarker( CloudRoadData data ) {
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if ( data == null ) {
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return null;
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}
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if ( data.getType() == AdasRecognizedType.classIdBackground ) {
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}
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MogoMarkerOptions options = new MogoMarkerOptions()
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.owner( DataTypes.TYPE_MARKER_CLOUD_DATA )
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.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.map_custom_ic_current_location2 ) )
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.position( new MogoLatLng( data.getLat(), data.getLon() ) );
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return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( ModuleNames.CARD_TYPE_ROAD_CONDITION, options );
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}
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}
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