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remove heading change when track move

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zhongchao
2022-06-30 22:29:22 +08:00
parent 41db1736ce
commit 518ac0951f
1 changed files with 0 additions and 30 deletions
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30
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
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@@ -141,31 +141,6 @@ public class TrackObj {
}
private void calHeading() {
double newDelta;
ObjQueue lastObj;
if (circleQueue.size() >= 3) {
//计算差量
List<ObjQueue> objQueueList = circleQueue.getLastThreeFrame();
lastObj = objQueueList.get(2);
double firstDelta = objQueueList.get(1).getHeading() - objQueueList.get(0).getHeading();
double secondDelta = objQueueList.get(2).getHeading() - objQueueList.get(1).getHeading();
newDelta = Math.abs(cacheData.getHeading() - lastObj.getHeading());
//按帧与帧之间的顺序变化
double abs = Math.abs(firstDelta - secondDelta);
//存在180度转向(有一帧出现错误)
if (Math.abs(abs - 180) < 5) {
headingDelta = firstDelta - secondDelta;
} else if (abs < 5) { //两帧之间差量比较均匀
headingDelta = firstDelta - secondDelta;
} else if (Math.abs(abs - 180) > 5 && newDelta < 5) { //前两帧数据中出现异常值，相信后序帧
headingDelta = newDelta;
}
} else {
lastObj = circleQueue.getLastFrame();
newDelta = Math.abs(cacheData.getHeading() - lastObj.getHeading());
headingDelta = newDelta;
}
//更正数据,速度小于LIMIT_SPEED使用上一帧数据
if (relativeStatic()) {
if (roadAngle != 0.0) {
@@ -180,11 +155,6 @@ public class TrackObj {
}
}
//速度大于LIMIT_SPEED并出现大幅度转向使用缓存帧和delta数据
if (cacheData.getSpeed() >= LIMIT_SPEED && newDelta > 10 && headingDelta != 0.0) {
// Log.i("hy uuid : " + cacheData.getUuid() , " 修正航向角 last : " + lastObj.getHeading() + " , 增益 : " + headingDelta);
cacheData = cacheData.toBuilder().setHeading(lastObj.getHeading() + headingDelta).build();
}
}
public double getRecentlyTime() {