yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

优化他车道路吸附变道突兀问题

Browse Source
This commit is contained in:
tongchenfei
2021-03-04 19:45:32 +08:00
parent 6ba2e5eeea
commit 6d5e0d952b
4 changed files with 36 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -1031,9 +1031,10 @@ public class AMapViewWrapper implements IMogoMapView,
&& !singlePointRoadInfo.getCoords().isEmpty() ) {
double matchedPoint[] = PointInterpolatorUtil.mergeToRoad( wgs[0], wgs[1], singlePointRoadInfo.getCoords() );
// return CoordinateUtils.transformWgsToGcj( matchedPoint[1], matchedPoint[0] );
double[] trans = CoordinateUtils.transformWgsToGcj(matchedPoint[1], matchedPoint[0]);
matchedPoint = CoordinateUtils.transformWgsToGcj( matchedPoint[1], matchedPoint[0] );
matchedPoint[0] = trans[0];
matchedPoint[1] = trans[1];
// MarkerOptions options
// = new MarkerOptions();
// options.markerIcon( R.drawable.red )

9
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java
View File

@@ -24,11 +24,10 @@ public class PointInterpolatorUtil {
* n in 1 .. a-1
* n == 0 时，xn = x1
* n == a 时，xn = x2
*
* <p>
* 将xn依次插入x1到x2之间
*
* @param points 待插值点集
*
* @deprecated 这个方法有问题，并不能算出来想要的值
*/
@Deprecated
@@ -63,7 +62,11 @@ public class PointInterpolatorUtil {
LonLatPoint end = road.get(closeEnd);
Logger.d(TAG, "mergeToRoad start: " + closeStart + " end: " + closeEnd);
// return getMid(start, end);
return getFoot(lon, lat, start, end);
double[] foot = getFoot(lon, lat, start, end);
float d = CoordinateUtils.calculateLineDistance(foot[0], foot[1], lon, lat);
Logger.d(TAG, "distance to mid line==" + d);
return new double[]{foot[0], foot[1], d};
}
private static int closeStart = 0;

32
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java
View File

@@ -31,6 +31,7 @@ public class SimpleHandlerThreadPool {
private static final String TAG = "SimpleHandlerThreadPool";
private HandlerThread renderThread = new HandlerThread("one-frame-render-thread");
private Handler renderHandler;
private SimpleHandlerThreadPool() {
renderThread.start();
renderHandler = new Handler(renderThread.getLooper());
@@ -108,6 +109,7 @@ public class SimpleHandlerThreadPool {
private final Map<String, IMogoMarker> markerCache = new ArrayMap<>();
private final Map<String, CloudRoadData> roadDataCache = new ArrayMap<>();
private final Map<String, Long> lastExecutionTimeCache = new ArrayMap<>();
private final Map<String, Boolean> isMatchStatusCache = new ArrayMap<>();
private void rendCarOneFrame(CloudRoadData cloudRoadData) {
if (cloudRoadData == null) {
@@ -127,6 +129,7 @@ public class SimpleHandlerThreadPool {
|| AdasRecognizedResultDrawer.getInstance().hasCached(uniqueKey)) {
return;
}
IMogoMarker marker = markerCache.get(uniqueKey);
CloudRoadData lastPosition = roadDataCache.put(uniqueKey, cloudRoadData);
if (marker == null || marker.isDestroyed()) {
@@ -140,22 +143,39 @@ public class SimpleHandlerThreadPool {
}
}
if(cloudRoadData.getFromType() == CloudRoadData.FROM_MY_LOCATION) {
if (cloudRoadData.getFromType() == CloudRoadData.FROM_MY_LOCATION) {
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad(cloudRoadData.getLon(),
cloudRoadData.getLat(),
cloudRoadData.getHeading(),
true
);
Boolean isMathch = isMatchStatusCache.get(uniqueKey);
if (matchedPoint != null) {
cloudRoadData.setLon(matchedPoint[0]);
cloudRoadData.setLat(matchedPoint[1]);
if ((isMathch == null || !isMathch)) {
if (matchedPoint[2] < 0.5) {
isMathch = true;
}
} else {
if (matchedPoint[2] > 1) {
isMathch = false;
}
}
if (isMathch == null) {
isMathch = false;
}
isMatchStatusCache.put(uniqueKey, isMathch);
if (isMathch) {
cloudRoadData.setLon(matchedPoint[0]);
cloudRoadData.setLat(matchedPoint[1]);
}
}
}
final IMogoMarker finalMarker = marker;
Logger.d(TAG, "work in " + Thread.currentThread().getName());
renderHandler.post(()->{
renderHandler.post(() -> {
// 由于地图现在不支持addDynamicAnchorPosition并发，所以工作线程仅做相关计算，真正绘制发送到另外一条绘制线程中做
if (lastPosition != null && !lastPosition.equals(cloudRoadData)) {
long interval = SnapshotSetDataDrawer.getInstance().computeAnimDuration(lastPosition.getSystemTime(), cloudRoadData.getSystemTime(), lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime());
@@ -176,11 +196,11 @@ public class SimpleHandlerThreadPool {
public void removeDirtyMarker(Collection<String> keys) {
Map<String, IMogoMarker> result = new ArrayMap<>(keys.size());
for (String key : keys) {
if(markerCache.containsKey(key)) {
if (markerCache.containsKey(key)) {
result.put(key, markerCache.remove(key));
}
}
SnapshotSetDataDrawer.getInstance().sendMessage( MSG_REMOVE_DIRTY_MARKERS, result );
SnapshotSetDataDrawer.getInstance().sendMessage(MSG_REMOVE_DIRTY_MARKERS, result);
}
}
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -557,7 +557,7 @@ public class MockIntentHandler implements IntentHandler {
break;
case 47:
mLocationMockHandler.sendEmptyMessageDelayed( 1, 200L );
// mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
// mLocationMockHandler.sendEmptyMessageDelayed( 21, 200 );
// mLocationMockHandler.sendEmptyMessageDelayed( 3, 300L );
break;