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fixbug

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This commit is contained in:
zhongchao
2022-06-16 16:38:06 +08:00
committed by liujing
parent dd8bf5e047
commit 775891cbbf
1 changed files with 7 additions and 8 deletions
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15
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
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@@ -147,14 +147,13 @@ public class TrackObj {
//更正数据,速度小于LIMIT_SPEED使用上一帧数据
if (relativeStatic()) {
if (roadAngle != 0.0) {
cacheData = cacheData.toBuilder().setHeading(roadAngle).build();
// CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
// if (centerLine != null && centerLine.getAngle() != 0 && Math.abs(centerLine.getAngle() - circleQueue.getLastFrame().getHeading()) >= 10) {
// //Log.d("calHeading uuid : " + cacheData.getUuid(), " road angle : " + centerLine.getAngle() + " , last heading : " + circleQueue.getLastFrame().getHeading() + " queue size : " + circleQueue.size());
// cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
// }else{
// cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
// }
CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
if (centerLine != null && centerLine.getAngle() != 0 && Math.abs(centerLine.getAngle() - circleQueue.getLastFrame().getHeading()) >= 10) {
//Log.d("calHeading uuid : " + cacheData.getUuid(), " road angle : " + centerLine.getAngle() + " , last heading : " + circleQueue.getLastFrame().getHeading() + " queue size : " + circleQueue.size());
cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
}else{
cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
}
} else {
//Log.d("calHeading uuid : " + cacheData.getUuid(), "使用上一帧heading : " + circleQueue.getLastFrame().getHeading());
cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();