From 775891cbbf02f6af8e84f697e96cc45b7c30561e Mon Sep 17 00:00:00 2001 From: zhongchao Date: Thu, 16 Jun 2022 16:38:06 +0800 Subject: [PATCH] fixbug --- .../core/function/map/identify/TrackObj.java | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java index e452320a65..6e4cee017a 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java @@ -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();