diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle index 01eb411b2a..91edd9eee5 100644 --- a/libraries/map-custom/build.gradle +++ b/libraries/map-custom/build.gradle @@ -67,7 +67,7 @@ dependencies { implementation project(':foudations:mogo-commons') } - implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.3.4' + implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.3.5' // implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4' } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index d1cecb7dfd..687dbbae56 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -68,13 +68,10 @@ import org.jetbrains.annotations.Nullable; import org.json.JSONObject; import java.util.ArrayList; -import java.util.HashMap; import java.util.List; import java.util.Map; import java.util.Random; -import static java.lang.Math.PI; - public class AMapViewWrapper implements IMogoMapView, IMogoMapUIController, LocationListener, @@ -1045,71 +1042,83 @@ public class AMapViewWrapper implements IMogoMapView, return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK, true); } + int[] colors = new int[]{Color.RED, Color.GREEN, Color.BLUE}; + int colorIndex = 0; private double[] matchRoad(String id, double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK, boolean usdCache) { double wgs[] = new double[]{lon, lat}; long start = System.currentTimeMillis(); // -// try { -// PolylineOptions options = new PolylineOptions( ); -// options.setColor( Color.WHITE ); -// options.setId( "test-line"+new Random( ).nextLong() ); -// options.setGps( true ); -// options.setLineWidth( 3 ); -// List points = singlePointRoadInfo.getCoords(); -// ArrayList< LonLat > lonLats = new ArrayList<>( ); -// for ( LonLatPoint point : points ) { -// lonLats.add( new LonLat( point.getLongitude(), point.getLatitude() ) ); -// } -// options.setLonLats( lonLats ); -// mMapView.getMapAutoViewHelper().drawThickLine( options ); -// } catch( Exception e ){ -// e.printStackTrace(); -// } - SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK); - if ( singlePointRoadInfo == null || singlePointRoadInfo.getCoords() == null || singlePointRoadInfo.getCoords().isEmpty() ) { - return null; - } - double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], singlePointRoadInfo.getCoords()); - return matchedPoint; -// RoadCacheWrapper roadCache = roadCacheMap.get(id); -// if (roadCache == null) { -// SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK); -// if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) { -// Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + singlePointRoadInfo.getRoadId()); -// roadCache = new RoadCacheWrapper(singlePointRoadInfo.getCoords()); -// } +// SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK); +// if ( singlePointRoadInfo == null || singlePointRoadInfo.getCoords() == null || singlePointRoadInfo.getCoords().isEmpty() ) { +// return null; // } -// -// Log.i("timer-matchRoad-1", "cost " + (System.currentTimeMillis() - start) + "ms"); -// if (roadCache != null -// && roadCache.getRoad() != null -// && !roadCache.getRoad().isEmpty()) { -// start = System.currentTimeMillis(); -// double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], roadCache.getRoad()); -// if (matchedPoint[2] > 0 && matchedPoint[2] < 1.5) { -//// if (roadCache.inCache(matchedPoint[0], matchedPoint[1])) { -// roadCacheMap.put(id, roadCache); -// Log.i("timer-matchRoad-3", "cost " + (System.currentTimeMillis() - start) + "ms"); -// return matchedPoint; -//// } -//// roadCacheMap.put(id, null); -//// Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: "+roadCache.getLastLat()); -//// return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK,false); -// }else{ +// double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], singlePointRoadInfo.getCoords()); +// return matchedPoint; + + RoadCacheWrapper roadCache = roadCacheMap.get(id); + double matchThreshold = -1; + if (roadCache == null) { + SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK); + if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) { + Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + singlePointRoadInfo.getRoadId()); + roadCache = new RoadCacheWrapper(singlePointRoadInfo.getCoords()); + roadCache.setLaneWidth(singlePointRoadInfo.getLaneWidth()); +// try { +// PolylineOptions options = new PolylineOptions( ); +// options.setColor( colors[colorIndex++] ); +// options.setId( "test-line"+new Random( ).nextLong() ); +// options.setGps( true ); +// options.setLineWidth( 3 ); +// List points = singlePointRoadInfo.getCoords(); +// ArrayList< LonLat > lonLats = new ArrayList<>( ); +// for ( LonLatPoint point : points ) { +// lonLats.add( new LonLat( point.getLongitude(), point.getLatitude() ) ); +// } +// options.setLonLats( lonLats ); +// mMapView.getMapAutoViewHelper().drawThickLine( options ); +// if (colorIndex >= colors.length) { +// colorIndex = 0; +// } +// } catch( Exception e ){ +// e.printStackTrace(); +// } + } + } + + Log.i("timer-matchRoad-1", "cost " + (System.currentTimeMillis() - start) + "ms"); + if (roadCache != null + && roadCache.getRoad() != null + && !roadCache.getRoad().isEmpty()) { + start = System.currentTimeMillis(); + matchThreshold = roadCache.getLaneWidth() / 4; + + double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], roadCache.getRoad()); + if (matchThreshold>0&&matchedPoint[2] > 0 && matchedPoint[2] <= matchThreshold) { +// if (roadCache.inCache(matchedPoint[0], matchedPoint[1])) { + roadCacheMap.put(id, roadCache); + Log.i("timer-matchRoad-3", "cost " + (System.currentTimeMillis() - start) + "ms"); + return matchedPoint; +// } // roadCacheMap.put(id, null); -// Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + roadCache.getLastLat()); -//// if(usdCache) { -//// return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK, false); -//// }else{ -//// return null; -//// } +// Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: "+roadCache.getLastLat()); +// return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK,false); + } else if (matchedPoint[2] > matchThreshold && matchedPoint[2] < 1.5) { + return null; + } else { + roadCacheMap.put(id, null); + Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + roadCache.getLastLat()); + if (usdCache) { + return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK, false); + } else { + return null; + } // return null; -// } -// } -// roadCacheMap.put(id, null); -// return null; + } + } + roadCacheMap.put(id, null); + return null; } @Override diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/RoadCacheWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/RoadCacheWrapper.java index 626a352d60..c8dabcbea9 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/RoadCacheWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/RoadCacheWrapper.java @@ -14,6 +14,8 @@ public class RoadCacheWrapper { private double lastDistanceDiff; private int roadLength = -1; + private float laneWidth = -1; + public RoadCacheWrapper(List road) { setRoad(road); } @@ -51,6 +53,14 @@ public class RoadCacheWrapper { return 0; } + public float getLaneWidth() { + return laneWidth; + } + + public void setLaneWidth(float laneWidth) { + this.laneWidth = laneWidth; + } + public boolean inCache(double lon, double lat) { if (roadLength > 0) { LonLatPoint start = road.get(0); diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java index cef03ebb2c..c4bbcd4e1f 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java @@ -1,10 +1,13 @@ package com.mogo.map.impl.custom.utils; +import android.util.Log; + import com.mogo.cloud.commons.utils.CoordinateUtils; import com.mogo.map.MogoLatLng; import com.mogo.utils.logger.Logger; import com.zhidaoauto.map.sdk.open.query.LonLatPoint; +import java.text.NumberFormat; import java.util.ArrayList; import java.util.List; @@ -134,18 +137,25 @@ public class PointInterpolatorUtil { if (cross < 0) { // 垂足没有在线段内，所以也无需计算最短距离 // result[2] = Math.sqrt((x - x1) * (x - x1) + (y - y1) * (y - y1)); +// Log.d("getFootAndMinDistance", "垂足不在线段内--1"); return result; } double d2 = (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1); if (cross > d2) { // 垂足没有在线段内，所以也无需计算最短距离 // result[2] = Math.sqrt((x - x2) * (x - x2) + (y - y2) * (y - y2)); +// Log.d("getFootAndMinDistance", "垂足不在线段内--2"); return result; } double r = cross / d2; result[0] = x1 + (x2 - x1) * r; result[1] = y1 + (y2 - y1) * r; - result[2] = Math.sqrt((x - result[0]) * (x - result[0]) + (result[1] - y) * (result[1] - y)); +// NumberFormat numberFormat = NumberFormat.getInstance(); +// numberFormat.setMaximumFractionDigits(4); +// String formatNum = numberFormat.format(Math.sqrt((x - result[0]) * (x - result[0]) + (result[1] - y) * (result[1] - y))); +// result[2] = Double.parseDouble(formatNum); + result[2] = CoordinateUtils.calculateLineDistance(result[0], result[1], x, y); +// Log.d("getFootAndMinDistance", "计算距离--lon: "+result[0]+" lat: "+result[1]+" dis: "+result[2]); return result; } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index 7b0afdbca1..8f08fcef76 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -171,7 +171,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer { mAdasRecognizedMarkersCaches = newAdasRecognizedMarkersCaches; } -// private final Map< String, Boolean > mIsMatchStatusCache = new ArrayMap<>(); + private final Map< String, Boolean > mIsMatchStatusCache = new ArrayMap<>(); private String markerRes; private String markerRes2; @@ -204,14 +204,25 @@ class AdasRecognizedResultDrawer extends BaseDrawer { ); ADASRecognizedResult lastPosition = mLastPositions.remove( uniqueKey ); - + boolean match = false; if ( matchedPoint != null ) { Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] ); - boolean match = matchedPoint[2] < 0.45 && matchedPoint[2] > 0; + match = matchedPoint[2] < 1 && matchedPoint[2] > 0; if ( lastPosition != null ) { + double clearAngle; + if (recognizedListResult.heading > 0 && recognizedListResult.heading <= 90) { + clearAngle = recognizedListResult.heading; + } else if (recognizedListResult.heading > 90 && recognizedListResult.heading <= 180) { + clearAngle = 180 - recognizedListResult.heading ; + } else if (recognizedListResult.heading > 180 && recognizedListResult.heading <= 270) { + clearAngle = recognizedListResult.heading - 180; + }else{ + clearAngle = 360 - recognizedListResult.heading; + } double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastPosition.lon), Math.abs(matchedPoint[1] - lastPosition.lat)) * (180 / PI); - Logger.d( TAG, "matchPoint %s angel = %s", lineCounter,_angle ); + _angle = Math.abs(clearAngle - _angle); + Logger.d(TAG, "matchPoint %s angel = %s", lineCounter, _angle); if ( _angle > 22.5 ) { match = false; } @@ -222,12 +233,12 @@ class AdasRecognizedResultDrawer extends BaseDrawer { recognizedListResult.lat = matchedPoint[1]; } } - mLastPositions.put( uniqueKey, recognizedListResult ); + // Boolean isMatch = mIsMatchStatusCache.get( uniqueKey ); // if ( matchedPoint != null ) { // if ( ( isMatch == null || !isMatch ) ) { -// if ( matchedPoint[2] < 0.5 ) { +// if ( matchedPoint[2] < 0.5 && matchedPoint[2] > 0 ) { // isMatch = true; // } // } else { @@ -238,6 +249,13 @@ class AdasRecognizedResultDrawer extends BaseDrawer { // if ( isMatch == null ) { // isMatch = false; // } +// if (lastPosition != null) { +// double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastPosition.lon), Math.abs(matchedPoint[1] - lastPosition.lat)) * (180 / PI); +// Logger.d(TAG, "matchPoint %s angel = %s", lineCounter, _angle); +// if (_angle > 22.5) { +// isMatch = false; +// } +// } // mIsMatchStatusCache.put( uniqueKey, isMatch ); // // if ( isMatch ) { @@ -245,8 +263,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer { // recognizedListResult.lat = matchedPoint[1]; // } // } + mLastPositions.put( uniqueKey, recognizedListResult ); Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start ); - IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey ); if ( marker == null || marker.isDestroyed() ) { @@ -331,6 +349,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer { SpeedData obj = new SpeedData(); obj.context = mContext; obj.marker = marker; +// obj.speed = match ? 1.0 : 0.0; obj.speed = recognizedListResult.speed;//;lineCounter++ msg.obj = obj; msg.what = MSG_DISPLAY_SPEED;