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接入地图点云数据

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-06-23 20:27:54 +08:00
parent 98ab08b797
commit a8d2a70f69
6 changed files with 16 additions and 20 deletions
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2
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -247,11 +247,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
//点云数据透传
//Logger.d("pointCloud","pointCloud"+pointCloud);
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
}
override fun onPointCloud(pointCloud: ByteArray?) {
//点云数据透传
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud)
}
//planning障碍物

16
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
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@@ -4,10 +4,8 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
import com.zhidao.support.adas.high.common.PointCloudDecoder
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
import mogo.telematics.pad.MessagePad
import rule_segement.MogoPointCloudOuterClass
/**
* 订阅点云数据
@@ -40,14 +38,16 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
CallerAutopilotPointCloudListenerManager.removeListener(TAG)
}
override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
// 根据配置动态控制点云是否绘制
if (FunctionBuildConfig.isDrawPointCloudData) {
if (!isDrawPointCloud) {
Logger.d(TAG, "====开启点云渲染====")
isDrawPointCloud = true
PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
}
val data = PointCloudDecoder.decode(header, pointCloud)
PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
/**
* 更新点云数据
@@ -57,13 +57,15 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
* @param isStrong 是否加粗显示
* @return 是否执行
*/
val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
Logger.d(TAG, "====开始传入地图点云数据====")
val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, false, true, true)
Logger.d(TAG, "====结束传入地图点云数据=====$result")
} else {
if (isDrawPointCloud) {
Logger.d(TAG, "====停止点云绘制====")
isDrawPointCloud = false
PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
}
}
//Logger.d(TAG, "result=$result")
}
}

4
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
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@@ -1,7 +1,5 @@
package com.mogo.eagle.core.function.api.autopilot
import mogo.telematics.pad.MessagePad
import rule_segement.MogoPointCloudOuterClass
/**
* @author xiaoyuzhou
@@ -15,6 +13,6 @@ interface IMoGoAutopilotPointCloudListener {
*
* @param pointCloud 点云数据
*/
fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?)
fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?)
}

8
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
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@@ -1,12 +1,8 @@
package com.mogo.eagle.core.function.call.autopilot
import androidx.annotation.Nullable
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo.telematics.pad.MessagePad
import perception.TrafficLightOuterClass
import rule_segement.MogoPointCloudOuterClass
import java.util.concurrent.ConcurrentHashMap
/**
@@ -62,11 +58,11 @@ object CallerAutopilotPointCloudListenerManager : CallerBase() {
* 识别交通元素数据发生更新 回调
*/
@Synchronized
fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
fun invokeAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
val tag = it.key
val listener = it.value
listener.onAutopilotPointCloudDataUpdate(header,pointCloud)
listener.onAutopilotPointCloudDataUpdate(pointCloud)
}
}

2
gradle.properties
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@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.4.3.6
MOGO_TELEMATIC_VERSION=1.4.3.6
######## MogoAiCloudSDK Version ########
# 自研地图
MAP_SDK_VERSION=2.2.1.1
MAP_SDK_VERSION=2.3.0.2
MAP_SDK_OPERATION_VERSION=1.0.13
# websocket
WEBSOCKET_VERSION=1.1.7

4
libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
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@@ -12,6 +12,6 @@ message MogoPointCloud
optional double self_roll = 5;
optional double self_pitch = 6;
optional double self_yaw = 7;
repeated float del_data = 8 [packed=true];
repeated float add_data = 9 [packed=true];
repeated uint32 del_data = 8 [packed=true];
repeated double add_data = 9 [packed=true];
}