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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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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)
}
}