yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

wait to finish

Browse Source
This commit is contained in:
zhongchao
2022-04-08 14:51:13 +08:00
parent c06b17cb82
commit c4f352d723
3 changed files with 30 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
View File

@@ -12,6 +12,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.MogoMarkerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.utils.DrivingDirectionUtils;
import java.util.ArrayList;
import java.util.List;
@@ -90,7 +91,7 @@ public class IdentifyDataDrawer {
long start = System.currentTimeMillis();
//清除缓存
for (MessagePad.TrackedObject data : resultList) {
if(trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())){
if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
trafficDataUuidList.remove("" + data.getUuid());
}
}
@@ -134,13 +135,20 @@ public class IdentifyDataDrawer {
//首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid());
if (cacheData != null) {
//todo 测试航向角修正时打开
MessagePad.TrackedObject correctData = null;
//todo 判断点是不是在当前车道线上，如果是，判断差值，进行修正
// if (Math.abs(cacheData.getHeading() - data.getHeading()) > 90) {
// CallerLogger.INSTANCE.d(M_HMI + "arrow47","uuid修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
// correctData = data.toBuilder().setHeading(cacheData.getHeading()).build();
// }
//todo 进行修正
if (Math.abs(cacheData.getHeading() - data.getHeading()) > 40 && Math.abs(cacheData.getHeading() - data.getHeading()) < 90) {
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 40~90差值范围 , 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
}
if (Math.abs(cacheData.getHeading() - data.getHeading()) > 90) {
int degree = DrivingDirectionUtils.getDegreeOfCar2Poi(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude(), Double.valueOf(cacheData.getHeading()).intValue());
if (degree > 90) {
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 夹角 : " + degree + " , 修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
correctData = data.toBuilder().setHeading(cacheData.getHeading()).build();
} else {
CallerLogger.INSTANCE.d(M_HMI + "arrow47", "uuid: " + data.getUuid() + " , 夹角 : " + degree + " , 未修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
}
}
if (correctData != null) {
mFilterTrafficData.add(correctData);
//更新已存在的感知物体数据

17
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java
View File

@@ -8,12 +8,12 @@ import android.content.Context;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.MogoMap;
import com.mogo.map.MogoMarkerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.AdasRecognizedType;
import java.util.ArrayList;
import java.util.List;
@@ -120,7 +120,12 @@ public class IdentifyDataDrawerTest {
//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
}
double heading = kalmanFilter(data);
MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid());
double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude());
CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + data.getUuid() + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading));
// double heading = kalmanFilter(data);
MessagePad.TrackedObject correctData = data.toBuilder().setHeading(heading).build();
mFilterTrafficData.add(correctData);
//更新已存在的感知物体数据
@@ -142,9 +147,13 @@ public class IdentifyDataDrawerTest {
assert cacheTrackObj != null;
double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading));
return Math.abs((data.getHeading() - heading)) >= 180 ? heading : data.getHeading();
return heading;
} else {
algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.00005));
double r = 0.00005;
if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
r = 0.0001;
}
algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
return data.getHeading();
}
}

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
View File

@@ -41,9 +41,9 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, IMoGoAutopi
override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute { IdentifyDataDrawerTest.getInstance().renderAdasRecognizedResult(trafficData) }
ThreadUtils.getSinglePool().execute { IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData) }
} else {
IdentifyDataDrawerTest.getInstance().clearOldMarker()
IdentifyDataDrawer.getInstance().clearOldMarker()
}
} catch (e: Exception) {
e.printStackTrace()