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 ff1f5099d7..6b93b87225 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 @@ -1044,7 +1044,7 @@ public class AMapViewWrapper implements IMogoMapView, } Map roadCacheMap = new ConcurrentHashMap<>(); - private RoadCacheWrapper noCache = new RoadCacheWrapper(null); + private final RoadCacheWrapper noCache = new RoadCacheWrapper(null); @Override public void clearRoadCacheById(String id) { @@ -1056,21 +1056,32 @@ 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; + /** + * 带缓存的道路匹配算法 + * + * 使用{@link MapDataApi#INSTANCE#getSinglePointMatchRoad()}这个方法获取道路数据会存在一定耗时，目前是4-10ms，因为请求频繁，为了 + * 减小这部分耗时，使用一个ConcurrentHashMap{@link #roadCacheMap}缓存道路数据，此缓存是以目标车id为key，道路数据为value，以此减少 + * 道路数据获取次数。 + * + * 当出现道路改变的情况，需要重新获取道路数据，采用递归的方式重获道路数据以及添加缓存，为了避免一直获取不到道路数据，一直递归，增加useCache参数跳出递归。 + * + * 道路改变的情况主要分为： + * 1. 目标车距离道路中心线距离超过阈值 matchThreshold（取路宽的1/4为阈值）； + * 2. 目标车到道路中心线的映射点不在道路上（此判断在{@link PointInterpolatorUtil#mergeToRoad(double, double, List)}），也就是说已经驶出了这条道路 + * + * @param id 目标车唯一标识 + * @param lon 目标车经度 + * @param lat 目标车纬度 + * @param angle 目标车角度 + * @param isGpsLocation true-使用gps定位数据 + * @param isRTK true-使用rtk数据 + * @param usdCache true-使用道路缓存 false-不使用道路缓存 + * @return double[]{匹配后经度，匹配后纬度，目标车距离车道中心线距离}，若匹配后经纬度值为-1，则没有匹配成功 + */ private double[] matchRoad(String id, double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK, boolean usdCache) { - double wgs[] = new double[]{lon, lat}; + double[] wgs = new double[]{lon, lat}; long start = System.currentTimeMillis(); -// - -// 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); double matchThreshold = -1; if (roadCache == null||roadCache == noCache) { @@ -1079,6 +1090,7 @@ public class AMapViewWrapper implements IMogoMapView, Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + singlePointRoadInfo.getRoadId()); roadCache = new RoadCacheWrapper(singlePointRoadInfo.getCoords()); roadCache.setLaneWidth(singlePointRoadInfo.getLaneWidth()); + // 在地图上画点的测试方法 // try { // PolylineOptions options = new PolylineOptions( ); // options.setColor( colors[colorIndex++] ); @@ -1105,22 +1117,22 @@ public class AMapViewWrapper implements IMogoMapView, if (roadCache != null && roadCache.getRoad() != null && !roadCache.getRoad().isEmpty()) { + // 未获取到道路中心线数据 start = System.currentTimeMillis(); matchThreshold = roadCache.getLaneWidth() / 4; - double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], roadCache.getRoad()); + 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])) { + // 目标车在阈值范围内 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 if (matchedPoint[2] > matchThreshold && matchedPoint[2] < 1.5) { + // 目标车在阈值范围外，也就是说距离道路中心线太远了，就不吸附了 return null; } else { + // 目标车到道路中心线的映射点不在道路上，也就是已经使出了缓存的那条道路，需要重新获取一条道路，用useCache这个参数来避免重复递归 roadCacheMap.put(id, noCache); Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + roadCache.getLastLat()); if (usdCache) { @@ -1128,7 +1140,6 @@ public class AMapViewWrapper implements IMogoMapView, } else { return null; } -// return null; } } roadCacheMap.put(id, noCache); 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 c4bbcd4e1f..ccd8dc5321 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 @@ -1,14 +1,10 @@ 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; /** @@ -35,22 +31,22 @@ public class PointInterpolatorUtil { * @deprecated 这个方法有问题，并不能算出来想要的值 */ @Deprecated - public static void interpolate( List< MogoLatLng > points ) { - if ( points.size() >= 2 ) { + public static void interpolate(List points) { + if (points.size() >= 2) { // 插值 - for ( int i = 0; i < points.size() - 1; i++ ) { - MogoLatLng current = points.get( i ); - MogoLatLng next = points.get( i + 1 ); - float distance = CoordinateUtils.calculateLineDistance( current.lon, current.lat, next.lon, next.lat ); - Logger.d( TAG, i + ": " + distance ); - if ( distance > DISTANCE_THRESHOLD ) { - int inter = ( int ) ( distance / DISTANCE_THRESHOLD ) + 1; - for ( int j = 1; j < inter; j++ ) { - double newLat = current.lat + ( next.lat - current.lat ) * j / inter; - double newLon = current.lon + ( next.lon - current.lon ) * j / inter; - Logger.d( TAG, "distance: " + distance + ", j: " + j + ", nextLat: " + next.lat + ", nextLon: " + next.lon + ", newLat: " + newLat + ", newLon: " + newLon ); - points.add( i + 1, new MogoLatLng( newLat, newLon ) ); - current = points.get( ++i ); + for (int i = 0; i < points.size() - 1; i++) { + MogoLatLng current = points.get(i); + MogoLatLng next = points.get(i + 1); + float distance = CoordinateUtils.calculateLineDistance(current.lon, current.lat, next.lon, next.lat); + Logger.d(TAG, i + ": " + distance); + if (distance > DISTANCE_THRESHOLD) { + int inter = (int) (distance / DISTANCE_THRESHOLD) + 1; + for (int j = 1; j < inter; j++) { + double newLat = current.lat + (next.lat - current.lat) * j / inter; + double newLon = current.lon + (next.lon - current.lon) * j / inter; + Logger.d(TAG, "distance: " + distance + ", j: " + j + ", nextLat: " + next.lat + ", nextLon: " + next.lon + ", newLat: " + newLat + ", newLon: " + newLon); + points.add(i + 1, new MogoLatLng(newLat, newLon)); + current = points.get(++i); } } } @@ -58,77 +54,67 @@ public class PointInterpolatorUtil { } } - public static double[] mergeToRoad( double lon, double lat, List< LonLatPoint > road ) { + /** + * 道路吸附算法 + *

+ * 所谓的道路数据，实际就是道路对应的点集，每两个点之间是直线，但是两点间距并不固定，点集内点的数量也不固定，点集是有序的，按道路方向排序，road[0]是起点。 + * 为了避免拐弯道路的问题，先使用{@link #getCloseTwoPoint(int, int, double, double, List)}从道路数据里面找出距离目标点最近的两个点，记为A、B，最近的两个点就在目标点一前一后排列， + * 这样的话，求一下目标点到AB的垂直映射以及距离{@link #getFootAndMinDistance(double, double, double, double, double, double)}，就是吸附后的经纬度和距离 + * + * @param lon 目标经度 + * @param lat 目标纬度 + * @param road 目标道路数据 + * @return double[]{吸附后的经度，吸附后的纬度，目标经纬度距离道路的垂直距离} + */ + public static double[] mergeToRoad(double lon, double lat, List road) { int closeStart = 0; int closeEnd = road.size() - 1; - int[] result = getCloseTwoPoint(closeStart,closeEnd, lon, lat, road ); - LonLatPoint start = road.get( result[0] ); - LonLatPoint end = road.get( result[1] ); -// Logger.d( TAG, "mergeToRoad start: " + closeStart + " end: " + closeEnd ); -// return getMid(start, end); -// double[] foot = getFoot( lon, lat, start, end ); - -// float d = CoordinateUtils.calculateLineDistance( foot[0], foot[1], lon, lat ); -// Logger.d( TAG, "distance to mid line==" + d ); -// return new double[]{foot[0], foot[1], d}; - + int[] result = getCloseTwoPoint(closeStart, closeEnd, lon, lat, road); + LonLatPoint start = road.get(result[0]); + LonLatPoint end = road.get(result[1]); return getFootAndMinDistance(lon, lat, start.getLongitude(), start.getLatitude(), end.getLongitude(), end.getLatitude()); } - private static int[] getCloseTwoPoint(int closeStart,int closeEnd, double lon, double lat, List< LonLatPoint > road ) { - if ( closeEnd - closeStart == 1 ) { - return new int[]{closeStart,closeEnd}; + /** + * 获取距离目标点经纬度最近的道路点index + *

+ * 采用二分查找思想，先用道路数据的起点和终点分别计算距离目标点的距离： + * 若起点距离较远，则说明目标点在整条道路的后半段，则将起点后移至原起点和终点的中间，继续递归计算； + * 同理，若终点距离较远，则目标点在前半段，则终点前移，继续递归计算； + * 递归结束条件是起点index和终点index间隔是1； + * + * @param closeStart 距离目标点最近的起始点index + * @param closeEnd 距离目标点最近的终点index + * @param lon 目标点经度 + * @param lat 目标点纬度 + * @param road 目标道路 + * @return int[]{距离目标点最近的起始点index,距离目标点最近的终点index} + */ + private static int[] getCloseTwoPoint(int closeStart, int closeEnd, double lon, double lat, List road) { + if (closeEnd - closeStart == 1) { + return new int[]{closeStart, closeEnd}; } - LonLatPoint start = road.get( closeStart ); - LonLatPoint end = road.get( closeEnd ); - float startDistance = CoordinateUtils.calculateLineDistance( start.getLongitude(), start.getLatitude(), lon, lat ); - float endDistance = CoordinateUtils.calculateLineDistance( end.getLongitude(), end.getLatitude(), lon, lat ); - if ( startDistance > endDistance ) { - closeStart += ( closeEnd - closeStart ) / 2; + LonLatPoint start = road.get(closeStart); + LonLatPoint end = road.get(closeEnd); + float startDistance = CoordinateUtils.calculateLineDistance(start.getLongitude(), start.getLatitude(), lon, lat); + float endDistance = CoordinateUtils.calculateLineDistance(end.getLongitude(), end.getLatitude(), lon, lat); + if (startDistance > endDistance) { + closeStart += (closeEnd - closeStart) / 2; } else { - closeEnd -= ( closeEnd - closeStart ) / 2; + closeEnd -= (closeEnd - closeStart) / 2; } - return getCloseTwoPoint(closeStart,closeEnd, lon, lat, road ); + return getCloseTwoPoint(closeStart, closeEnd, lon, lat, road); } - private static double[] getFoot( double lon, double lat, LonLatPoint beginPt, LonLatPoint endPt ) { - double dx = beginPt.getLatitude() - endPt.getLatitude(); - double dy = beginPt.getLongitude() - endPt.getLongitude(); - - double u = ( lat - beginPt.getLatitude() ) * ( beginPt.getLatitude() - endPt.getLatitude() ) + - ( lon - beginPt.getLongitude() ) * ( beginPt.getLongitude() - endPt.getLongitude() ); - u = u / ( dx * dx + dy * dy ); - return new double[]{beginPt.getLongitude() + u * dy, beginPt.getLatitude() + u * dx}; - } - - -// un minDistance(x: Double, y: Double, x1: Double, y1: Double, x2: Double, y2: Double): Double { -// val cross = (x2 - x1) * (x - x1) + (y2 - y1) * (y - y1) -// println("1.cross:$cross") -// if (cross <= 0) { -// return Math.sqrt((x - x1) * (x - x1) + (y - y1) * (y - y1)) -// } -// val d2 = (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1) -// println("2.d2:$cross") -// if (cross > d2) { -// return Math.sqrt((x - x2) * (x - x2) + (y - y2) * (y - y2)) -// } -// val r = cross / d2 -// val px = x1 + (x2 - x1) * r -// val py = y1 + (y2 - y1) * r -// println("3.r:$r,px:$px,py:$py") -// return Math.sqrt((x - px) * (x - px) + (py - y) * (py - y)) -// } - /** * 计算垂足以及最短距离 * - * @param x target point lon - * @param y target point lat - * @param x1 start point lon - * @param y1 start point lat - * @param x2 end point lon - * @param y2 end point lat + * @param x target point lon + * @param y target point lat + * @param x1 线段起点 lon + * @param y1 起点起点 lat + * @param x2 线段终点 lon + * @param y2 线段终点 lat * @return double[]{footLon,footLat,minDistance} if(footLon == -1) => no foot or foot not in line */ private static double[] getFootAndMinDistance(double x, double y, double x1, double y1, double x2, double y2) { @@ -136,30 +122,17 @@ public class PointInterpolatorUtil { double cross = (x2 - x1) * (x - x1) + (y2 - y1) * (y - y1); 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; -// 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; } - - private static double[] getMid( LonLatPoint start, LonLatPoint end ) { - return new double[]{( start.getLongitude() + end.getLongitude() ) / 2, ( start.getLatitude() + end.getLatitude() ) / 2}; - } }