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[8.0.0][opt]调整预测的数据和绘制逻辑

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This commit is contained in:
chenfufeng
2025-05-14 18:11:13 +08:00
parent e152a773b3
commit db97849736
21 changed files with 1142 additions and 100 deletions
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5
libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt
View File

@@ -7,6 +7,7 @@ import com.mogo.map.overlay.proxy.point.IMapPointOverlay
import com.mogo.map.overlay.proxy.line.IMapPolylineOverlay
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.HashMap
/**
@@ -51,6 +52,8 @@ interface IMogoMap {
*/
fun updateBatchAiMarkerPosition(optionsArrayList: HashMap<String, SocketDownData.CloudRoadDataProto>?)
fun updatePreMarkerPosition(optionsArrayList: HashMap<String, Prediction2025.mPredictionObjectApp>?)
/**
* 添加感知使用到的3d模型
*
@@ -65,4 +68,6 @@ interface IMogoMap {
* @param uuidString
*/
fun removeMarker(uuidString: String?)
fun switchData(x: Double, y: Double, isWgs84: Boolean): DoubleArray?
}

13
libraries/mogo-map-api/src/main/java/com/mogo/map/identity/IMogoIdentifyManager.kt
View File

@@ -1,8 +1,10 @@
package com.mogo.map.identity
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.map.MogoMap
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.HashMap
/**
@@ -29,4 +31,15 @@ interface IMogoIdentifyManager {
* @param optionsArrayList 锚点集合
*/
fun updateBatchAiMarkerPosition(optionsArrayList: HashMap<String, SocketDownData.CloudRoadDataProto>, mapInstance:String = MogoMap.DEFAULT)
/**
* 批量更新预测数据对应的锚点位置
*
* @param optionsArrayList 锚点集合
*/
fun updatePreMarkerPosition(optionsArrayList: HashMap<String, Prediction2025.mPredictionObjectApp>, mapInstance:String)
fun updateGps(gnssInfo: MogoLocation, mapInstance: String)
fun updateUTM(carX: Double, carY: Double, preX: Double, preY: Double, mapInstance: String)
}

1
libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/line/Polyline.kt
View File

@@ -219,6 +219,7 @@ data class Polyline(val id: String, val owner: String, val level: Level, val opt
}
private fun str2Int(tag: String): Int {
if (tag.isEmpty()) return 0
var sum = 0
for (c in tag) {
sum += c.code

39
libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt
View File

@@ -21,6 +21,7 @@ import com.zhidaoauto.map.sdk.open.view.MapAutoView
import com.zhidaoauto.map.sdk.open.view.MapAutoViewHelper
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.function.BiConsumer
/**
@@ -176,6 +177,40 @@ class AMapWrapper(map: MapAutoViewHelper?, mapView: MapAutoView, controller: IMo
}
}
var preMarkerOptions = BatchMarkerOptions()
@SuppressLint("NewApi")
override fun updatePreMarkerPosition(optionsArrayList: java.util.HashMap<String, Prediction2025.mPredictionObjectApp>?) {
if (!checkAMap()) {
return
}
if (optionsArrayList == null || optionsArrayList.size == 0) {
return
}
val markerOptionsArrayList = ArrayList<MarkerSimpleData>()
optionsArrayList.forEach(BiConsumer { s: String?, preObject: Prediction2025.mPredictionObjectApp? ->
val markerOptions = ObjectUtils.fromPreData(preObject)
if (markerOptions != null) {
markerOptionsArrayList.add(markerOptions)
}
})
if (markerOptionsArrayList.size == 0) {
return
}
// val time = markerOptionsArrayList[0].time
// 最后一个参数，是否管理锚点的删除
preMarkerOptions.list = markerOptionsArrayList
preMarkerOptions.delayStrategy = false
preMarkerOptions.ruleAngle = 8.0f
preMarkerOptions.controlIcon = 1
// // marker做动画时需用到(要么一直不传，要么一直都传)
// preMarkerOptions.satelliteTime = time
preMarkerOptions.deleteRule = 0
if (mMapView.getMarkerController() != null) {
mMapView.getMarkerController()!!.updateBatchMarkerPositon(preMarkerOptions)
}
}
override fun addPreVehicleModel(type: Int, modelRes: Int): String? {
try {
if (mMapView.getMarkerController() != null) {
@@ -205,4 +240,8 @@ class AMapWrapper(map: MapAutoViewHelper?, mapView: MapAutoView, controller: IMo
}
return true
}
override fun switchData(x: Double, y: Double, isWgs84: Boolean): DoubleArray? {
return mAMap?.switchData(x, y, isWgs84)
}
}

43
libraries/mogo-map/src/main/java/com/mogo/map/identify/MogoIdentifyManager.java
View File

@@ -1,11 +1,18 @@
package com.mogo.map.identify;
import static com.mogo.map.MogoMap.DEFAULT;
import androidx.annotation.NonNull;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.map.IMogoMap;
import com.mogo.map.MogoMap;
import com.mogo.map.identity.IMogoIdentifyManager;
import java.util.HashMap;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
import prediction2025.Prediction2025;
/**
* @author congtaowang
@@ -69,4 +76,40 @@ public class MogoIdentifyManager implements IMogoIdentifyManager {
}
}
@Override
public void updatePreMarkerPosition(@NonNull HashMap<String, Prediction2025.mPredictionObjectApp> optionsArrayList, @NonNull String mapInstance) {
try {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(mapInstance);
if(iMogoMap != null){
iMogoMap.updatePreMarkerPosition(optionsArrayList);
}
} catch (Exception e) {
e.printStackTrace();
}
}
public void updateGps(MogoLocation gnssInfo, @NonNull String mapInstance) {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(mapInstance);
if(iMogoMap != null){
iMogoMap.getUiController().setExtraGPSData(gnssInfo);
}
}
@Override
public void updateUTM(double carX, double carY, double preX, double preY, @NonNull String mapInstance) {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(DEFAULT);// 同一个地图实例保存根据定位计算度带后的值
IMogoMap mogoMap2 = MogoMap.Companion.getMapInstance().getMogoMap(mapInstance);
if(iMogoMap != null && mogoMap2 != null){
double[] arr = iMogoMap.switchData(carX, carY, false);
double[] preArr = iMogoMap.switchData(preX, preY, false);
if (arr != null && arr.length == 2 && preArr != null && preArr.length == 2) {
double angle = DrivingDirectionUtils.getLineAngle(arr[0], arr[1], preArr[0], preArr[1]);
MogoLocation location = new MogoLocation();
location.setHeading(angle);
location.setLongitude(arr[0]);
location.setLatitude(arr[1]);
mogoMap2.getUiController().setExtraGPSData(location);
}
}
}
}

66
libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
View File

@@ -8,6 +8,7 @@ import android.view.View;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.map.overlay.line.Polyline;
import com.mogo.map.overlay.point.Point;
import com.mogo.map.uicontroller.MapCameraPosition;
@@ -19,12 +20,15 @@ import com.zhidaoauto.map.sdk.open.renders.marker.MarkerOptions;
import com.zhidaoauto.map.sdk.open.renders.marker.MarkerSimpleData;
import com.zhidaoauto.map.sdk.open.renders.poyline.PolylineOptions;
import com.zhidaoauto.map.sdk.open.view.MapAutoView;
import com.zhjt.mogo.adas.data.Adas;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
import prediction2025.Prediction2025;
/**
* @author congtaowang
@@ -34,6 +38,19 @@ import mogo.yycp.api.proto.SocketDownData;
*/
public class ObjectUtils {
private static Map<Adas.TrackedObjectType, Adas.TrackedObjectClassID> sTypeMap = Map.of(
Adas.TrackedObjectType.TYPE_PEDESTRIAN, Adas.TrackedObjectClassID.Person,
Adas.TrackedObjectType.TYPE_MOTOR, Adas.TrackedObjectClassID.MotorCycle,
Adas.TrackedObjectType.TYPE_BICYCLE, Adas.TrackedObjectClassID.Bicycle,
Adas.TrackedObjectType.TYPE_CAR, Adas.TrackedObjectClassID.Car,
Adas.TrackedObjectType.TYPE_TRUCK, Adas.TrackedObjectClassID.Truck,
Adas.TrackedObjectType.TYPE_BUS, Adas.TrackedObjectClassID.Bus,
Adas.TrackedObjectType.TYPE_WARNINGTRIANGLE, Adas.TrackedObjectClassID.WarningTriangle,
Adas.TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501, Adas.TrackedObjectClassID.RoadWork_occupy_0501,
Adas.TrackedObjectType.TYPE_ROADWORK_BREAK_0502, Adas.TrackedObjectClassID.RoadWork_break_0502,
Adas.TrackedObjectType.TYPE_ROAD_CONGESTION, Adas.TrackedObjectClassID.ROAD_CONGESTION
);
public static MarkerOptions fromMogo(Point.Options opt, MapAutoView mapAutoView) {
if (opt == null) {
@@ -174,6 +191,55 @@ public class ObjectUtils {
return markerOptions;
}
public static MarkerSimpleData fromPreData(Prediction2025.mPredictionObjectApp preData) {
if (preData == null || preData.getMNid() == 800000) {// 过滤掉自车
return null;
}
MarkerSimpleData markerOptions = null;
try {
markerOptions = new MarkerSimpleData();
markerOptions.setId(preData.getMNid());
markerOptions.setMarkerType(trackedObjectTypeTransform(preData.getClasstype()));
markerOptions.setRotateAngle(getPredictionHeading(preData));
// 自车2条轨迹，它车1条轨迹；每条轨迹的第一个点为位置，其它点为预测轨迹点
markerOptions.setLat(preData.getPredictionTrajectoryList().get(0).getTrajectoryPointsList().get(0).getX());
markerOptions.setLon(preData.getPredictionTrajectoryList().get(0).getTrajectoryPointsList().get(0).getY());
// marker做动画时需用到(要么一直不传，要么一直都传)
// markerOptions.setTime(Double.valueOf(preData.getSatelliteTime() * 1000).longValue());
markerOptions.setColor("#90ABCAFF");
} catch (Exception e) {
e.printStackTrace();
}
return markerOptions;
}
/**
* 域控障碍物类型转换成鹰眼使用的类型
*
* @param classType 域控障碍物类型（目前只有Prediction2025.mPredictionObjects.objs_app.classtype 是域控的障碍物类型）
* @return 障碍物类型 与 message_pad中的TrackedObjects 的 objs.type 类型一致
*/
private static int trackedObjectTypeTransform(int classType) {
Adas.TrackedObjectType type = Adas.TrackedObjectType.forNumber(classType);
if (type == null) {
type = Adas.TrackedObjectType.TYPE_UNKNOWN;
}
Adas.TrackedObjectClassID classID = sTypeMap.get(type);
if (classID == null) {
classID = Adas.TrackedObjectClassID.Unknown;
}
return classID.getNumber();
}
private static float getPredictionHeading(Prediction2025.mPredictionObjectApp preData) {
List<geometry.Geometry.Point> pointList = preData.getPredictionTrajectoryList().get(0).getTrajectoryPointsList();
if (pointList.size() >= 2) {
return (float) DrivingDirectionUtils.getLineAngle(pointList.get(0).getX(), pointList.get(0).getY(), pointList.get(1).getX(), pointList.get(1).getY());
} else {
return 0;
}
}
private static BitmapDescriptor getBitmapDescriptorFromMogo(Bitmap icon, View view) {
if (icon != null) {
return BitmapDescriptorFactory.INSTANCE.fromBitmap(icon);