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

[2.13.2] add pb and track obj remove unuse

Browse Source
This commit is contained in:
zhongchao
2023-01-05 17:57:39 +08:00
parent 5f1cf28993
commit dd63f6f47a
2 changed files with 103 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
View File

@@ -23,9 +23,8 @@ public class TrackObj {
private S2CellId s2CellId; //s2 id权重
private S2LatLng s2LatLng; //s2 经纬度
private double recentlyTime; //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
private double roadAngle; //道路航向
private int[] typeArray = new int[3];
private int typeWeight; //类型权重
// private int[] typeArray = new int[3];
// private int typeWeight; //类型权重
private double lat;
private double lon;
private double speedAverage;
@@ -37,11 +36,6 @@ public class TrackObj {
lon = data.getLongitude();
s2LatLng = S2LatLng.fromDegrees(data.getLatitude(), data.getLongitude());
s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22); //需要验证22前后
CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
if (centerLine != null && centerLine.getAngle() != 0) {
roadAngle = centerLine.getAngle();
}
}
private MessagePad.TrackedObject cacheData;
@@ -68,20 +62,20 @@ public class TrackObj {
objQueueList.sort(Comparator.comparing(ObjQueue::getSpeed));
speedAverage = objQueueList.get(1).getSpeed();
//计算类型
typeArray[0] = objQueueList.get(0).getType();
typeArray[1] = objQueueList.get(1).getType();
typeArray[2] = objQueueList.get(2).getType();
// typeArray[0] = objQueueList.get(0).getType();
// typeArray[1] = objQueueList.get(1).getType();
// typeArray[2] = objQueueList.get(2).getType();
} else {
double cal = 0;
List<ObjQueue> objQueueList = circleQueue.getPreFrame();
for (int i = 0; i < objQueueList.size() - 1; i++) {
cal += objQueueList.get(i).getSpeed();
typeArray[i] = objQueueList.get(i).getType();
// typeArray[i] = objQueueList.get(i).getType();
}
speedAverage = cal / objQueueList.size();
}
typeArray = Arrays.stream(typeArray).sorted().toArray();
typeWeight = typeArray[typeArray.length / 2] == 0 ? cacheData.getType() : typeArray[typeArray.length / 2];
// typeArray = Arrays.stream(typeArray).sorted().toArray();
// typeWeight = typeArray[typeArray.length / 2] == 0 ? cacheData.getType() : typeArray[typeArray.length / 2];
// 重新给静止物体赋值速度
if (relativeStatic()) {
@@ -107,18 +101,18 @@ public class TrackObj {
private void calHeading() {
//更正数据,速度小于LIMIT_SPEED使用上一帧数据
if (relativeStatic()) {
if (roadAngle != 0.0) {
CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
if (centerLine != null && centerLine.getAngle() != 0) {
cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
} else {
cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
}
} else {
cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
}
}
// if (relativeStatic()) {
// if (roadAngle != 0.0) {
// CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
// if (centerLine != null && centerLine.getAngle() != 0) {
// cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
// } else {
// cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
// }
// } else {
// cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
// }
// }
}
public double getRecentlyTime() {
@@ -167,11 +161,11 @@ public class TrackObj {
}
}
public boolean isFourWheelType() {
return typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.getType()
&& typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.getType()
&& typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType();
}
// public boolean isFourWheelType() {
// return typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.getType()
// && typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.getType()
// && typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType();
// }
private double[] getCenterPoint(List<ObjQueue> objQueueList) {
int total = objQueueList.size();

78
libraries/mogo-adas-data/src/main/proto/SocketDownDataProto3.proto Normal file
View File

@@ -0,0 +1,78 @@
syntax = "proto3";
package mogo.yycp.service;
option java_package = "mogo.yycp.api.proto";
option java_outer_classname = "SocketDownData";
/*
message xxx {
// 字段规则：required -> 字段只能也必须出现 1 次
// 字段规则：optional -> 字段可出现 0 次或1次
// 字段规则：repeated -> 字段可出现任意多次（包括 0）
// 类型：int32、int64、sint32、sint64、string、32-bit ....
// 字段编号：0 ~ 536870911（除去 19000 到 19999 之间的数字）
字段规则 类型 名称 = 字段编号;
}
*/
//返回车机主实体
message SocketDownDataProto {
uint64 seq = 1;
uint32 msgType = 2;
string sn = 3;
LauncherSnapshotProto data = 4;
uint64 utcTime = 5;
uint64 upUtcTime = 6;
string cityCode = 7;
}
//LauncherSnapshot数据响应VO
message LauncherSnapshotProto {
//总数据集合 RoadDataVo
repeated CloudRoadDataProto allList = 1;
//前方50米数据集合 RoadDataVo
repeated CloudRoadDataProto nearList = 2;
//摄像头 RoadDataVo
CloudRoadDataProto camera = 3;
string msgId = 4;
uint64 time = 5;
//过期时间
uint64 expire = 6;
}
//RoadDataVo
message CloudRoadDataProto {
/**物体类型 1-人 2-自行车 3-小轿车 4-摩托车 5-红绿灯 6-bus 8-truck 9-路边摄像头*/
uint32 type = 1;
/**数据来源 1,"自车数据" 2,"ADAS数据" 3,"路测设备识别数据" */
uint32 fromType = 2;
/**
* 车机上行pgs坐标给lat，lon两个成员变量
*
* 在下发车机时计算高德经纬度
* 1.将gps（lat，lon）给wgslat,wgalon
* 2.高德算法算出高德经纬度，给lat,lon
*/
double lat = 3; //gps->gd
double lon = 4; //gps->gd
double wgslat = 5; //原gps
double wgslon = 6; //原gps
//车机sn
string sn = 7;
//车辆UUID
string uuid = 8;
/** 车牌号 */
string cardId = 9;
/**速度*/
double speed = 10;
/**方向*/
double heading = 11;
/** 系统时间 */
uint64 systemTime = 12;
/** 星历时间 */
uint64 satelliteTime = 13;
/**红绿灯状态 1红 2绿 3黄*/
uint32 lightStatus = 14;
/**红绿灯剩余时间 读秒*/
uint32 lightLeftTime = 15;
/**视频流直播地址*/
string rtmpUrl = 16;
/**距离*/
double distance = 17;
}