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[2.13.2] add pb and track obj remove unuse

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zhongchao
2023-01-05 17:57:39 +08:00
parent 5f1cf28993
commit dd63f6f47a
2 changed files with 103 additions and 31 deletions
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56
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
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@@ -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();