From e90cd53b2986d7ce298720838f77f45f2de9e302 Mon Sep 17 00:00:00 2001
From: zhongchao <zhongchao@zhidaoauto.com>
Date: Tue, 13 Dec 2022 09:59:44 +0800
Subject: [PATCH] close the tracker of heading cal

---
 .../function/business/identify/TrackObj.java  | 35 +------------------
 1 file changed, 1 insertion(+), 34 deletions(-)

diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
index 2048c4f06a..4efa56ce58 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
@@ -20,21 +20,17 @@ import mogo.telematics.pad.MessagePad;
 public class TrackObj {
 
     private final CircleQueue circleQueue = new CircleQueue(6);
-    //    private final KalmanFilter kalmanFilter; //卡尔曼结果
     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 double headingDelta; //航向角德尔塔
     private int[] typeArray = new int[3];
     private int typeWeight;   //类型权重
     private double lat;
     private double lon;
     private double speedAverage;
-//    private CenterLine centerLineInfo = null;
 
     public TrackObj(MessagePad.TrackedObject data) {
-//        kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
         circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
         recentlyTime = data.getSatelliteTime();
         lat = data.getLatitude();
@@ -61,15 +57,13 @@ public class TrackObj {
     private void correct() {
         calAverageSpeedAndType();
         calLoc();
-        calHeading();
+//        calHeading();
     }
 
     @SuppressLint("NewApi")
     private void calAverageSpeedAndType() {
         if (circleQueue.size() >= 3) {
             List<ObjQueue> objQueueList = circleQueue.getLastThreeFrame();
-            // 计算平均速度
-//            speedAverage = (objQueueList.get(0).getSpeed() + objQueueList.get(1).getSpeed() + objQueueList.get(2).getSpeed()) / 3;
             // 使用中值滤波
             objQueueList.sort(Comparator.comparing(ObjQueue::getSpeed));
             speedAverage = objQueueList.get(1).getSpeed();
@@ -101,38 +95,13 @@ public class TrackObj {
     private void calLoc() {
         //距离计算,位置修正
         if (relativeStatic()) {
-//            double angle = roadAngle != 0 ? roadAngle : cacheData.getHeading();
-//            if (centerLineInfo == null && isFourWheelType()) {
-//                try {
-//                    centerLineInfo = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, (float) angle);
-//                } catch (Exception e) {
-//                    Log.d("hy uuid : " + cacheData.getUuid(), "道路获取异常");
-//                }
-//                if (centerLineInfo != null && centerLineInfo.getPoints() != null && !centerLineInfo.getPoints().isEmpty()) {
-//                    double[] matchedPoint = PointInterpolatorUtil.mergeToRoad(cacheData.getLongitude(), cacheData.getLatitude(), centerLineInfo.getPoints());
-//                    if (matchedPoint[0] > 0 || matchedPoint[1] > 0) {
-//                        lon = matchedPoint[0];
-//                        lat = matchedPoint[1];
-//                        s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
-//                        s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
-//                    } else {
-//                        centerLineInfo = null;
-//                    }
-//                } else {
-//                    centerLineInfo = null;
-//                }
-//            }
             cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
         } else {
-//            centerLineInfo = null;
             //不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
-            //double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
             lat = cacheData.getLatitude();
             lon = cacheData.getLongitude();
             s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
             s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
-//            Log.d("hy uuid : " + cacheData.getUuid(), " 开始移动 lon : " + lon + " , lat : " + lat);
-//            cacheData = cacheData.toBuilder().setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
         }
     }
 
@@ -175,7 +144,6 @@ public class TrackObj {
 
     public boolean relativeStatic() {
         if (speedAverage < LIMIT_SPEED) {
-//            Log.d("emArrow-Track", "relativeStatic return" + " , uuid : " + cacheData.getUuid());
             return true;
         } else {
             return isInRange();
@@ -192,7 +160,6 @@ public class TrackObj {
             return false;
         }
         double dis = CoordinateUtils.calculateLineDistance(center[0], center[1], cacheData.getLongitude(), cacheData.getLatitude());
-//        Log.d("emArrow-Track", "uuid : " + cacheData.getUuid() + " , type : " + cacheData.getType() + " , list size : " + objQueueList.size() + " , dis : " + dis);
         if (cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.getType() || cacheData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.getType()) {
             return dis <= 0.6;
         } else {