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1、升级高精地图打开点云
2、增加点云日志输出

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-07-18 11:02:47 +08:00
parent 747a61330f
commit ef97e0e5bf
7 changed files with 55 additions and 15 deletions
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20
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
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@@ -3,9 +3,13 @@ package com.mogo.eagle.core.function.map
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.Logger
import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
import mogo.telematics.pad.MessagePad
import rule_segement.MogoPointCloudOuterClass
import java.math.BigDecimal
/**
* 订阅点云数据
@@ -56,9 +60,9 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
* @param isStrong 是否加粗显示
* @return 是否执行
*/
Logger.d(TAG, "====开始传入地图点云数据====")
//Logger.d(TAG, "====开始传入地图点云数据====")
val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, false, true, true)
Logger.d(TAG, "====结束传入地图点云数据=====$result")
//Logger.d(TAG, "====结束传入地图点云数据=====$result")
} else {
if (isDrawPointCloud) {
Logger.d(TAG, "====停止点云绘制====")
@@ -67,4 +71,16 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
}
}
}
override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
// Logger.d(TAG, "数据对比："
// + "\n自车定位：自车的 satelliteTime==${getPrettyNumber(CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().satelliteTime.toString())} 经纬度：${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLat},${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLon}"
// + "\n点云数据：点云的 header?.timestamp==${getPrettyNumber(header?.timestamp.toString())} 经纬度：${pointCloud?.selfLatitude},${pointCloud?.selfLongitude} 点云数量：addDataCount==${pointCloud?.addDataCount} delDataCount===${pointCloud?.delDataCount} "
// )
}
fun getPrettyNumber(number: String): String {
return BigDecimal.valueOf(number.toDouble())
.stripTrailingZeros().toPlainString()
}
}