yangyakun921/MoGoEagleEye
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[change]更换点云PB

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This commit is contained in:
xinfengkun
2022-06-01 13:02:31 +08:00
parent efa5295360
commit f521f46cc0
11 changed files with 23 additions and 22 deletions
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4
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -51,7 +51,7 @@ import mogo_msg.MogoReportMsg
import perception.TrafficLightOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
import rule_segement.PointCloud
import rule_segement.MogoPointCloudOuterClass
/**
* @author emArrow
@@ -243,7 +243,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
//他车轨迹预测
}
override fun onPointCloud(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
//点云数据透传
//Logger.d("pointCloud","pointCloud"+pointCloud);
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
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@@ -7,7 +7,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList
import com.zhidao.support.adas.high.common.PointCloudDecoder
import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
import mogo.telematics.pad.MessagePad
import rule_segement.PointCloud
import rule_segement.MogoPointCloudOuterClass
/**
* 订阅点云数据
@@ -38,7 +38,7 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
CallerAutopilotPointCloudListenerManager.removeListener(TAG)
}
override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
// 根据配置动态控制点云是否绘制
if (FunctionBuildConfig.isDrawPointCloudData) {
val data = PointCloudDecoder.decode(header, pointCloud)