From 36507486144228ba05fff7b81c047d34481929cc Mon Sep 17 00:00:00 2001
From: xieb <vip_xiaobin810@163.com>
Date: Sun, 28 Apr 2024 14:34:46 +0800
Subject: [PATCH] 航线规划修改
---
src/main/java/com/dji/sample/patches/utils/GeoToolsUtil.java | 150 +++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 135 insertions(+), 15 deletions(-)
diff --git a/src/main/java/com/dji/sample/patches/utils/GeoToolsUtil.java b/src/main/java/com/dji/sample/patches/utils/GeoToolsUtil.java
index e76e356..c687136 100644
--- a/src/main/java/com/dji/sample/patches/utils/GeoToolsUtil.java
+++ b/src/main/java/com/dji/sample/patches/utils/GeoToolsUtil.java
@@ -7,8 +7,10 @@
import org.locationtech.jts.geom.Geometry;
import org.locationtech.jts.io.ParseException;
import org.locationtech.jts.io.WKTReader;
+import org.locationtech.jts.simplify.TopologyPreservingSimplifier;
import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
/**
* @PROJECT_NAME: drone
@@ -49,6 +51,81 @@
}
/**
+ * 获取拐点坐标(替换上面获取四个航点坐标方法)
+ *
+ * @return
+ */
+ public static List<Coordinate> getSimplifyPolygons(Geometry polygon) {
+
+ // 使用 TopologyPreservingSimplifier 进行抽稀
+ double distanceTolerance = 1.0; // 设置抽稀的容忍度，根据实际需要调整
+ Geometry simplifiedPolygon = TopologyPreservingSimplifier.simplify(polygon, distanceTolerance);
+
+ // 获取简化后的多边形的拐点
+ List<Coordinate> coordinatesList = new ArrayList<>();
+ for (int i = 0; i < simplifiedPolygon.getNumPoints(); i++) {
+ coordinatesList.add(simplifiedPolygon.getCoordinate());
+ }
+
+ return coordinatesList;
+ }
+
+ public static int getSimplifyPolygonsNum(Geometry polygon) {
+ // 使用 TopologyPreservingSimplifier 进行抽稀
+ double distanceTolerance = 1.0; // 设置抽稀的容忍度，根据实际需要调整
+ Geometry simplifiedPolygon = TopologyPreservingSimplifier.simplify(polygon, distanceTolerance);
+
+ return simplifiedPolygon.getNumPoints();
+ }
+
+// public static void main(String[] args) {
+// //测试
+// List<LotInfo> list = new ArrayList<>();
+// list.add(LotInfo.builder().dkfw("POLYGON((115.866465564947 28.6344502965542, 115.86425430209 28.6357383285408, 115.864551734716 28.633120921433, 115.866977149064 28.6338435339976, 115.866465564947 28.6344502965542))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.864006690605 28.6202713913694, 115.86002109342 28.6162025130492, 115.866374254306 28.6142037658042, 115.865912044006 28.6172001020759, 115.864006690605 28.6202713913694))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.839366933455 28.6161999317332, 115.841288489469 28.6160843601496, 115.840931570318 28.6181544912247, 115.838147600941 28.618654178036, 115.839366933455 28.6161999317332))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.857499052697 28.6784702230642, 115.859109158101 28.6762273976226, 115.863677723232 28.6766081113836, 115.862154868188 28.6790827508297, 115.857499052697 28.6784702230642))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.834974056705 28.6659171428962, 115.833760531592 28.6634960413229, 115.832422084777 28.6624550271329, 115.829745191145 28.6631986086972, 115.831232354274 28.6608191476914, 115.833314382654 28.6603729987527, 115.835545127347 28.6618601618814, 115.837032290475 28.6639421902615, 115.834974056705 28.6659171428962))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.885622116006 28.5766308429787, 115.883936664461 28.5771582901683, 115.883365593819 28.5752547213636, 115.883555950699 28.5740174016407, 115.88365112914 28.5724945465969, 115.885364341064 28.5721138328361, 115.886696839227 28.5725897250371, 115.887458266749 28.5736366878797, 115.886792017668 28.5753498998039, 115.885622116006 28.5766308429787))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.857644341395 28.5750890964568, 115.857572957565 28.5729475815515, 115.858429563527 28.5728761977213, 115.859072017998 28.5738041875136, 115.859072017998 28.5748035611361, 115.857644341395 28.5750890964568))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.912181587649 28.6231542087745, 115.912181587649 28.6215123806805, 115.915893546818 28.6212268453598, 115.916036314478 28.6231542087745, 115.912181587649 28.6231542087745))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.842039042965 28.6314426646115, 115.840992080122 28.631252307731, 115.842324578286 28.6305860586493, 115.843181184248 28.6305860586493, 115.84403779021 28.6304908802091, 115.84394261177 28.6317281999322, 115.842039042965 28.6314426646115))").build());
+// list.add(LotInfo.builder().dkfw("POLYGON((115.807011889796 28.623935465138, 115.805869748513 28.6224126100944, 115.810247956764 28.6220318963334, 115.809581707682 28.623935465138, 115.807011889796 28.623935465138))").build());
+//
+//
+//// list.forEach(patche -> {
+//// String wkt = patche.getDkfw();
+//// // 解析WKT字符串为多边形
+//// WKTReader wktReader = new WKTReader(JTSFactoryFinder.getGeometryFactory());
+//// Geometry polygon = null;
+//// try {
+//// polygon = wktReader.read(wkt);
+//// } catch (ParseException e) {
+//// throw new RuntimeException(e);
+//// }
+////
+//// // 开始封装中心点坐标
+//// Coordinate coordinateCentro = getCentro(polygon);
+////
+//// // 开始封装图斑4个航线
+////// List<Coordinate> coordinatePointList = getExtremePoints(polygon);
+//// List<Coordinate> coordinatePointList = getSimplifyPolygons(polygon);
+////
+////
+//// });
+//
+//
+// Coordinate[] ret = getRoutePointOrder(list,28.624514734, 115.856725497);
+//
+// for (Coordinate c :
+// ret) {
+// System.out.println(c);
+// }
+//
+//
+// }
+
+ /**
* 航线点排序
*
* @return
@@ -57,6 +134,7 @@
List<Coordinate> centros = new ArrayList<>();
List<List<Coordinate>> extremePoints = new ArrayList<>();
Map<Coordinate, List<Coordinate>> points = new HashMap<>();
+ AtomicInteger numSize = new AtomicInteger();
list.forEach(patche -> {
String wkt = patche.getDkfw();
// 解析WKT字符串为多边形
@@ -73,9 +151,13 @@
centros.add(coordinateCentro);
// 开始封装图斑4个航线
- List<Coordinate> coordinatePointList = getExtremePoints(polygon);
+// List<Coordinate> coordinatePointList = getExtremePoints(polygon);
+ List<Coordinate> coordinatePointList = getSimplifyPolygons(polygon);
extremePoints.add(coordinatePointList);
- points.put(coordinateCentro, coordinatePointList);
+// points.put(coordinateCentro, coordinatePointList);
+
+ // 保存稀释拐点之后总数量
+ numSize.set(numSize.get() + getSimplifyPolygonsNum(polygon));
});
@@ -89,31 +171,69 @@
coordinateList.add(centros.get(i - 1));
}
- // 对中心坐标数组进行排序
+ // 方案一：一个图斑按4个航点规划
+// // 对中心坐标数组进行排序
+// Coordinate[] retCoordinate = new Coordinate[coordinateList.size()];
+// Coordinate[] sortedCoordinates = DistanceCalculator.sortByDistance(coordinateList, airportLat, airportLon, 0, retCoordinate);
+//
+// // 开始拼接图斑点位--按中心坐标数组排序顺序
+// // 长度-3第一个起点只有一个点位
+// Coordinate[] retc = new Coordinate[sortedCoordinates.length * 4 - 3];
+// // 赋值起点
+// retc[0] = sortedCoordinates[0];
+// int i = 0;
+// for (Coordinate num : sortedCoordinates) {
+// List<Coordinate> coordinatePoints = points.get(num);
+// if (null != coordinatePoints) {
+// for (int j = 0; j < coordinatePoints.size(); j++) {
+// // 开始拼接
+// retc[i * coordinatePoints.size() + j - 3] = coordinatePoints.get(j);
+// }
+// }
+//
+// i++;
+// }
+//
+// return retc;
+
+
+ // 方案二：抽稀，获取拐点
Coordinate[] retCoordinate = new Coordinate[coordinateList.size()];
+ List<Coordinate> oldCoordinateList = new ArrayList<>(coordinateList);
+
Coordinate[] sortedCoordinates = DistanceCalculator.sortByDistance(coordinateList, airportLat, airportLon, 0, retCoordinate);
// 开始拼接图斑点位--按中心坐标数组排序顺序
- // 长度-3第一个起点只有一个点位
- Coordinate[] retc = new Coordinate[sortedCoordinates.length * 4 - 3];
+ Coordinate[] retc = new Coordinate[numSize.get() + 1];
+
// 赋值起点
retc[0] = sortedCoordinates[0];
- int i = 0;
- for (Coordinate num : sortedCoordinates) {
- List<Coordinate> coordinatePoints = points.get(num);
- if (null != coordinatePoints) {
- for (int j = 0; j < coordinatePoints.size(); j++) {
- // 开始拼接
- retc[i * coordinatePoints.size() + j - 3] = coordinatePoints.get(j);
+ List<Integer> indexs = new ArrayList<>();
+
+ // 拿排序前的索引index 根据排序前和排序后的结果匹对------》后期优化
+ for (int i = 1; i<sortedCoordinates.length; i++) {
+ Coordinate c1 = sortedCoordinates[i];
+ for (int j = 1; j < oldCoordinateList.size(); j++) {
+ Coordinate c2 = oldCoordinateList.get(j);
+ if (c1.getX() == c2.getX() && c1.getY() == c2.getY()) {
+ indexs.add(j-1);
}
}
-
- i++;
}
- return retc;
+ // 根据排序前的索引按顺序赋值
+ int i = 0;
+ for (Integer index: indexs) {
+ for (Coordinate coordinate:extremePoints.get(index)) {
+ i = i+1;
+ retc[i] = coordinate;
+ }
+ }
+
+ return retc;
+
}
}
--
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