删除无用代码

laser/src/main/java/com/fdkankan/indoor/base/convert/GetRoute.java

@@ -16,46 +16,11 @@ import net.sf.json.JSONObject;
 
 public class GetRoute {
 
-	/*
-	public static void main(String[] args)
-	{
-		int[][] maps = {
-				{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
-				{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
-				{ 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0 },
-				{ 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0 },
-				{ 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0 },
-				{ 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0 },
-				{ 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0 }
-				};
-		MapInfo info=new MapInfo(maps,maps[0].length, maps.length,new Node(1, 1), new Node(4, 5));
-		new AStar().start(info);
-		printMap(maps);
-	}
-	
-	public static void printMap(int[][] maps)
-	{
-		for (int i = 0; i < maps.length; i++)
-		{
-			for (int j = 0; j < maps[i].length; j++)
-			{
-				System.out.print(maps[i][j] + " ");
-			}
-			System.out.println();
-		}
-	}
-	*/
 
-	//	public static String inputFilePath = "F:\\2021\\navvis\\���Ի���\\test3(v2.7.3)\\map.txt";
+
 	private static String inputFilePath = "F:\\test\\project\\age_laser\\routeMap.txt";
 
-//	private static float startX = 5.358192084229412f;
-//	private static float startY = -7.905951689748807f;
-//	private static float startZ = -1.3145928255248511f;
-//
-//	private static float endX = -2.143694831230416f;
-//	private static float endY = -3.3754012098200965f;
-//	private static float endZ = -1.1803865408990568f;
+
 
 	private static Double startX = 5.358192084229412;
 	private static Double startY = -7.905951689748807;
@@ -115,7 +80,7 @@ public class GetRoute {
 
 	/**
 	 * 读取文件，获取文件内容
-	 *   F:\test\project\age_laser\routeMap.txt
+	 *   F:\test\project\age_laser\final_freespace.csv
 	 *
 	 *   list 是routeMap的结果集
 	 * @return
@@ -245,10 +210,6 @@ public class GetRoute {
 		}
 
 		List<Node> path = new ArrayList<Node>();
-//		for(int i = mappath.size()-1;i>-1;--i) {
-//			Node node = mappath.get(i);
-//			path.add(node);
-//		}
 
 		// 点的距离
 		for(int i = mappath.size()-1;i>-1;) {

laser/src/main/java/com/fdkankan/indoor/base/convert/GisCoordinateUtil.java

@@ -47,19 +47,27 @@ public class GisCoordinateUtil {
      * @param loctionY
      * @return
      */
-//    public static  double[] transformLocationToBL(double loctionX,double loctionY){
-//        Point point = new Point(loctionX,loctionY);
-//        log.warn("本地转经纬度 平面 start ====");
-//        log.info("参数 rotation：{}", rotation2);
-//        log.info("参数 scale：{}", scale2);
-//        log.info("参数 tx：{}", dx2);
-//        log.info("参数 ty：{}", dy2);
-//        Point resultPoint = AffineTransform.transformBoePoint(new Point(point.getX(), point.getY()), rotation2, scale2, dx2, dy2);
-//        log.info("本地坐标转平面坐标输出结果：{}, {}", resultPoint.getX(),resultPoint.getY());
-//        log.warn("本地转经纬度 平面 end ====");
-//        return GisCoordinateTransform.convertByProj4(resultPoint.getX(),resultPoint.getY(),"EPSG:4547","EPSG:4490");
-//    }
+    public static  double[] transformLocationToBL(double loctionX,double loctionY){
+        Point point = new Point(loctionX,loctionY);
+        log.warn("本地转经纬度 平面 start ====");
+        log.info("参数 rotation：{}", rotation2);
+        log.info("参数 scale：{}", scale2);
+        log.info("参数 tx：{}", dx2);
+        log.info("参数 ty：{}", dy2);
+        Point resultPoint = AffineTransform.transformBoePoint(new Point(point.getX(), point.getY()), rotation2, scale2, dx2, dy2);
+        log.info("本地坐标转平面坐标输出结果：{}, {}", resultPoint.getX(),resultPoint.getY());
+        log.warn("本地转经纬度 平面 end ====");
+        return GisCoordinateTransform.convertByProj4(resultPoint.getX(),resultPoint.getY(),"EPSG:4547","EPSG:4490");
+    }
+
 
+    /**
+     * 本地坐标转经纬度
+     * 这里可以获取平面坐标， 结果是很大的
+     * @param loctionX
+     * @param loctionY
+     * @return
+     */
     public static  double[] transformLocationToBL(double loctionX,double loctionY, ControlPointCalculateEntity dto){
         Point point = new Point(loctionX,loctionY);
         log.warn("本地转经纬度 平面 start ====");
@@ -80,17 +88,17 @@ public class GisCoordinateUtil {
      * @param lat 纬度 十进制度
      * @return
      */
-//    public static  double[] transformBLToLocation(double lon,double lat){
-//        double[] gauss= GisCoordinateTransform.convertByProj4(lon, lat,"EPSG:4490","EPSG:4547");
-//        log.info("经纬度转本地坐标，大地坐标：{}, {}", gauss[0],gauss[1]);
-//        Point point = new Point(gauss[0],gauss[1]);
-//        Point resultPoint = AffineTransform.transformBoePoint(new Point(point.getX(), point.getY()), rotation1, scale1, dx1, dy1);
-//
-//        double[] location=new double[2];
-//        location[0]=resultPoint.getX();
-//        location[1]=resultPoint.getY();
-//        return location;
-//    }
+    public static  double[] transformBLToLocation(double lon,double lat){
+        double[] gauss= GisCoordinateTransform.convertByProj4(lon, lat,"EPSG:4490","EPSG:4547");
+        log.info("经纬度转本地坐标，大地坐标：{}, {}", gauss[0],gauss[1]);
+        Point point = new Point(gauss[0],gauss[1]);
+        Point resultPoint = AffineTransform.transformBoePoint(new Point(point.getX(), point.getY()), rotation1, scale1, dx1, dy1);
+
+        double[] location=new double[2];
+        location[0]=resultPoint.getX();
+        location[1]=resultPoint.getY();
+        return location;
+    }
 
 
     public static  double[] transformBLToLocation(double lon,double lat, ControlPointCalculateEntity dto){
@@ -112,52 +120,52 @@ public class GisCoordinateUtil {
      *
      * @param controlPointsFileUrl 控制点文件路径
      */
-    public static void parseControlPointsFile(String controlPointsFileUrl) {
-        String jsonStr = "";
-        try {
-            File file = new File(controlPointsFileUrl);
-            FileReader fileReader = new FileReader(file);
-            Reader reader = new InputStreamReader(new FileInputStream(file), "Utf-8");
-            int ch = 0;
-            StringBuffer sb = new StringBuffer();
-            while ((ch = reader.read()) != -1) {
-                sb.append((char) ch);
-            }
-            fileReader.close();
-            reader.close();
-            jsonStr = sb.toString();
-            parseJSON(jsonStr);
-        } catch (Exception e) {
-            System.out.println("文件内部格式错误！");
-        }
-    }
+//    public static void parseControlPointsFile(String controlPointsFileUrl) {
+//        String jsonStr = "";
+//        try {
+//            File file = new File(controlPointsFileUrl);
+//            FileReader fileReader = new FileReader(file);
+//            Reader reader = new InputStreamReader(new FileInputStream(file), "Utf-8");
+//            int ch = 0;
+//            StringBuffer sb = new StringBuffer();
+//            while ((ch = reader.read()) != -1) {
+//                sb.append((char) ch);
+//            }
+//            fileReader.close();
+//            reader.close();
+//            jsonStr = sb.toString();
+//            parseJSON(jsonStr);
+//        } catch (Exception e) {
+//            System.out.println("文件内部格式错误！");
+//        }
+//    }
 
-    /**
-     * 解析json字符串
-     *
-     * @param jsonStr
-     */
-    private static void parseJSON(String jsonStr) {
-//        JSONObject json= JSONObject.fromObject(jsonStr);
-        JSONObject json = JSONObject.parseObject(jsonStr);
-        JSONArray points = json.getJSONArray("points");
-        JSONObject aPoint = (JSONObject) points.get(0);
-        JSONObject bPoint = (JSONObject) points.get(1);
-        JSONObject aPointCoordinate = (JSONObject) aPoint.get("coordinate");
-        JSONObject aPointLocation = (JSONObject) aPoint.get("location");
-        JSONObject bPointCoordinate = (JSONObject) bPoint.get("coordinate");
-        JSONObject bPointLocation = (JSONObject) bPoint.get("location");
-        double alon = aPointCoordinate.getDouble("longitude");
-        double alat = aPointCoordinate.getDouble("latitude");
-        double aX = aPointLocation.getDouble("x");
-        double aY = aPointLocation.getDouble("y");
-        double blon = bPointCoordinate.getDouble("longitude");
-        double blat = bPointCoordinate.getDouble("latitude");
-        double bX = bPointLocation.getDouble("x");
-        double bY = bPointLocation.getDouble("y");
-//        calculateVariable(alon, alat, aX, aY, blon, blat, bX, bY);
-        //  System.out.println(alon+" "+alat+" "+aX+" "+aY+" "+blon+" "+blat+" "+bX+" "+bY);
-    }
+//    /**
+//     * 解析json字符串
+//     *
+//     * @param jsonStr
+//     */
+//    private static void parseJSON(String jsonStr) {
+////        JSONObject json= JSONObject.fromObject(jsonStr);
+//        JSONObject json = JSONObject.parseObject(jsonStr);
+//        JSONArray points = json.getJSONArray("points");
+//        JSONObject aPoint = (JSONObject) points.get(0);
+//        JSONObject bPoint = (JSONObject) points.get(1);
+//        JSONObject aPointCoordinate = (JSONObject) aPoint.get("coordinate");
+//        JSONObject aPointLocation = (JSONObject) aPoint.get("location");
+//        JSONObject bPointCoordinate = (JSONObject) bPoint.get("coordinate");
+//        JSONObject bPointLocation = (JSONObject) bPoint.get("location");
+//        double alon = aPointCoordinate.getDouble("longitude");
+//        double alat = aPointCoordinate.getDouble("latitude");
+//        double aX = aPointLocation.getDouble("x");
+//        double aY = aPointLocation.getDouble("y");
+//        double blon = bPointCoordinate.getDouble("longitude");
+//        double blat = bPointCoordinate.getDouble("latitude");
+//        double bX = bPointLocation.getDouble("x");
+//        double bY = bPointLocation.getDouble("y");
+////        calculateVariable(alon, alat, aX, aY, blon, blat, bX, bY);
+//        //  System.out.println(alon+" "+alat+" "+aX+" "+aY+" "+blon+" "+blat+" "+bX+" "+bY);
+//    }
 
 
 

laser/src/main/java/com/fdkankan/indoor/core/service/impl/ControlPointCalculateServiceImpl.java

@@ -1,27 +1,17 @@
 package com.fdkankan.indoor.core.service.impl;
 
-import com.fdkankan.indoor.base.util.Result;
 import com.fdkankan.indoor.core.entity.ControlPointCalculateEntity;
-import com.fdkankan.indoor.core.entity.ControlPointEntity;
-import com.fdkankan.indoor.core.entity.InitEntity;
-import com.fdkankan.indoor.core.entity.dto.ControlPointDto;
 import com.fdkankan.indoor.core.mapper.ControlPointCalculateMapper;
-import com.fdkankan.indoor.core.mapper.ControlPointMapper;
 import com.fdkankan.indoor.core.service.ControlPointCalculateService;
-import com.fdkankan.indoor.core.service.ControlPointService;
-import com.fdkankan.indoor.core.service.InitService;
 import lombok.extern.slf4j.Slf4j;
-import org.junit.Test;
-import org.springframework.beans.BeanUtils;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.time.LocalDateTime;
-import java.util.List;
 import java.util.Optional;
 
 /**
- * Created by owen on 2021/7/28 0028 20:05
+ * Created by owen on 2021/9/13 0028 20:05
  */
 @Service
 @Slf4j

laser/src/main/java/com/fdkankan/indoor/core/service/impl/DataSetServiceImpl.java

@@ -186,6 +186,14 @@ public class DataSetServiceImpl extends IBaseServiceImpl implements DataSetServi
         // 获取控制点
 //        ControlPointEntity controlPoint = controlPointService.findById(sceneCode);
         ControlPointCalculateEntity controlPoint = controlPointCalculateService.findById(sceneCode);
+
+        if (controlPoint == null) {
+            String msg = "控制点计算表结果不存在，尝试重算解决";
+            log.error(msg);
+            return Result.failure(msg);
+        }
+
+
         // 原场景码地址
         String sceneCodePath = redisPath(sceneCode) + "/laserData";
         if ("dev".equals(configConstant.active)) {

laser/src/main/java/com/fdkankan/indoor/core/service/impl/InitServiceImpl.java

@@ -358,15 +358,13 @@ public class InitServiceImpl implements InitService {
     @Override
     public Result initRecount(String sceneCode) {
 
-        // 删除旧数据
-//        this.initRemove(sceneCode);
+
 
         log.info("执行手动重新：{}", sceneCode);
         // 重新初始化数据, 地址在里面处理
         InitDto initDto = new InitDto();
         initDto.setSceneCode(sceneCode);
         initDto.setFrom("recount");
-//        this.initData(sceneCode, null, "recount", null);
         this.initData(initDto);
 
 

laser/src/main/java/com/fdkankan/indoor/core/service/impl/MergeSceneServiceImpl.java

@@ -92,6 +92,12 @@ public class MergeSceneServiceImpl extends IBaseServiceImpl implements MergeScen
 //        ControlPointEntity controlPoint = controlPointService.findById(sceneCode);
         ControlPointCalculateEntity controlPoint = controlPointCalculateService.findById(sceneCode);
 
+        if (controlPoint == null) {
+            String msg = "控制点计算表结果不存在，尝试重算解决";
+            log.error(msg);
+            return Result.failure(msg);
+        }
+
 
 
         InitEntity initEntity = initService.findById(mergeCode);

laser/src/main/java/com/fdkankan/indoor/core/service/impl/PoseServiceImpl.java

@@ -50,6 +50,12 @@ public class PoseServiceImpl extends IBaseServiceImpl implements PoseService {
 //        ControlPointEntity controlPoint = controlPointService.findById(sceneCode);
         ControlPointCalculateEntity controlPoint = controlPointCalculateService.findById(sceneCode);
 
+        if (controlPoint == null) {
+            String msg = "控制点计算表结果不存在，尝试重算解决";
+            log.error(msg);
+            return Result.failure(msg);
+        }
+
 
 
         List<PoseVo> resList = new ArrayList<>();

laser/src/main/java/com/fdkankan/indoor/core/service/impl/RouteServiceImpl.java

@@ -60,12 +60,17 @@ public class RouteServiceImpl implements RouteService {
 //        ControlPointEntity controlPointEntity = controlPointService.findById(sceneCode);
 
         ControlPointCalculateEntity controlPointEntity = controlPointCalculateService.findById(sceneCode);
+        if (controlPointEntity == null) {
+            String msg = "控制点计算表结果不存在，尝试重算解决";
+            log.error(msg);
+            return Result.failure(msg);
+        }
 
         // route数据：头尾数据是没有id值的，其他都有
         JSONArray route = GetRoute.getRoute(data, param, controlPointEntity);
 
         // 2021-08-12 测试用
-        testRote(route, data, sceneCode);
+//        testRote(route, data, sceneCode);
 
         return Result.success(route);
     }

laser/src/main/java/com/fdkankan/indoor/base/convert/TransformGPS.java

@@ -1,4 +1,4 @@
-package com.fdkankan.indoor.base.convert;
+package com.fdkankan.indoor.test;
 
 
 import com.fdkankan.indoor.core.entity.ControlPointEntity;