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switcher dataset explorer

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lat lon -> geopoint
correct location for gps if small keypoints number
This commit is contained in:
Alex Bezdieniezhnykh
2025-06-23 20:47:28 +03:00
parent ad1e39268c
commit f58dd3d04f
31 changed files with 469 additions and 192 deletions
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Azaion.Common/Services/GPSMatcherService.cs
+31 -15
View File
@@ -1,46 +1,51 @@
using System.IO;
using Azaion.Common.DTO;
using Azaion.Common.DTO.Config;
using Azaion.Common.Extensions;
using MediatR;
using Microsoft.Extensions.Options;
namespace Azaion.Common.Services;
public interface IGpsMatcherService
{
Task RunGpsMatching(string userRouteDir, double initialLatitude, double initialLongitude, CancellationToken detectToken = default);
Task RunGpsMatching(string userRouteDir, GeoPoint geoPoint, CancellationToken detectToken = default);
void StopGpsMatching();
Task SetGpsResult(GPSMatcherResultEvent result, CancellationToken detectToken = default);
Task FinishGPS(GPSMatcherFinishedEvent notification, CancellationToken cancellationToken);
}
public class GpsMatcherService(IGpsMatcherClient gpsMatcherClient, ISatelliteDownloader satelliteTileDownloader, IOptions<DirectoriesConfig> dirConfig) : IGpsMatcherService
public class GpsMatcherService(IGpsMatcherClient gpsMatcherClient,
ISatelliteDownloader satelliteTileDownloader,
IOptions<DirectoriesConfig> dirConfig,
IOptions<GpsDeniedConfig> gpsDeniedConfig,
IMediator mediator) : IGpsMatcherService
{
private readonly DirectoriesConfig _dirConfig = dirConfig.Value;
private const int ZOOM_LEVEL = 18;
private const int POINTS_COUNT = 10;
private const int DISTANCE_BETWEEN_POINTS_M = 100;
private const double SATELLITE_RADIUS_M = DISTANCE_BETWEEN_POINTS_M * (POINTS_COUNT + 1);
private const int MAX_AVG_POINTS = 2;
private string _routeDir = "";
private string _userRouteDir = "";
private List<string> _allRouteImages = new();
private Dictionary<string, int> _currentRouteImages = new();
private double _currentLat;
private double _currentLon;
private GeoPoint _lastGeoPoint = new();
private CancellationToken _detectToken;
private int _currentIndex;
private readonly Queue<Direction> _directions = new();
public async Task RunGpsMatching(string userRouteDir, double initialLatitude, double initialLongitude, CancellationToken detectToken = default)
public async Task RunGpsMatching(string userRouteDir, GeoPoint initGeoPoint, CancellationToken detectToken = default)
{
_routeDir = Path.Combine(SecurityConstants.EXTERNAL_GPS_DENIED_FOLDER, _dirConfig.GpsRouteDirectory);
_userRouteDir = userRouteDir;
_allRouteImages = Directory.GetFiles(userRouteDir)
.OrderBy(x => x).ToList();
_currentLat = initialLatitude;
_currentLon = initialLongitude;
_lastGeoPoint = initGeoPoint;
_detectToken = detectToken;
await StartMatchingRound(0);
}
@@ -63,12 +68,11 @@ public class GpsMatcherService(IGpsMatcherClient gpsMatcherClient, ISatelliteDow
})
.ToDictionary(x => x.Filename, x => x.Index);
await satelliteTileDownloader.GetTiles(_currentLat, _currentLon, SATELLITE_RADIUS_M, ZOOM_LEVEL, _detectToken);
await satelliteTileDownloader.GetTiles(_lastGeoPoint, SATELLITE_RADIUS_M, ZOOM_LEVEL, _detectToken);
await gpsMatcherClient.StartMatching(new StartMatchingEvent
{
ImagesCount = POINTS_COUNT,
Latitude = _currentLat,
Longitude = _currentLon,
GeoPoint = _lastGeoPoint,
SatelliteImagesDir = _dirConfig.GpsSatDirectory,
RouteDir = _dirConfig.GpsRouteDirectory
});
@@ -83,9 +87,21 @@ public class GpsMatcherService(IGpsMatcherClient gpsMatcherClient, ISatelliteDow
{
_currentIndex = _currentRouteImages[result.Image];
_currentRouteImages.Remove(result.Image);
_currentLat = result.Latitude;
_currentLon = result.Longitude;
await Task.CompletedTask;
if (result.KeyPoints > gpsDeniedConfig.Value.MinKeyPoints)
{
var direction = _lastGeoPoint.DirectionTo(result.GeoPoint);
_directions.Enqueue(direction);
if (_directions.Count > MAX_AVG_POINTS)
_directions.Dequeue();
_lastGeoPoint = result.GeoPoint;
}
else
{
var direction = new Direction(_directions.Average(x => x.Distance), _directions.Average(x => x.Azimuth));
_lastGeoPoint = _lastGeoPoint.GoDirection(direction);
}
await mediator.Publish(new GPSMatcherResultProcessedEvent(result, _lastGeoPoint), detectToken);
}
public async Task FinishGPS(GPSMatcherFinishedEvent notification, CancellationToken cancellationToken)