{"id":46,"date":"2024-04-29T11:13:52","date_gmt":"2024-04-29T03:13:52","guid":{"rendered":"https:\/\/blog.superfyx.top\/?p=46"},"modified":"2024-04-30T15:43:33","modified_gmt":"2024-04-30T07:43:33","slug":"%e5%a4%a7%e7%96%86%e7%94%9f%e6%88%90v5%e7%9a%84%e8%88%aa%e7%ba%bf%ef%bc%88%e4%b8%80%ef%bc%89","status":"publish","type":"post","link":"https:\/\/blog.superfyx.top\/?p=46","title":{"rendered":"\u5927\u7586V5\u6587\u4ef6KMZ\u79bb\u7ebf\u751f\u6210"},"content":{"rendered":"\n<p>\u5728\u5f00\u53d1\u5927\u7586MSDKV5\u7248\u672c\u7684\u8fc7\u7a0b\u4e2d\u6211\u9047\u5230\u4e2a\u6bd4\u8f83egg\u75bc\u7684\u95ee\u9898\uff0c\u5927\u7586\u822a\u7ebf\u53ea\u80fd\u901a\u8fc7\u4e0a\u4f20kmz\u822a\u7ebf\u6587\u4ef6\u6765\u6267\u884c\u822a\u7ebf\u4efb\u52a1\u3002\u90a3\u4e48\u4ee5\u524dV4\u7248\u672c\u5199\u7684KML\u662f\u4e0d\u80fd\u76f4\u63a5\u4f7f\u7528\u7684\uff0c\u95ee\u9898\u6765\u4e86\uff0c\u4ed6\u4eec\u5e76\u6ca1\u6709\u63d0\u4f9b\u76f8\u5173\u7684\u8f6c\u6362\u63a5\u53e3\u6587\u6863\u4e00\u952e\u8f6c\u6362\uff0c\u53f7\u79f0\u53ef\u4ee5\u901a\u8fc7\u5927\u7586\u53f8\u7a7a\u6216\u8005\u628akml\u5bfc\u5165pilot2\u91cc\u81ea\u52a8\u8f6c\u6362\uff0c\u6211\u4eec\u7684\u9700\u6c42\u5927\u591a\u6570\u90fd\u662f\u4e00\u5957\u6267\u884c\u7684\uff0c\u4f30\u8ba1\u6ca1\u6709\u51e0\u5bb6\u516c\u53f8\u4f1a\u628a\u81ea\u5df1\u7684\u822a\u7ebf\u5904\u7406\u540e\uff0c\u518d<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-secondary-color\">\u4eba\u5de5<\/mark>\u5bfc\u5165\u5230pilot2\u91cc\u518d<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-secondary-color\">\u4eba\u5de5\u62ff\u51fa\u6765\u624b\u52a8\u5bfc\u5165<\/mark>\u81ea\u5df1\u7684\u9879\u76ee\u91cc\u4e0a\u4f20\u6267\u884c\uff0c\u90fd\u8fd9\u6837\u73a9\u4e86\u76f4\u63a5pilot2\u4e0d\u9999\u5417\uff0c\u6240\u4ee5\u6211\u5c31\u81ea\u5df1\u5199\u4e86\u8f6c\u6362\u3002<\/p>\n\n\n\n<p>\u5728\u7ebf\u7248\u8bf7\u53c2\u8003<a href=\"https:\/\/blog.superfyx.top\/?p=79\">\u5927\u7586V5\u6587\u4ef6KMZ\u5728\u7ebf\u751f\u6210<\/a><\/p>\n\n\n\n<p><strong>\u8fd9\u4e2a\u662f\u79bb\u7ebf\u7248\u672c<\/strong><\/p>\n\n\n\n<p>\u53ef\u5b9a\u5236\u5ea6\u6bd4\u8f83\u9ad8\uff0c\u9700\u8981\u81ea\u5df1\u624b\u52a8\u62fc\u63a5\u81ea\u5df1\u60f3\u8981\u7684\u53c2\u6570\uff0c\u76f8\u5bf9\u590d\u6742\uff1a<\/p>\n\n\n\n<p>\u6d41\u7a0b\u662f\u4ece\u670d\u52a1\u7aef\u6216\u8005\u672c\u5730\u751f\u6210\u597d\u7684KML\u822a\u7ebf\uff0c\u628a\u6587\u4ef6\u63d0\u53d6\u51fa\u6765\u540e\uff0c\u4f7f\u7528Dom\u89e3\u6790\u63d0\u53d6\u51fa\u5bf9\u5e94\u7684\u5750\u6807\u70b9\u7ecf\u3001\u7eac\u3001\u9ad8\u5ea6\uff0c\u4ee5\u53ca\u5bf9\u5e94\u7684\u822a\u70b9\u52a8\u4f5c\u3001\u62cd\u7167\u3001\u60ac\u505c\u3001\u5f55\u50cf\u3001\u5174\u8da3\u70b9\u7b49\uff0c\u518dDom\u5408\u6210\u5bf9\u5e94\u7684kmz\u6587\u4ef6\uff0c\u5bf9\u5e94\u7684\u7ed3\u6784\u6587\u4ef6\u5982\u4e0b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" loading=\"lazy\" src=\"https:\/\/blog.superfyx.top\/wp-content\/uploads\/2024\/04\/image-4.png\" alt=\"\" class=\"wp-image-47\" width=\"440\" height=\"275\" srcset=\"https:\/\/blog.superfyx.top\/wp-content\/uploads\/2024\/04\/image-4.png 440w, https:\/\/blog.superfyx.top\/wp-content\/uploads\/2024\/04\/image-4-300x188.png 300w\" sizes=\"(max-width: 440px) 100vw, 440px\" \/><\/figure>\n\n\n\n<p>\u7f16\u8f91MSDKV5\u822a\u7ebfKMZ\u6587\u4ef6\u7684\u65f6\u5019\uff0c\u7ed3\u6784\u5fc5\u987b\u6309\u7167\u4e0a\u9762\u7684\u7ed3\u6784\u4e0d\u80fd\u9519\u4e0d\u80fd\u7701\uff0c\u91cc\u9762\u7684res\u53ef\u4ee5\u4e0d\u8981\uff0ctemplate.kml\u548cwaylines.wpml\u4e24\u4e2a\u6587\u4ef6\u5fc5\u987b\u5f97\u6709\uff0c\u6700\u65e9\u6211\u662f\u628a\u4e24\u4e2a\u6587\u4ef6\u7684\u822a\u7ebf\u6267\u884c\u90fd\u5199\u51fa\u6765\u4e86\uff0c\u540e\u6765\u53d1\u73b0\u5927\u7586\u6587\u6863\u4e0a\u8bf4\uff1a\u82e5\u662fpilot2\u6267\u884cKMZ\u5219\u53ea\u9700\u8981\u7f16\u5199template.kml,\u82e5\u662f\u901a\u8fc7MSDK\u6267\u884cKMZ\u53ef\u4ee5\u53ea\u628a\u822a\u70b9\u548c\u822a\u70b9\u52a8\u8fc7\u5199\u5728waylines.wpml\u91cc\uff0c\u518d\u5199\u4e2a\u65e0\u822a\u70b9\u548c\u65e0\u52a8\u4f5c\u7684template.kml\u6587\u4ef6\u6253\u5305\u3002<\/p>\n\n\n\n<p>\u5b98\u65b9\u63d0\u4f9b\u7684template.kml\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code has-cyan-bluish-gray-background-color has-background\"><code>&lt;?xml version=\"1.0\" encoding=\"UTF-8\"?&gt;\n&lt;kml xmlns=\"http:\/\/www.opengis.net\/kml\/2.2\" xmlns:wpml=\"http:\/\/www.dji.com\/wpmz\/1.0.2\"&gt;\n&lt;Document&gt;&lt;\/Document&gt;\n&lt;\/kml&gt;<\/code><\/pre>\n\n\n\n<p>\u7136\u540e\u662ftemplate.kml\u7684\u7f16\u5199\u65b9\u5f0f\uff0c\u6211\u8fd9\u91cc\u63d0\u4f9b\u76f8\u5173\u7684\u7f16\u5199\u65b9\u5f0f\uff0c\u4ee3\u7801\u7b80\u5355\u770b\u770b\u5c31\u597d\uff0c\u4e0b\u9762\u4f1a\u7ed9\u6587\u6863\u7684<\/p>\n\n\n\n<pre class=\"wp-block-code has-cyan-bluish-gray-background-color has-background has-small-font-size\"><code>private int createFolder() {\n        if (docElement != null) {\n            Element folderElement = docElement.addElement(\"Folder\");\n\n            \/\/\u6a21\u677fID,\u8303\u56f4\uff1a&#91;0, 65535]\n            folderElement.addElement(\"wpml:templateId\").setText(String.valueOf(flightMission.getMissionId()));\n\n            \/\/\u822a\u7ebfID \u5728\u4e00\u6761\u822a\u7ebf\u4e2d\u8be5ID\u552f\u4e00  &#91;0, 65535]\n            folderElement.addElement(\"wpml:waylineId\").setText(String.valueOf(flightMission.getMissionId()));\n\n            \/\/\u5168\u5c40\u822a\u7ebf\u98de\u884c\u901f\u5ea6\n            folderElement.addElement(\"wpml:autoFlightSpeed\").setText(String.valueOf(flightMission.getSpeed()));\n\n            \/\/\u6267\u884c\u9ad8\u5ea6\u6a21\u5f0f \u8be5\u5143\u7d20\u4ec5\u5728waylines.wpml\u4e2d\u4f7f\u7528\n\/\/            folderElement.addElement(\"wpml:executeHeightMode\").setText(\"WGS84\");\n            folderElement.addElement(\"wpml:executeHeightMode\").setText(\"relativeToStartPoint\");\n\n            if (pointList != null &amp;&amp; pointList.size() &gt; 0) {\n                \/\/\u822a\u70b9\u4fe1\u606f\uff08\u5305\u62ec\u822a\u70b9\u7ecf\u7eac\u5ea6\u548c\u9ad8\u5ea6\u7b49\uff09\n                for (int i = 0; i &lt; pointList.size(); i++) {\n                    addPointToPlacemark(folderElement, pointList.get(i), pointList.size(), i);\n                }\n            }\n\n            return 0;\n        } else {\n            return -1;\n        }\n    }<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code has-cyan-bluish-gray-background-color has-background has-small-font-size\"><code>private boolean addPointToPlacemark(Element parentElement, TaskKMLBean missionPoint, int size, int index) {\n        if (missionPoint == null || missionPoint.getLatitude() == 0 || missionPoint.getLongitude() == 0) {\n        return false;\n        } else {\n        Element placemarkElement = parentElement.addElement(\"Placemark\");\n        Element point = placemarkElement.addElement(\"Point\");\n        \/\/\u822a\u70b9\u7ecf\u7eac\u5ea6&lt;\u7ecf\u5ea6,\u7eac\u5ea6&gt;\n        point.addElement(\"coordinates\")\n        .setText(missionPoint.getLongitude() + \",\" + missionPoint.getLatitude());\n        \/\/\u822a\u70b9\u5e8f\u53f7\n        placemarkElement.addElement(\"wpml:index\")\n        .setText(String.valueOf(index));\n        \/\/\u822a\u70b9\u6267\u884c\u9ad8\u5ea6\n        placemarkElement.addElement(\"wpml:executeHeight\")\n        .setText(String.valueOf(missionPoint.getAltitude()));\n        \/\/\u822a\u70b9\u98de\u884c\u901f\u5ea6\uff0c\u5f53\u524d\u822a\u70b9\u98de\u5411\u4e0b\u4e00\u4e2a\u822a\u70b9\u7684\u901f\u5ea6\n        placemarkElement.addElement(\"wpml:waypointSpeed\")\n        .setText(String.valueOf(missionPoint.getSpeed()));\n        \/\/\u504f\u822a\u89d2\u6a21\u5f0f\u53c2\u6570\n        Element waypointHeadingParamElememt = placemarkElement.addElement(\"wpml:waypointHeadingParam\");\n        waypointHeadingParamElememt.addElement(\"wpml:waypointHeadingMode\").setText(getHeadMode(flightMission.getHeadingMode()));\n        if (flightMission.getHeadingMode() == 3) {\/\/\u8868\u660e\u4e3a\u5174\u8da3\u70b9\n        waypointHeadingParamElememt.addElement(\"wpml:waypointPoiPoint\").setText(\n        missionPoint.getPointAction().getLookatlatitude() + \",\"\n        + missionPoint.getPointAction().getLookatlongitude() + \",\"\n        + missionPoint.getPointAction().getLookataltitude()\n        );\n        }\n        \/\/\u98de\u884c\u5668\u504f\u822a\u89d2\u5ea6\n        waypointHeadingParamElememt.addElement(\"wpml:waypointHeadingAngle\").setText(\"0\");\n        waypointHeadingParamElememt.addElement(\"wpml:waypointHeadingPathMode\").setText(\"followBadArc\");\n        \/\/\u822a\u70b9\u7c7b\u578b\uff08\u822a\u70b9\u8f6c\u5f2f\u6a21\u5f0f\n        Element waypointTurnParamElement = placemarkElement.addElement(\"wpml:waypointTurnParam\");\n        waypointTurnParamElement.addElement(\"wpml:waypointTurnMode\").setText(\"toPointAndStopWithDiscontinuityCurvature\");\n        waypointTurnParamElement.addElement(\"wpml:waypointTurnDampingDist\").setText(\"0\");\n        placemarkElement.addElement(\"wpml:useStraightLine\").setText(\"1\");\n        \/\/*\u6ce8\uff1a\u8be5\u5143\u7d20\u7528\u4e8e\u89c4\u5212\u4e00\u7cfb\u5217\u521d\u59cb\u52a8\u4f5c\uff0c\u5728\u822a\u7ebf\u5f00\u59cb\u524d\u6267\u884c\u3002\u822a\u7ebf\u4e2d\u65ad\u6062\u590d\u65f6\uff0c\u5148\u6267\u884c\u521d\u59cb\u52a8\u4f5c\uff0c\u518d\u6267\u884c\u822a\u70b9\u52a8\u4f5c\n        Element actionGroupElement = placemarkElement.addElement(\"wpml:actionGroup\");\n        \/\/\u52a8\u4f5c\u7ec4id\n        \/\/* \u6ce8\uff1a\u5728\u4e00\u4e2akmz\u6587\u4ef6\u5185\u8be5ID\u552f\u4e00\u3002\u5efa\u8bae\u4ece0\u5f00\u59cb\u5355\u8c03\u8fde\u7eed\u9012\u589e\u3002&#91;0, 65535]\n        actionGroupElement.addElement(\"wpml:actionGroupId\").setText(String.valueOf(index));\n        \/\/\u52a8\u4f5c\u7ec4\u5f00\u59cb\u751f\u6548\u7684\u822a\u70b9 &#91;0, 65535]\n        actionGroupElement.addElement(\"wpml:actionGroupStartIndex\").setText(String.valueOf(index));\n        actionGroupElement.addElement(\"wpml:actionGroupEndIndex\").setText(String.valueOf(index));\n        \/\/\u52a8\u4f5c\u6267\u884c\u6a21\u5f0f sequence\uff1a\u4e32\u884c\u6267\u884c\u3002\u5373\u52a8\u4f5c\u7ec4\u5185\u7684\u52a8\u4f5c\u4f9d\u6b21\u6309\u987a\u5e8f\u6267\u884c\u3002\n        actionGroupElement.addElement(\"wpml:actionGroupMode\").setText(\"sequence\");\n        \/\/\u52a8\u4f5c\u7ec4\u89e6\u53d1\u5668\n        Element actionTriggerElement = actionGroupElement.addElement(\"wpml:actionTrigger\");\n        actionTriggerElement.addElement(\"wpml:actionTriggerType\").setText(\"reachPoint\");\n        Element seconAactionElement = actionGroupElement.addElement(\"wpml:action\");\n        seconAactionElement.addElement(\"wpml:actionId\").setText(\"0\");\n        seconAactionElement.addElement(\"wpml:actionActuatorFunc\").setText(\"gimbalRotate\");\n        Element secondActionActuatorFuncParamElement = seconAactionElement.addElement(\"wpml\" +\n        \":actionActuatorFuncParam\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalHeadingYawBase\").setText(\"aircraft\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalRotateMode\").setText(\"absoluteAngle\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalPitchRotateEnable\").setText(\"1\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalPitchRotateAngle\").setText(String.valueOf(missionPoint.getPitch()));\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalRollRotateEnable\").setText(\"0\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalRollRotateAngle\").setText(\"0\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalYawRotateEnable\").setText(\"0\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalYawRotateAngle\").setText(\"0\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalRotateTimeEnable\").setText(\"0\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:gimbalRotateTime\").setText(\"10\");\n        secondActionActuatorFuncParamElement.addElement(\"wpml:payloadPositionIndex\").setText(\"0\");\n        Element firstActionElement = actionGroupElement.addElement(\"wpml:action\");\n        firstActionElement.addElement(\"wpml:actionId\").setText(\"1\");\n        String firstAction = getActionActuatorFunc(\"1\");\n        firstActionElement.addElement(\"wpml:actionActuatorFunc\").setText(firstAction);\n        Element firstActionActuatorFuncParamElement = firstActionElement.addElement(\"wpml:actionActuatorFuncParam\");\n        if (firstAction.equals(\"takePhoto\")) {\n        firstActionActuatorFuncParamElement.addElement(\"wpml:payloadPositionIndex\").setText(\"0\");\n        firstActionActuatorFuncParamElement.addElement(\"wpml:fileSuffix\").setText(\"point\" + index);\n        } else if (firstAction.equals(\"startRecord\")) {\n        firstActionActuatorFuncParamElement.addElement(\"wpml:payloadPositionIndex\").setText(\"0\");\n        firstActionActuatorFuncParamElement.addElement(\"wpml:fileSuffix\").setText(\"point\" + index);\n        firstActionActuatorFuncParamElement.addElement(\"wpml:payloadLensIndex\").setText(\"wide,ir,narrow_band\");\n        firstActionActuatorFuncParamElement.addElement(\"wpml:useGlobalPayloadLensIndex\").setText(\"0\");\n        } else if (firstAction.equals(\"stopRecord\")) {\n        firstActionActuatorFuncParamElement.addElement(\"wpml:payloadPositionIndex\").setText(\"0\");\n        firstActionActuatorFuncParamElement.addElement(\"wpml:payloadLensIndex\").setText(\"wide,ir,narrow_band\");\n        } else if (firstAction.equals(\"hover\")) {\n        firstActionActuatorFuncParamElement.addElement(\"wpml:hoverTime\").setText(\"5\");\n        } else if (firstAction.equals(\"rotateYaw\")) {\n        firstActionActuatorFuncParamElement.addElement(\"wpml:aircraftHeading\").setText(\"180\");\n        firstActionActuatorFuncParamElement.addElement(\"wpml:aircraftPathMode\").setText(\"clockwise\");\n        }\n\n        return true;\n        }\n        }<\/code><\/pre>\n\n\n\n<p>\u8fd9\u91cc\u53ea\u662f\u6458\u53d6\u4e86\u90e8\u5206\u89e3\u6790\u65b9\u6cd5\uff0c\u66f4\u590d\u6742\u7684\u52a8\u4f5c\u4ec0\u4e48\u7684\uff0c\u5927\u5bb6\u53ef\u4ee5\u6839\u636e\u5b98\u7f51\u91cc\u7684\u683c\u5f0f\u81ea\u5df1\u4fee\u6539\u94fe\u63a5\u5982\u4e0b\uff1a<a href=\"https:\/\/developer.dji.com\/doc\/cloud-api-tutorial\/cn\/api-reference\/dji-wpml\/overview.html\">https:\/\/developer.dji.com\/doc\/cloud-api-tutorial\/cn\/api-reference\/dji-wpml\/overview.html<\/a><\/p>\n\n\n\n<p>\u7136\u540e\u518d\u628a\u6587\u4ef6\u538b\u7f29\u6210\u6307\u5b9a\u7684kmz\u6587\u4ef6<\/p>\n\n\n\n<pre class=\"wp-block-code has-cyan-bluish-gray-background-color has-background has-small-font-size\"><code>private void addFolderToZip(File folder, String parentFolder, ZipOutputStream zos) throws Exception {\n        String baseFolder = new File(parentFolder).getName(); \/\/ \u83b7\u53d6\u57fa\u7840\u6587\u4ef6\u5939\u540d\u79f0\uff0c\u4f8b\u5982 \"107\"\n        for (File file : folder.listFiles()) {\n            String relativePath = file.getAbsolutePath().substring(parentFolder.length() + 1); \/\/ \u83b7\u53d6\u76f8\u5bf9\u4e8e\u57fa\u7840\u6587\u4ef6\u5939\u7684\u8def\u5f84\n            if (file.isDirectory()) {\n                addFolderToZip(file, parentFolder + \"\/\" + file.getName(), zos);\n                continue;\n            }\n            zos.putNextEntry(new ZipEntry(baseFolder + \"\/\" + relativePath)); \/\/ \u4f7f\u7528\u76f8\u5bf9\u8def\u5f84\u521b\u5efa ZipEntry\n\n            FileInputStream fis = new FileInputStream(file);\n            byte&#91;] buffer = new byte&#91;1024];\n            int length;\n            while ((length = fis.read(buffer)) &gt; 0) {\n                zos.write(buffer, 0, length);\n            }\n            zos.closeEntry();\n            fis.close();\n        }\n    }<\/code><\/pre>\n\n\n\n<p>\u7136\u540e\u53ef\u4ee5\u6267\u884c\u822a\u7ebf\u4efb\u52a1\u4e86,\u53ef\u4ee5\u67e5\u770b\u201d<a href=\"https:\/\/blog.superfyx.top\/?p=10\" data-type=\"URL\" data-id=\"https:\/\/blog.superfyx.top\/?p=10\">\u5927\u7586V5MSDK\u822a\u7ebf\u4efb\u52a1<\/a>\u201c\u8fd9\u7bc7\u6587\u6863\u907f\u5751\u3002<\/p>\n\n\n\n<div class=\"wp-block-file\"><a id=\"wp-block-file--media-f3e930d6-5d44-4cba-97f6-747291d209cc\" 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