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大疆无人机航点飞行KMZ文件提取航点坐标_大疆kmz

作者：Guff_9hys | 2024-08-04 14:39:45

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大疆kmz

一、需要插件

  1. <!--        解析KMZ航线-->
  2.         <dependency>
  3.             <groupId>jaxen</groupId>
  4.             <artifactId>jaxen</artifactId>
  5.             <version>1.1.4</version>
  6.         </dependency>
  7.  
  8.  
  9.         <dependency>
  10.             <groupId>dom4j</groupId>
  11.             <artifactId>dom4j</artifactId>
  12.             <version>1.6.1</version>
  13.         </dependency>

二、KMZ解压成KML

  1. package com.dji.sample.common.util;
  2.  
  3. import org.dom4j.Document;
  4. import org.dom4j.io.SAXReader;
  5.  
  6.  
  7. import java.io.File;
  8. import java.io.FileInputStream;
  9. import java.io.InputStream;
  10. import java.util.zip.ZipEntry;
  11. import java.util.zip.ZipFile;
  12. import java.util.zip.ZipInputStream;
  13.  
  14. //将KMZ航线转成KML航线
  15. public class KmzKml {
  16.     public Document unzipKmzToKml() throws Exception, Exception {
  17.         String strkmz="/home/ych/KmzKml/航点飞行测试.kmz";
  18.  
  19.         System.out.println("**********************     【KMZ转kml开始】kmz路径：       **********************\n"+ strkmz);
  20.  
  21.         File file = new File(strkmz);
  22.  
  23.         ZipFile zipFile = new ZipFile(file);
  24.  
  25.         ZipInputStream zipInputStream = new ZipInputStream(new FileInputStream(file));
  26.         InputStream inputStream = null;
  27.         ZipEntry entry = null;
  28.         Document doc = null;
  29.         while ((entry = zipInputStream.getNextEntry()) != null) {
  30.             String zipEntryName = entry.getName();
  31.             //获取所需文件的节点
  32.             if (zipEntryName.equals("wpmz/template.kml")) {
  33.  
  34.                 inputStream = zipFile.getInputStream(entry);
  35.                 SAXReader reader = new SAXReader();
  36.                 doc = (Document) reader.read(inputStream);
  37.  
  38.                 inputStream.close();
  39.             }
  40.         }
  41.         zipFile.close();
  42.         zipInputStream.close();
  43.         return doc;
  44.     }
  45.  
  46. }

三、KML提取航点坐标

  1. package com.dji.sample.common.util;
  2.  
  3. import org.dom4j.Document;
  4. import org.dom4j.DocumentException;
  5. import org.dom4j.Element;
  6. import org.dom4j.io.SAXReader;
  7.  
  8. import java.io.InputStream;
  9. import java.util.*;
  10.  
  11. //提取KML航线里的坐标值
  12. public class Kml {
  13.     public static Collection<? extends String> parseXmlWithDom4j(InputStream input) throws Exception {
  14.         SAXReader reader = new SAXReader();
  15.         Document document = null;
  16.         try {
  17.             document = reader.read(input);
  18.         } catch (DocumentException e) {
  19.             e.printStackTrace();
  20.         }
  21.         Element root = document.getRootElement();//获取kml文件的根结点
  22.         return getCoordinates(root);
  23.     }
  24.  
  25.     //遍历当前节点下的全部节点
  26.     public static Collection<? extends String> getCoordinates(Element node) {
  27.         List<String> coordinatesList = new ArrayList<>();
  28.         if ("coordinates".equals(node.getName())) {
  29.             String coordinatesStr = node.getTextTrim();
  30.             String[] coordinatesArr = coordinatesStr.split(",");
  31.             List<String> coordinatesList1 = Arrays.asList(coordinatesArr);
  32.             coordinatesList.add(String.valueOf(coordinatesList1));
  33.         }
  34.         Iterator<Element> iterator = node.elementIterator();
  35.         while (iterator.hasNext()) {
  36.             Element e = iterator.next();
  37.             coordinatesList.addAll(getCoordinates(e));
  38.         }
  39.         return coordinatesList;
  40.     }
  41. }

四、调用

  1. @PostMapping("${url.wayline.prefix}${url.wayline.version}/workspaces/{workspace_id}/waylines/{wayline_id}/kmzKml")
  2.     public HttpResultResponse<?> Kmz() throws Exception {
  3.         KmzKml kmz = new KmzKml();
  4.         Document unzipKmzToKml = kmz.unzipKmzToKml();
  5.  
  6.         // 将dom4j 的document对象转换成String
  7.         // String asXML = unzipKmzToKml.asXML();
  8.  
  9.         SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMddhhmmss");
  10.         Date date = new Date();
  11.         String fileName = sdf.format(date);
  12.         String strkml = "/home/ych/KmzKml/航点飞行.kml";
  13.  
  14.         // 创建kml到本地
  15.         OutputFormat format = OutputFormat.createPrettyPrint();
  16.         format.setEncoding("utf-8");
  17.         XMLWriter xmlWriter = new XMLWriter(new FileOutputStream(strkml),format);
  18.         xmlWriter.write(unzipKmzToKml);
  19.         xmlWriter.close();
  20.  
  21.         System.out.println("\n**********************     【KMZ转kml成功】kml路径：       **********************\n"+ strkml);
  22.  
  23.         return HttpResultResponse.success();
  24.     }
  25.     @GetMapping("${url.wayline.prefix}${url.wayline.version}/workspaces/{workspace_id}/waylines/{wayline_id}/singlePoint")
  26.     public  HttpResultResponse<?> Kml() throws Exception {
  27.         File file = new File("/home/ych/KmzKml/航点飞行.kml");
  28.         InputStream in  = new FileInputStream(file);
  29.         Kml kml = new Kml();
  30.         Collection<? extends String> coordinatesList = kml.parseXmlWithDom4j(in);
  31.         List<?>  list = (List)coordinatesList;
  32.         System.out.println(list.get(3));
  33.  
  34.         System.out.println("获取到的坐标值：");
  35.         for (String coordinates : coordinatesList) {
  36.             System.out.println(coordinates);
  37.         }
  38.  
  39.  
  40.         return HttpResultResponse.success(list);
  41.     }

五、效果

  1. 获取到的坐标值：
  2. [121.369754843606, 37.5227177120414]
  3. [121.370733797755, 37.5233089872322]
  4. [121.370402874547, 37.5243355293892]
  5. [121.372488283707, 37.5240973025597]
  6. [121.372337081214, 37.5227352183251]
  7. [121.370980455301, 37.5213158608334]
  8. [121.372248708559, 37.5224800846951]

六、航线文件解读

  1. <?xml version="1.0" encoding="UTF-8"?>
  2. <kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
  3. <Document>
  4.  
  5.   <!-- Step 1: Implement File Creation Information -->
  6.   <wpml:author>Name</wpml:author>
  7.   <wpml:createTime>1637600807044</wpml:createTime>
  8.   <wpml:updateTime>1637600875837</wpml:updateTime>
  9.  
  10.   <!-- Step 2: Setup Mission Configuration -->
  11.   <wpml:missionConfig>
  12.     <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
  13.     <wpml:finishAction>goHome</wpml:finishAction>
  14.     <wpml:exitOnRCLost>goContinue</wpml:exitOnRCLost>
  15.     <wpml:executeRCLostAction>hover</wpml:executeRCLostAction>
  16.     <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
  17.     <wpml:takeOffRefPoint>23.98057,115.987663,100</wpml:takeOffRefPoint>
  18.     <wpml:takeOffRefPointAGLHeight>35</wpml:takeOffRefPointAGLHeight>
  19.     <wpml:globalTransitionalSpeed>8</wpml:globalTransitionalSpeed>
  20.     <wpml:droneInfo>
  21.       <!-- Declare drone model with M30 -->
  22.       <wpml:droneEnumValue>67</wpml:droneEnumValue>
  23.       <wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
  24.     </wpml:droneInfo>
  25.     <wpml:payloadInfo>
  26.       <!-- Declare payload model with M30 -->
  27.       <wpml:payloadEnumValue>52</wpml:payloadEnumValue>
  28.       <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
  29.     </wpml:payloadInfo>
  30.   </wpml:missionConfig>
  31.  
  32.   <!-- Step 3: Setup A Folder for Waypoint Template -->
  33.   <Folder>
  34.     <wpml:templateType>waypoint</wpml:templateType>
  35.     <wpml:useGlobalTransitionalSpeed>0</wpml:useGlobalTransitionalSpeed>
  36.     <wpml:templateId>0</wpml:templateId>
  37.     <wpml:waylineCoordinateSysParam>
  38.       <wpml:coordinateMode>WGS84</wpml:coordinateMode>
  39.       <wpml:heightMode>EGM96</wpml:heightMode>
  40.       <wpml:globalShootHeight>50</wpml:globalShootHeight>
  41.       <wpml:positioningType>GPS</wpml:positioningType>
  42.       <wpml:surfaceFollowModeEnable>1</wpml:surfaceFollowModeEnable>
  43.       <wpml:surfaceRelativeHeight>100</wpml:surfaceRelativeHeight>
  44.     </wpml:waylineCoordinateSysParam>
  45.     <wpml:autoFlightSpeed>7</wpml:autoFlightSpeed>
  46.     <wpml:gimbalPitchMode>usePointSetting</wpml:gimbalPitchMode>
  47.     <wpml:globalWaypointHeadingParam>
  48.       <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
  49.       <wpml:waypointHeadingAngle>45</wpml:waypointHeadingAngle>
  50.       <wpml:waypointPoiPoint>24.323345,116.324532,31.000000</wpml:waypointPoiPoint>
  51.       <wpml:waypointHeadingPathMode>clockwise</wpml:waypointHeadingPathMode>
  52.     </wpml:globalWaypointHeadingParam>
  53.     <wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
  54.     <wpml:globalUseStraightLine>0</wpml:globalUseStraightLine>
  55.     <Placemark>
  56.       <Point>
  57.         <!-- Fill longitude and latitude here -->
  58.         <coordinates>
  59.           longitude,latitude
  60.         </coordinates>
  61.       </Point>
  62.       <wpml:index>0</wpml:index>
  63.       <wpml:ellipsoidHeight>90.2</wpml:ellipsoidHeight>
  64.       <wpml:height>100</wpml:height>
  65.       <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
  66.       <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
  67.       <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
  68.       <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
  69.       <wpml:gimbalPitchAngle>0</wpml:gimbalPitchAngle>
  70.     </Placemark>
  71.     <Placemark>
  72.       <Point>
  73.         <!-- Fill longitude and latitude here -->
  74.         <coordinates>
  75.           longitude,latitude
  76.         </coordinates>
  77.       </Point>
  78.       <wpml:index>1</wpml:index>
  79.       <wpml:ellipsoidHeight>90.2</wpml:ellipsoidHeight>
  80.       <wpml:height>100</wpml:height>
  81.       <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
  82.       <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
  83.       <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
  84.       <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
  85.       <wpml:gimbalPitchAngle>0</wpml:gimbalPitchAngle>
  86.       <!-- Declare action group for waypoint 1# -->
  87.       <wpml:actionGroup>
  88.         <wpml:actionGroupId>0</wpml:actionGroupId>
  89.         <wpml:actionGroupStartIndex>1</wpml:actionGroupStartIndex>
  90.         <wpml:actionGroupEndIndex>1</wpml:actionGroupEndIndex>
  91.         <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
  92.         <wpml:actionTrigger>
  93.           <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
  94.         </wpml:actionTrigger>
  95.         <!-- Declare the 1st action: rotate gimbal -->
  96.         <wpml:action>
  97.           <wpml:actionId>0</wpml:actionId>
  98.           <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
  99.           <wpml:actionActuatorFuncParam>
  100.             <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>
  101.             <wpml:gimbalPitchRotateEnable>0</wpml:gimbalPitchRotateEnable>
  102.             <wpml:gimbalPitchRotateAngle>0</wpml:gimbalPitchRotateAngle>
  103.             <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
  104.             <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>
  105.             <wpml:gimbalYawRotateEnable>1</wpml:gimbalYawRotateEnable>
  106.             <wpml:gimbalYawRotateAngle>30</wpml:gimbalYawRotateAngle>
  107.             <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
  108.             <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>
  109.             <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
  110.           </wpml:actionActuatorFuncParam>
  111.         </wpml:action>
  112.         <!-- Declare the 2nd action: take photo -->
  113.         <wpml:action>
  114.           <wpml:actionId>1</wpml:actionId>
  115.           <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
  116.           <wpml:actionActuatorFuncParam>
  117.             <wpml:fileSuffix>point1</wpml:fileSuffix>
  118.             <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
  119.           </wpml:actionActuatorFuncParam>
  120.         </wpml:action>
  121.       </wpml:actionGroup>
  122.     </Placemark>
  123.   </Folder>
  124. </Document>
  125. </kml>

将航线里的<coordinates>标签检测到并读取值即可获得坐标，可以按照该思路获取其它类型的航线，再将坐标系转换即可将航线展示到前端。

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