• 大疆无人机航点飞行KMZ文件提取航点坐标

    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.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. }

    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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  • 原文地址：https://blog.csdn.net/silent702366/article/details/139864885