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Fix level alignment when levels have no measurements #212

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merged 1 commit into from
Apr 9, 2024
Merged

Fix level alignment when levels have no measurements #212

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15 changes: 8 additions & 7 deletions rmf_site_format/src/alignment.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ pub struct FiducialVariables<T: RefTrait> {
pub position: DVec2,
}

#[derive(Clone, Copy)]
#[derive(Clone, Copy, Debug)]
pub struct MeasurementVariables {
pub in_pixels: f64,
pub in_meters: f64,
Expand Down Expand Up @@ -135,6 +135,12 @@ pub fn align_legacy_building(building: &BuildingMap) -> HashMap<String, Alignmen

initial_scale_numerator += m.in_meters / m.in_pixels;
}
// If no measurements are available, default to a standard 5cm per pixel
let initial_scale = if !level.measurements.is_empty() {
initial_scale_numerator / level.measurements.len() as f64
} else {
0.05
};
measurements.push(level_measurements);

let mut level_fiducials = Vec::new();
Expand All @@ -148,12 +154,7 @@ pub fn align_legacy_building(building: &BuildingMap) -> HashMap<String, Alignmen
}
fiducials.push(level_fiducials);

u.extend([
0.0,
0.0,
0.0,
initial_scale_numerator / level.measurements.len() as f64,
]);
u.extend([0.0, 0.0, 0.0, initial_scale]);
}

solve(&mut u, &fiducials, &measurements, false);
Expand Down
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