This PR fixes map alignment when importing legacy projects that include a list of features / constraints but no fiducials, a typical case is a building with only one level (hence no fiducials) but one or more robot maps (hence the sets of constraints and features).
Fix applied
Previously, no level anchors were spawned so the optimization ran during map alignment would also transform the reference drawing and find an average of all the drawings. With this PR, level anchors are spawned and added to the fiducials in the position where the reference drawing is. The result is that the reference drawing will be "sticky" and stay in its original position with only the imported robot layers being translated.
I had to increase the scope of the reference drawing site id which required wrapping it in an Option to handle the "no reference drawing" case. This added a few (safe) boilerplate unwraps.
Bug fix
Fixed bug
This PR fixes map alignment when importing legacy projects that include a list of features / constraints but no fiducials, a typical case is a building with only one level (hence no fiducials) but one or more robot maps (hence the sets of constraints and features).
Fix applied
Previously, no level anchors were spawned so the optimization ran during map alignment would also transform the reference drawing and find an average of all the drawings. With this PR, level anchors are spawned and added to the fiducials in the position where the reference drawing is. The result is that the reference drawing will be "sticky" and stay in its original position with only the imported robot layers being translated.
I had to increase the scope of the reference drawing site id which required wrapping it in an
Optionto handle the "no reference drawing" case. This added a few (safe) boilerplate unwraps.Before this PR:
Screencast from 2023-08-17 10-54-01.webm
After this PR:
Screencast from 2023-08-17 12-41-16.webm