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Fix: Handle camera position offset in full_scan

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This commit is contained in:
LmeSzinc 2020-08-08 18:00:19 +08:00
parent 39c4f62052
commit 14f6e51f20
1 changed files with 8 additions and 2 deletions
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10
module/map/camera.py
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@ -52,14 +52,19 @@ class Camera(InfoHandler):
vector = np.array([0.5, 0.5]) - self.view.center_offset + vector
self._map_swipe(vector)
def focus_to_grid_center(self):
def focus_to_grid_center(self, tolerance=None):
"""
Re-focus to the center of a grid.
Args:
tolerance (float): 0 to 0.5. If None, use MAP_GRID_CENTER_TOLERANCE
Returns:
bool: Map swiped.
"""
if np.any(np.abs(self.view.center_offset - 0.5) > self.config.MAP_GRID_CENTER_TOLERANCE):
if not tolerance:
tolerance = self.config.MAP_GRID_CENTER_TOLERANCE
if np.any(np.abs(self.view.center_offset - 0.5) > tolerance):
logger.info('Re-focus to grid center.')
self.map_swipe((0, 0))
return True
@ -222,6 +227,7 @@ class Camera(InfoHandler):
queue = queue.sort_by_camera_distance(self.camera)
self.focus_to(queue[0])
self.focus_to_grid_center(0.25)
self.view.predict()
success = self.map.update(grids=self.view, camera=self.camera, mode=mode)
if not success: