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Fix: Handle random swipe bug during full scan

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LmeSzinc
2020-08-01 01:16:53 +08:00
parent 1acac2faab
commit 554698f583
2 changed files with 23 additions and 5 deletions
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20
module/map/map_base.py
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@@ -1,9 +1,11 @@
import copy
import numpy as np
from module.base.utils import location2node, node2location
from module.logger import logger
from module.map_detection.grid_info import GridInfo
from module.map.map_grids import SelectedGrids
from module.map_detection.grid_info import GridInfo
def location_ensure(location):
@@ -179,14 +181,24 @@ class CampaignMap:
"""
offset = np.array(camera) - np.array(grids.center_loca)
grids.show()
failed_count = 0
for grid in grids.grids.values():
loca = tuple(offset + grid.location)
if loca in self.grids:
success = self.grids[loca].merge(grid, mode=mode)
if not success:
if not copy.copy(self.grids[loca]).merge(grid, mode=mode):
logger.warning(f"Wrong Prediction. {self.grids[loca]} = '{grid.str}'")
failed_count += 1
return True
if failed_count < 2:
for grid in grids.grids.values():
loca = tuple(offset + grid.location)
if loca in self.grids:
self.grids[loca].merge(grid, mode=mode)
return True
else:
logger.warning('Too many wrong prediction')
return False
def reset(self):
for grid in self: