Function create_map_from_session

depot/mapper/src/main.rs:595–659

Create a new map from a session

(
    state: SharedState,
    session: &Session,
)

/// Create a new map from a session
async fn create_map_from_session(
    state: SharedState,
    session: &Session,
) -> Result<Uuid, MapperError> {
    let map_id = Uuid::new_v4();
    let now = Utc::now();

    // Generate map name from GPS center or rover ID + date
    let name = if let Some(ref bounds) = session.gps_bounds {
        let (lat, lon) = bounds.center();
        format!("map_{:.4}_{:.4}", lat, lon)
    } else {
        format!("map_{}_{}", session.rover_id, now.format("%Y%m%d"))
    };

    let bounds = session.gps_bounds.clone().unwrap_or_default();

    // Create map directory
    let maps_dir = {
        let state = state.read().await;
        state.maps_dir.clone()
    };
    let map_dir = maps_dir.join(&name);
    tokio::fs::create_dir_all(&map_dir).await?;

    // Run splatting pipeline (placeholder: just copy/reference source data)
    // TODO: Invoke actual Gaussian splatting when implemented
    let splat_path = run_splat_pipeline(&session.path, &map_dir).await?;

    let manifest = MapManifest {
        id: map_id,
        name: name.clone(),
        description: Some(format!("Generated from session {}", session.id)),
        bounds,
        version: 1,
        created_at: now,
        updated_at: now,
        assets: MapAssets {
            splat: splat_path,
            pointcloud: None,
            mesh: None,
            thumbnail: None,
        },
        sessions: vec![MapSessionRef {
            session_id: session.id,
            rover_id: session.rover_id.clone(),
            date: session.started_at,
        }],
        stats: MapStats {
            total_points: session.lidar_frames as u64 * 200_000, // Estimate
            total_splats: 0,
            coverage_pct: 0.0,
        },
    };

    // Save manifest and update state
    {
        let mut state = state.write().await;