From ac7b89bed59712886762866cce0b2bffb7aa0da5 Mon Sep 17 00:00:00 2001 From: Floppyrj45 Date: Fri, 24 Apr 2026 09:52:04 +0000 Subject: [PATCH] fix: T_4x4 pad (N,3,4) vers (N,4,4) pour scene.js makeFrustum --- fuse/fuse_trajectory.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fuse/fuse_trajectory.py b/fuse/fuse_trajectory.py index ece37ce..ba1834c 100644 --- a/fuse/fuse_trajectory.py +++ b/fuse/fuse_trajectory.py @@ -175,7 +175,7 @@ def _save_local_only(out_h5: str, pose_t, poses_34, ling_xyz, utm_zone): pw.create_dataset("x_m", data=ling_xyz[:, 0], compression="gzip") pw.create_dataset("y_m", data=ling_xyz[:, 1], compression="gzip") pw.create_dataset("z_m", data=ling_xyz[:, 2], compression="gzip") - pw.create_dataset("T_4x4", data=poses_34, compression="gzip") + n = len(poses_34); p44 = np.zeros((n,4,4)); p44[:,:3,:] = poses_34; p44[:,3,3] = 1.0; pw.create_dataset("T_4x4", data=p44, compression="gzip") print(f"Saved local lingbot trajectory (no world alignment) → {out_h5}")