floppyrj45/cosma-nav
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: T_4x4 pad (N,3,4) vers (N,4,4) pour scene.js makeFrustum

Browse Source
This commit is contained in:
Floppyrj45
2026-04-24 09:52:04 +00:00
parent dc015d3ffc
commit ac7b89bed5
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
fuse/fuse_trajectory.py
View File

@@ -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("x_m", data=ling_xyz[:, 0], compression="gzip")
pw.create_dataset("y_m", data=ling_xyz[:, 1], 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("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}") print(f"Saved local lingbot trajectory (no world alignment) → {out_h5}")