Revert "feat: Add frame transform between ego bb and ego vehicle rear axis (#…" (#116)

This reverts commit 2d86030.

Co-authored-by: Rayene Messaoud <48479151+rmessaou@users.noreply.github.com>

Author: jdsika

src/index.ts

@@ -617,26 +617,6 @@ export function buildEgoVehicleRearAxleFrameTransform(
   };
 }
 
-export function buildEgoVehicleRearAxisFrameTransform(
-  osiGroundTruth: DeepRequired<GroundTruth>,
-): FrameTransform {
-  const hostIdentifier = osiGroundTruth.host_vehicle_id.value;
-  const hostObject = osiGroundTruth.moving_object.find((obj) => {
-    return obj.id.value === hostIdentifier;
-  })!;
-  return {
-    timestamp: osiTimestampToTime(osiGroundTruth.timestamp),
-    parent_frame_id: "ego_vehicle_bb_center",
-    child_frame_id: "ego_vehicle_rear_axis",
-    translation: {
-      x: hostObject.vehicle_attributes.bbcenter_to_rear.x,
-      y: hostObject.vehicle_attributes.bbcenter_to_rear.y,
-      z: hostObject.vehicle_attributes.bbcenter_to_rear.z,
-    },
-    rotation: eulerToQuaternion(0, 0, 0),
-  };
-}
-
 function buildSensorDataSceneEntities(
   osiSensorData: DeepRequired<SensorData>,
 ): PartialSceneEntity[] {
@@ -1034,23 +1014,6 @@ export function activate(extensionContext: ExtensionContext): void {
           "bbcenter_to_rear not found in ego vehicle attributes. Can not build rear axle FrameTransform.",
         );
       }
-
-      // Add rear axis FrameTransform if bbcenter_to_rear is set in vehicle attributes of ego vehicle
-      if (
-        message.moving_object.some(
-          (obj) =>
-            obj.id?.value === message.host_vehicle_id?.value &&
-            obj.vehicle_attributes?.bbcenter_to_rear,
-        )
-      ) {
-        transforms.transforms.push(
-          buildEgoVehicleRearAxisFrameTransform(message as DeepRequired<GroundTruth>),
-        );
-      } else {
-        console.warn(
-          "bbcenter_to_rear not found in ego vehicle attributes. Can not build rear axis FrameTransform.",
-        );
-      }
     } catch (error) {
       console.error(
         "Error during FrameTransform message conversion:\n%s\nSkipping message! (Input message not compatible?)",