Add virtual mounting position frame transform #157
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Signed-off-by: Thomas Sedlmayer <[email protected]>
jdsika
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Dec 15, 2025
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jdsika
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Can you add some sample data?
| try { | ||
| if (!message.mounting_position) { | ||
| console.error( | ||
| "Missing mounting position in SensorData message. Can not build FrameTransforms.", |
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This PR adds a frame transform from the rear axle transform to the virtual mounting position (SensorData::mounting_position) which is the coordinate system origin for SensorData object lists (moving/stationary objects, traffic lights/signs, lane network).
This change makes the existing implementation of detected lane boundaries work properly. It now shows the green lines (representing detected lane boundaries) in the right position/orientation:
See #147 (This PR does only partially resolve the issue as the physical mounting position is still to be implemented.)