feat: publish global → proj_frame FrameTransform from proj_frame_offset#200
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jdsika wants to merge 2 commits into
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feat: publish global → proj_frame FrameTransform from proj_frame_offset#200jdsika wants to merge 2 commits into
jdsika wants to merge 2 commits into
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📝 WalkthroughWalkthroughAdds proj_frame support: a new Changesproj_frame_offset Frame Transform Support
Estimated code review effort🎯 3 (Moderate) | ⏱️ ~20 minutes Poem
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Actionable comments posted: 2
🧹 Nitpick comments (1)
tests/frameTransformConverter.spec.ts (1)
202-204: ⚡ Quick winAvoid order-coupled assertions for the proj transform.
Using
result.transforms[2]makes these tests brittle. Prefer locating the transform byparent_frame_id === "proj_frame"andchild_frame_id === "global".[details]
[/details]Proposed test hardening
- const projTransform = result.transforms[2]!; + const projTransform = result.transforms.find( + (t) => t.parent_frame_id === "proj_frame" && t.child_frame_id === "global", + )!;Also applies to: 240-241
🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the rest with a brief reason, keep changes minimal, and validate. In `@tests/frameTransformConverter.spec.ts` around lines 202 - 204, The assertions are brittle because they rely on a fixed index into result.transforms; instead, find the transform object by searching result.transforms for an entry where parent_frame_id === "proj_frame" && child_frame_id === "global" (e.g., assign projTransform = result.transforms.find(t => ...)) and assert its properties; do the same replacement for the other occurrence that currently uses result.transforms[?] (the assertions around the second proj transform) so tests are order-independent.
🤖 Prompt for all review comments with AI agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
Inline comments:
In `@src/config/frameTransformNames.ts`:
- Around line 10-12: The comment in src/config/frameTransformNames.ts
incorrectly documents the transform direction; update the comment that currently
reads `"global" → "proj_frame"` to reflect the actual emitted FrameTransform
with parent="proj_frame" and child="global" (i.e., "proj_frame" → "global"), and
mention GroundTruth.proj_frame_offset and the FrameTransform emission so readers
understand the correct parent/child frame IDs.
In `@src/converters/groundTruth/frameTransformConverter.ts`:
- Around line 183-187: The docblock in
src/converters/groundTruth/frameTransformConverter.ts incorrectly instructs that
parent="proj_frame", child="global" uses an "INVERTED offset", which contradicts
the implementation that publishes offset/yaw as-is; update the comment to remove
the “INVERTED offset” guidance and clearly state the single correct convention
(either parent="proj_frame", child="global" with offset published as-is, or
equivalently parent="global", child="proj_frame" with the unchanged offset) so
the prose matches the actual behavior in the frameTransformConverter logic.
---
Nitpick comments:
In `@tests/frameTransformConverter.spec.ts`:
- Around line 202-204: The assertions are brittle because they rely on a fixed
index into result.transforms; instead, find the transform object by searching
result.transforms for an entry where parent_frame_id === "proj_frame" &&
child_frame_id === "global" (e.g., assign projTransform =
result.transforms.find(t => ...)) and assert its properties; do the same
replacement for the other occurrence that currently uses result.transforms[?]
(the assertions around the second proj transform) so tests are
order-independent.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
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package.jsonsrc/config/frameTransformNames.tssrc/converters/groundTruth/frameTransformConverter.tstests/frameTransformConverter.spec.ts
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Add proj_frame support to the OSI GroundTruth FrameTransform converter. When GroundTruth.proj_frame_offset is present, a FrameTransform is emitted with parent=global, child=proj_frame (inverted offset). This keeps 'global' as the frame tree root and enables Lichtblick to resolve OpenDRIVE map geometry (in frame_id='proj_frame') alongside OSI moving objects (in frame_id='global') through a shared tree: global (root) ├── ego_vehicle_bb_center → ego_vehicle_rear_axle └── proj_frame (CRS world) The inversion uses existing math helpers (invertQuaternion, pointRotationByQuaternion) from @utils/math. Also regenerates yarn.lock to resolve from public registry (registry.yarnpkg.com) instead of internal BMW Artifactory. Signed-off-by: Carlo van Driesten <carlo.van-driesten@bmw.de>
Ensure agent instructions remind contributors to check for documentation drift when implementing features. Signed-off-by: Carlo van Driesten <carlo.van-driesten@bmw.de>
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Summary
When
GroundTruth.proj_frame_offsetis present, publish an additional FrameTransform connecting the OSI"global"frame to the geographic CRS world frame"proj_frame".This keeps
"global"as the frame tree root (consistent with existing ego transforms) and enables Lichtblick to resolve OpenDRIVE map geometry (in"proj_frame") alongside OSI objects (in"global") through a shared tree.Changes
parent="global", child="proj_frame"with invertedproj_frame_offset(usinginvertQuaternion+pointRotationByQuaternionfrom@utils/math)OSI_PROJ_FRAME = "proj_frame"inframeTransformNames.tswith documentationproj4+@types/proj4for future CRS normalizationproj_frame_offset, zero yaw, and inverted offset mathregistry.yarnpkg.com(was pointing to internal BMW Artifactory)Architecture: Shared
"proj_frame"ConventionBoth plugins independently publish to/from a shared frame called
"proj_frame":FrameTransform(parent="global", child="proj_frame")— inverted offset placesproj_frameas child ofglobalframe_id="proj_frame"Frame tree (when
proj_frame_offsetis present):Why invert the offset?
GroundTruth.proj_frame_offsetdefines whereglobal's origin sits inproj_framecoordinates. Since we publishparent="global", child="proj_frame", we need the inverse: whereproj_frame's origin sits inglobal. The inversion uses existing helpers from@utils/math.Related
Summary by CodeRabbit
New Features
Dependencies
Tests
Documentation