Fix LingBot-Map point-cloud pose convention#8
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July 21, 2026 21:21
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Pull request overview
This PR fixes the LingBot-Map depth-based point-cloud fallback to use the decoded LingBot-Map extrinsic matrix directly as the camera-to-world (C2W) transform, aligning the fallback output with LingBot-Map’s upstream streaming implementation and expected trajectory convention.
Changes:
- Removed an incorrect
np.linalg.inv()of the decoded pose in the point-cloud fallback path. - Simplified the fallback transform application by using the decoded extrinsic directly as C2W.
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| camera_to_world = ext_h | ||
| pts = pts @ camera_to_world[:3, :3].T + camera_to_world[:3, 3] |
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What changed
Use LingBot-Map's decoded extrinsic directly as the camera-to-world transform in the depth-based point-cloud fallback.
Root cause
LingBot-Map already decodes its pose as C2W, but the fallback inverted that matrix and therefore projected camera-space depth points with the wrong pose convention.
Impact
Fallback point clouds now align with LingBot-Map's upstream streaming implementation and decoded camera trajectory.
Validation
[2.280076, -0.5, 3.7143345].git diff --checkpassed.Fixes #7