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cruise-automation / webviz

web-based visualization libraries
https://webviz.io/
Apache License 2.0
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Add vertex offset before applying geometry's pose #732

Closed hhsaez closed 2 years ago

hhsaez commented 2 years ago

Summary

Vertex offset is currently applied after the pose, but offset is in local space instead of world space. This lead to a bug where marker orientations end up being ignored in some cases.

Before

Screen Shot 2022-03-10 at 11 09 54 AM

Notice how spheres are not in the correct final position for the object to the right of the screen. Orientation is not applied in this case (spheres have the same orientation as in the object to the left).

After

Screen Shot 2022-03-10 at 11 05 14 AM

Now spheres are in the correct position and orientation.

Test plan

All existing tests must pass

Versioning impact

This is a bug fix, so it should be a patch.

reg-suit[bot] commented 2 years ago

reg-suit detected visual differences.

Check this report, and review them.

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What do the circles mean? The number of circles represent the number of changed images.
:red_circle: : Changed items, :white_circle: : New items, :black_circle: : Deleted items, and :large_blue_circle: Passed items

How can I change the check status? If reviewers approve this PR, the reg context status will be green automatically.