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Use a homogeneous basis change for 4×4 pose matrices - #10188
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Blyron merged 3 commits intoNov 9, 2026
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Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update our CHANGELOG.md based on your changes. |
Retain the existing documentation patch and the depth-precision entry from carla-simulator#10189. Place the two changelog entries at separate section anchors so they merge independently.
Blyron
approved these changes
Nov 9, 2026
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Description
The documented mirror has shape 3×3, so multiplying it with get_matrix() fails for homogeneous poses. Give the 4×4 basis change explicitly, including its effect on translation.
Where has this been tested?
Linux, CPython 3.13.17. Documentation for the Unreal Engine 5.8 branch at fe0178f. No simulator was needed for the documentation checks.
Tests
Applied the displayed change of basis to a nonidentity rotation and translation. Checked transformed points and the round trip with NumPy. Ran the full documentation build with
python -m mkdocs build --strictand checked the generated page.CI workflows
None.
Possible Drawbacks
The change is confined to the documentation and its example.
This change is