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Make InstancePose3D consistently interact with transform frames #12021

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Merged
merged 11 commits into from
Dec 3, 2025
Merged

Make InstancePose3D consistently interact with transform frames #12021

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d8c5862
transform poses are no longer stored alongside tree transforms in the…
Wumpf Nov 27, 2025
3c27687
fix up queries for poses in tree context
Wumpf Nov 27, 2025
35345ff
no more silly pinhole box
Wumpf Nov 28, 2025
4abee78
sharpen documentation of `InstancePoses3D` in respect to frames.
Wumpf Nov 28, 2025
3ebcafc
only read lock transform cache
Wumpf Nov 28, 2025
27e7111
typos & lints
Wumpf Nov 28, 2025
f17bedb
Merge remote-tracking branch 'origin/main' into andreas/tf/pose-trans…
Wumpf Dec 2, 2025
009e9e0
code readability improvements
Wumpf Dec 2, 2025
c62137b
post merge fix
Wumpf Dec 2, 2025
578f7a7
fixup
Wumpf Dec 2, 2025
452bc22
Merge remote-tracking branch 'origin/main' into andreas/tf/pose-trans…
Wumpf Dec 3, 2025
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1 change: 0 additions & 1 deletion Cargo.lock
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Original file line number Diff line number Diff line change
Expand Up @@ -9754,7 +9754,6 @@ dependencies = [
"re_tracing",
"re_types",
"thiserror 2.0.17",
"vec1",
]

[[package]]
Expand Down
1 change: 0 additions & 1 deletion crates/store/re_tf/Cargo.toml
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Expand Up @@ -37,7 +37,6 @@ itertools.workspace = true
nohash-hasher.workspace = true
parking_lot.workspace = true
thiserror.workspace = true
vec1 = { workspace = true, features = ["smallvec-v1"] }

[dev-dependencies]
criterion.workspace = true
Expand Down
2 changes: 1 addition & 1 deletion crates/store/re_tf/src/lib.rs
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Expand Up @@ -146,7 +146,7 @@ mod transform_resolution_cache;

pub mod convert;

pub use transform_forest::{PinholeTreeRoot, TransformForest, TransformFromToError, TransformInfo};
pub use transform_forest::{PinholeTreeRoot, TransformForest, TransformFromToError, TreeTransform};
pub use transform_queries::{query_view_coordinates, query_view_coordinates_at_closest_ancestor};
pub use transform_resolution_cache::{
CachedTransformsForTimeline, ResolvedPinholeProjection, TransformResolutionCache,
Expand Down
192 changes: 6 additions & 186 deletions ...ots/re_tf__transform_forest__tests__simple_entity_hierarchy__transform_from_to__root.snap
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Expand Up @@ -6,7 +6,7 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
(
tf#/,
Ok(
TransformInfo {
TreeTransform {
root: tf#/,
target_from_source: DAffine3 {
matrix3: DMat3 {
Expand All @@ -32,39 +32,13 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
0.0,
),
},
target_from_instances: [
DAffine3 {
matrix3: DMat3 {
x_axis: DVec3(
1.0,
0.0,
0.0,
),
y_axis: DVec3(
0.0,
1.0,
0.0,
),
z_axis: DVec3(
0.0,
0.0,
1.0,
),
},
translation: DVec3(
0.0,
0.0,
0.0,
),
},
],
},
),
),
(
tf#/top,
Ok(
TransformInfo {
TreeTransform {
root: tf#/,
target_from_source: DAffine3 {
matrix3: DMat3 {
Expand All @@ -90,63 +64,13 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
0.0,
),
},
target_from_instances: [
DAffine3 {
matrix3: DMat3 {
x_axis: DVec3(
1.0,
0.0,
0.0,
),
y_axis: DVec3(
0.0,
1.0,
0.0,
),
z_axis: DVec3(
0.0,
0.0,
1.0,
),
},
translation: DVec3(
11.0,
0.0,
0.0,
),
},
DAffine3 {
matrix3: DMat3 {
x_axis: DVec3(
1.0,
0.0,
0.0,
),
y_axis: DVec3(
0.0,
1.0,
0.0,
),
z_axis: DVec3(
0.0,
0.0,
1.0,
),
},
translation: DVec3(
21.0,
0.0,
0.0,
),
},
],
},
),
),
(
tf#/top/pinhole,
Ok(
TransformInfo {
TreeTransform {
root: tf#/top/pinhole,
target_from_source: DAffine3 {
matrix3: DMat3 {
Expand All @@ -172,39 +96,13 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
1.0,
),
},
target_from_instances: [
DAffine3 {
matrix3: DMat3 {
x_axis: DVec3(
1.0,
0.0,
0.0,
),
y_axis: DVec3(
0.0,
0.5,
0.0,
),
z_axis: DVec3(
0.0,
0.0,
0.6666666666666666,
),
},
translation: DVec3(
-49.0,
-49.0,
1.0,
),
},
],
},
),
),
(
tf#/top/child3d,
Ok(
TransformInfo {
TreeTransform {
root: tf#/,
target_from_source: DAffine3 {
matrix3: DMat3 {
Expand All @@ -230,32 +128,6 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
1.0,
),
},
target_from_instances: [
DAffine3 {
matrix3: DMat3 {
x_axis: DVec3(
1.0,
0.0,
0.0,
),
y_axis: DVec3(
0.0,
1.0,
0.0,
),
z_axis: DVec3(
0.0,
0.0,
1.0,
),
},
translation: DVec3(
1.0,
0.0,
1.0,
),
},
],
},
),
),
Expand All @@ -270,7 +142,7 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
(
tf#/top/pinhole/child2d,
Ok(
TransformInfo {
TreeTransform {
root: tf#/top/pinhole,
target_from_source: DAffine3 {
matrix3: DMat3 {
Expand All @@ -296,39 +168,13 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
1.0,
),
},
target_from_instances: [
DAffine3 {
matrix3: DMat3 {
x_axis: DVec3(
1.0,
0.0,
0.0,
),
y_axis: DVec3(
0.0,
0.5,
0.0,
),
z_axis: DVec3(
0.0,
0.0,
0.6666666666666666,
),
},
translation: DVec3(
-47.0,
-49.0,
1.0,
),
},
],
},
),
),
(
tf#/top/pure_leaf_pinhole,
Ok(
TransformInfo {
TreeTransform {
root: tf#/top/pure_leaf_pinhole,
target_from_source: DAffine3 {
matrix3: DMat3 {
Expand All @@ -354,32 +200,6 @@ expression: "pretty_print_transform_frame_ids_in(&result, &transform_cache)"
1.0,
),
},
target_from_instances: [
DAffine3 {
matrix3: DMat3 {
x_axis: DVec3(
1.0,
0.0,
0.0,
),
y_axis: DVec3(
0.0,
0.5,
0.0,
),
z_axis: DVec3(
0.0,
0.0,
0.6666666666666666,
),
},
translation: DVec3(
-49.0,
-50.0,
1.0,
),
},
],
},
),
),
Expand Down
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