Don't use scale in MVP calculation (o3de#677)

Signed-off-by: Jan Hanca <[email protected]>
RobotecAI · Mar 28, 2024 · 5de0d70 · 5de0d70
1 parent d2e4afd
commit 5de0d70
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
@@ -169,7 +169,9 @@ namespace ROS2
     void CameraSensor::RequestFrame(
         const AZ::Transform& cameraPose, AZStd::function<void(const AZ::RPI::AttachmentReadback::ReadbackResult& result)> callback)
     {
-        const AZ::Transform inverse = (cameraPose * AtomToRos).GetInverse();
+        const AZ::Transform cameraPoseNoScaling =
+            AZ::Transform::CreateFromQuaternionAndTranslation(cameraPose.GetRotation(), cameraPose.GetTranslation());
+        const AZ::Transform inverse = (cameraPoseNoScaling * AtomToRos).GetInverse();
         m_view->SetWorldToViewMatrix(AZ::Matrix4x4::CreateFromQuaternionAndTranslation(inverse.GetRotation(), inverse.GetTranslation()));
 
         AZ::Render::FrameCaptureOutcome captureOutcome;

diff --git a/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.cpp b/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.cpp
@@ -142,7 +142,8 @@ namespace ROS2
         auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get();
         auto requestResults = sceneInterface->QuerySceneBatch(m_sceneHandle, requests);
         AZ_Assert(requestResults.size() == rayDirections.size(), "Request size should be equal to directions size");
-        const auto localTransform = lidarTransform.GetInverse();
+        const auto localTransform =
+            AZ::Transform::CreateFromQuaternionAndTranslation(lidarTransform.GetRotation(), lidarTransform.GetTranslation()).GetInverse();
         const float maxRange = m_addMaxRangePoints ? m_range : AZStd::numeric_limits<float>::infinity();
 
         for (int i = 0; i < requestResults.size(); i++)