Fix SE(3) matrix multiplication bug in object to world transformation

Simple-Robotics / cosypose

Code for "CosyPose: Consistent multi-view multi-object 6D pose estimation", ECCV 2020.

MIT License

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Fix SE(3) matrix multiplication bug in object to world transformation #20

Open jingnanshi opened 1 year ago

jingnanshi commented 1 year ago

A very simple fix but important. Use proper matrix multiplication instead of elementwise multiplication. We notice that the loaded ground truth object frame to world frame transformations are incorrect, and realized that this line is wrong.