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Object to world transformation incorrect #21

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jingnanshi opened this issue Aug 14, 2023 · 0 comments
Open

Object to world transformation incorrect #21

jingnanshi opened this issue Aug 14, 2023 · 0 comments

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@jingnanshi
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In our tests, we noticed that the ground truth object to world transformation is incorrect. If we fix the following line to use @ to perform actual matrix multiplication instead of elementwise multiplication, it will give the correct result.

cosypose/cosypose/datasets/bop.py

Line 132 in 1e45363

T0O = T0C * TCO

Fixed in PR #20
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@jingnanshi