Fix SE(3) matrix multiplication bug in object to world transformation #20
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use proper matrix mul instead of elementwise mul
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@nim65s Can this PR be merged into master? |
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ref. Simple-Robotics/cosypose#20 Co-authored-by: Jingnan Shi <14103665+jingnanshi@users.noreply.github.com>
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ref. Simple-Robotics/cosypose#20 Co-authored-by: Jingnan Shi <14103665+jingnanshi@users.noreply.github.com>
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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.