fix SE(3) matrix multiplication bug

ref. Simple-Robotics/cosypose#20 Co-authored-by: Jingnan Shi <14103665+jingnanshi@users.noreply.github.com>
nim65s · Dec 29, 2024 · 378b70e · 378b70e
1 parent e419f4b
commit 378b70e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py
@@ -132,7 +132,7 @@ def __getitem__(self, frame_id):
                 RCO = np.array(annotation[n]["cam_R_m2c"]).reshape(3, 3)
                 tCO = np.array(annotation[n]["cam_t_m2c"]) * 0.001
                 TCO = Transform(RCO, tCO)
-                T0O = T0C * TCO
+                T0O = T0C @ TCO
                 T0O = T0O.toHomogeneousMatrix()
                 obj_id = annotation[n]["obj_id"]
                 name = f"obj_{int(obj_id):06d}"