fix SE(3) matrix multiplication bug #200
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ref. Simple-Robotics/cosypose#20 Co-authored-by: Jingnan Shi <[email protected]>
MedericFourmy
requested changes
Jan 7, 2025
| @@ -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 | |||
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This fix is strange.
T0C and TCO are at this point of type Transform defined here. This type implements the __mul__ operator as multiplication * between the underlying pin.SE3 objects, which corresponds to matrix multiplication betweeen the two homogeneous matrices.
On the other hand, __matmul__ is not implemented, which should result in a runtime error.
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ref. Simple-Robotics/cosypose#20