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fix(foundationpose): fix tf_to_center sign inversion in pose decoder #93

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fix(foundationpose): fix tf_to_center sign inversion in pose decoder #93

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5 changes: 3 additions & 2 deletions ...ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_decoder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -170,9 +170,10 @@ gxf_result_t FoundationposeDecoder::tick() noexcept {
bytes_per_element, cudaMemcpyDeviceToHost, cuda_stream_));
CHECK_CUDA_ERRORS(cudaStreamSynchronize(cuda_stream_));

// Add the distance from edge to the center because
// Undo mesh centering: vertices were stored as (v - center), so the
// API pose must map original vertices via t_api = t - R*center.
Eigen::Matrix4f tf_to_center = Eigen::Matrix4f::Identity();
tf_to_center.block<3, 1>(0, 3) = mesh_data_ptr->mesh_model_center;
tf_to_center.block<3, 1>(0, 3) = -mesh_data_ptr->mesh_model_center;
pose_matrix = pose_matrix * tf_to_center;


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