Pose matrix multiplication question

[min-jung-shin]

Hello.!

I'm wondering why are the relative poses in pose_train.py and pose_sequence_folder.py and pose_test.py are inconsistent.

For example, exp_pose ,pose_rel , and pose_rel _pd.

1. exp_pose = torch.matmul(inv(pose[:, j]), noise_pose[:, j]) in pose_train.py

2. pose_rel = pose_src @ np.linalg.inv(pose_tgt) in pose_sequence_folder.py

3. pose_rel_pd = pose_src_pd @ np.linalg.inv(pose_tgt_pd) in pose_sequence_folder.py

4. p_rel_pose[:, j] = torch.matmul(noise_pose[:, j], inv(p_matrix)) in pose_test.py

I think the matrix multiplication to find out relative poses are should be inv(camera_1_pose) X (camera_2_pose).

But Why the multiplication's order is not consistent?

Please answer it. Thanks. :)