FanqingM
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MMIU-Benchmark
task
stringclasses
60 values
visual_input_component
stringclasses
21 values
source
stringclasses
64 values
options
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4.46k
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1.33k
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21.8k
input_image_path
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output
stringclasses
10 values
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.932535, 0.164547, -0.321407], [0.359784, -0.498771, 0.788533], [-0.030558, -0.850971, -0.524323]], 'translation vector': [4.48804, -0.229774, 1.538571]} B: {'rotation matrix': [[0.999974189934778, 0.00023654440835110308, 0.007205305592304459], [-0.00021900350048315587, 0.9999974076812913, -0.002394096534537237], [-0.00720576870446999, 0.0023924811533001236, 0.9999711271279352]], 'translation vector': [-0.011672688463027825, -0.012243066982587869, 0.0020668703552249035]} C: {'rotation matrix': [[0.930699, 0.167887, -0.324983], [0.364431, -0.502007, 0.784334], [-0.031464, -0.848412, -0.5284]], 'translation vector': [4.497419, -0.228559, 1.538943]} D: {'rotation matrix': [[0.928253, 0.171766, -0.329913], [0.370592, -0.502789, 0.780939], [-0.031738, -0.847172, -0.53037]], 'translation vector': [4.506209, -0.230888, 1.537021]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.932535, 0.164547, -0.321407], [0.359784, -0.498771, 0.788533], [-0.030558, -0.850971, -0.524323]], 'translation vector': [4.48804, -0.229774, 1.538571]} B: {'rotation matrix': [[0.999974189934778, 0.00023654440835110308, 0.007205305592304459], [-0.00021900350048315587, 0.9999974076812913, -0.002394096534537237], [-0.00720576870446999, 0.0023924811533001236, 0.9999711271279352]], 'translation vector': [-0.011672688463027825, -0.012243066982587869, 0.0020668703552249035]} C: {'rotation matrix': [[0.930699, 0.167887, -0.324983], [0.364431, -0.502007, 0.784334], [-0.031464, -0.848412, -0.5284]], 'translation vector': [4.497419, -0.228559, 1.538943]} D: {'rotation matrix': [[0.928253, 0.171766, -0.329913], [0.370592, -0.502789, 0.780939], [-0.031738, -0.847172, -0.53037]], 'translation vector': [4.506209, -0.230888, 1.537021]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_2_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_2_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_2_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_2_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999922186975153, -0.0004929414354074684, -0.003990843308659959], [0.0004944153894448021, 1.0000000788246688, 0.0002887878542439764], [0.0039912978026401735, -0.00029052347125931846, 0.9999922538344134]], 'translation vector': [0.0015230291799757656, -0.0023232322897525567, 0.004482115182110835]} B: {'rotation matrix': [[-0.597501, 0.375338, -0.7086], [0.801649, 0.25893, -0.538808], [-0.018758, -0.889987, -0.4556]], 'translation vector': [2.357092, 1.421442, 1.358509]} C: {'rotation matrix': [[-0.595396, 0.37569, -0.710183], [0.803242, 0.259116, -0.536341], [-0.017478, -0.889784, -0.456047]], 'translation vector': [2.35612, 1.420569, 1.361782]} D: {'rotation matrix': [[-0.600812, 0.375021, -0.705963], [0.799114, 0.258529, -0.542752], [-0.021031, -0.890237, -0.455012]], 'translation vector': [2.356618, 1.42274, 1.357666]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999922186975153, -0.0004929414354074684, -0.003990843308659959], [0.0004944153894448021, 1.0000000788246688, 0.0002887878542439764], [0.0039912978026401735, -0.00029052347125931846, 0.9999922538344134]], 'translation vector': [0.0015230291799757656, -0.0023232322897525567, 0.004482115182110835]} B: {'rotation matrix': [[-0.597501, 0.375338, -0.7086], [0.801649, 0.25893, -0.538808], [-0.018758, -0.889987, -0.4556]], 'translation vector': [2.357092, 1.421442, 1.358509]} C: {'rotation matrix': [[-0.595396, 0.37569, -0.710183], [0.803242, 0.259116, -0.536341], [-0.017478, -0.889784, -0.456047]], 'translation vector': [2.35612, 1.420569, 1.361782]} D: {'rotation matrix': [[-0.600812, 0.375021, -0.705963], [0.799114, 0.258529, -0.542752], [-0.021031, -0.890237, -0.455012]], 'translation vector': [2.356618, 1.42274, 1.357666]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_3_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_3_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_3_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_3_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.690346, 0.288159, -0.663616], [0.723477, -0.272947, 0.634098], [0.001589, -0.917858, -0.396905]], 'translation vector': [2.536332, 2.010734, 1.438743]} B: {'rotation matrix': [[0.691208, 0.288183, -0.662708], [0.722652, -0.27257, 0.635201], [0.00242, -0.917963, -0.396658]], 'translation vector': [2.535653, 2.009964, 1.439474]} C: {'rotation matrix': [[0.9999995587474457, 0.00024022036499647738, 0.0007957711644081506], [-0.00023933007530568237, 0.9999998633783928, -0.0007108069241564525], [-0.0007964539455043593, 0.0007109455644655081, 1.000000560983507]], 'translation vector': [-0.004770728985455719, 0.002959587174171885, 0.0013885111462622612]} D: {'rotation matrix': [[0.690426, 0.287793, -0.663692], [0.723401, -0.272862, 0.634222], [0.001429, -0.917999, -0.396581]], 'translation vector': [2.53477, 2.009069, 1.43814]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.690346, 0.288159, -0.663616], [0.723477, -0.272947, 0.634098], [0.001589, -0.917858, -0.396905]], 'translation vector': [2.536332, 2.010734, 1.438743]} B: {'rotation matrix': [[0.691208, 0.288183, -0.662708], [0.722652, -0.27257, 0.635201], [0.00242, -0.917963, -0.396658]], 'translation vector': [2.535653, 2.009964, 1.439474]} C: {'rotation matrix': [[0.9999995587474457, 0.00024022036499647738, 0.0007957711644081506], [-0.00023933007530568237, 0.9999998633783928, -0.0007108069241564525], [-0.0007964539455043593, 0.0007109455644655081, 1.000000560983507]], 'translation vector': [-0.004770728985455719, 0.002959587174171885, 0.0013885111462622612]} D: {'rotation matrix': [[0.690426, 0.287793, -0.663692], [0.723401, -0.272862, 0.634222], [0.001429, -0.917999, -0.396581]], 'translation vector': [2.53477, 2.009069, 1.43814]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_4_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_4_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_4_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_4_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999658530200795, -0.008162385048605073, -0.000989578606081076], [0.008166400906506959, 0.9999603758313507, 0.0035456278045154508], [0.000960099553273771, -0.0035536229934212678, 0.9999930725472598]], 'translation vector': [0.0005115289741049189, -0.00032414464705918244, 0.0017902118924140176]} B: {'rotation matrix': [[-0.221487, 0.417059, -0.881479], [0.974313, 0.13239, -0.182174], [0.040721, -0.899186, -0.435668]], 'translation vector': [3.156802, 0.483491, 1.355875]} C: {'rotation matrix': [[-0.223193, 0.415497, -0.881786], [0.973999, 0.131126, -0.184746], [0.038864, -0.900094, -0.43396]], 'translation vector': [3.157208, 0.483314, 1.355186]} D: {'rotation matrix': [[-0.22378, 0.416079, -0.881363], [0.973939, 0.129755, -0.18603], [0.036958, -0.900023, -0.434273]], 'translation vector': [3.157156, 0.483591, 1.355072]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999658530200795, -0.008162385048605073, -0.000989578606081076], [0.008166400906506959, 0.9999603758313507, 0.0035456278045154508], [0.000960099553273771, -0.0035536229934212678, 0.9999930725472598]], 'translation vector': [0.0005115289741049189, -0.00032414464705918244, 0.0017902118924140176]} B: {'rotation matrix': [[-0.221487, 0.417059, -0.881479], [0.974313, 0.13239, -0.182174], [0.040721, -0.899186, -0.435668]], 'translation vector': [3.156802, 0.483491, 1.355875]} C: {'rotation matrix': [[-0.223193, 0.415497, -0.881786], [0.973999, 0.131126, -0.184746], [0.038864, -0.900094, -0.43396]], 'translation vector': [3.157208, 0.483314, 1.355186]} D: {'rotation matrix': [[-0.22378, 0.416079, -0.881363], [0.973939, 0.129755, -0.18603], [0.036958, -0.900023, -0.434273]], 'translation vector': [3.157156, 0.483591, 1.355072]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_5_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_5_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_5_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_5_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.294979, -0.395497, 0.869811], [-0.955406, 0.135138, -0.26256], [-0.013703, -0.908472, -0.417722]], 'translation vector': [4.231627, 1.757554, 1.314948]} B: {'rotation matrix': [[0.9999859365705687, 3.1558862291102445e-05, 0.005361241460385626], [2.1367515200134227e-05, 0.9999509201368397, -0.009913096398898577], [-0.0053616455101250845, 0.009912181817668633, 0.9999368747200875]], 'translation vector': [-0.00185453480108011, 0.004425119632380792, 0.004740673653586214]} C: {'rotation matrix': [[-0.295231, -0.385219, 0.874325], [-0.955253, 0.136423, -0.262452], [-0.018176, -0.912686, -0.408258]], 'translation vector': [4.225714, 1.76129, 1.315325]} D: {'rotation matrix': [[-0.297898, -0.402478, 0.865603], [-0.954572, 0.132313, -0.266996], [-0.007071, -0.905817, -0.42361]], 'translation vector': [4.239912, 1.761582, 1.310375]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.294979, -0.395497, 0.869811], [-0.955406, 0.135138, -0.26256], [-0.013703, -0.908472, -0.417722]], 'translation vector': [4.231627, 1.757554, 1.314948]} B: {'rotation matrix': [[0.9999859365705687, 3.1558862291102445e-05, 0.005361241460385626], [2.1367515200134227e-05, 0.9999509201368397, -0.009913096398898577], [-0.0053616455101250845, 0.009912181817668633, 0.9999368747200875]], 'translation vector': [-0.00185453480108011, 0.004425119632380792, 0.004740673653586214]} C: {'rotation matrix': [[-0.295231, -0.385219, 0.874325], [-0.955253, 0.136423, -0.262452], [-0.018176, -0.912686, -0.408258]], 'translation vector': [4.225714, 1.76129, 1.315325]} D: {'rotation matrix': [[-0.297898, -0.402478, 0.865603], [-0.954572, 0.132313, -0.266996], [-0.007071, -0.905817, -0.42361]], 'translation vector': [4.239912, 1.761582, 1.310375]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_6_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_6_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_6_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_6_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.43634, -0.426945, 0.792039], [-0.899692, 0.219464, -0.377346], [-0.012718, -0.877242, -0.47988]], 'translation vector': [1.991026, 3.721216, 1.553809]} B: {'rotation matrix': [[0.9999994163271791, 0.0007055386419518741, -5.183687097418444e-05], [-0.0007048159396394524, 1.0000001700794185, 0.00017964949547958028], [5.299300853873026e-05, -0.00017925701598013347, 1.000000048079148]], 'translation vector': [-0.0002435455336966541, -0.00047987538941862695, 0.0009530826592798469]} C: {'rotation matrix': [[-0.436198, -0.427205, 0.791977], [-0.899763, 0.219364, -0.377235], [-0.012574, -0.877141, -0.480069]], 'translation vector': [1.990491, 3.720783, 1.55354]} D: {'rotation matrix': [[-0.436159, -0.427335, 0.791928], [-0.899792, 0.218686, -0.377559], [-0.011839, -0.877246, -0.479894]], 'translation vector': [1.98993, 3.720837, 1.552023]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.43634, -0.426945, 0.792039], [-0.899692, 0.219464, -0.377346], [-0.012718, -0.877242, -0.47988]], 'translation vector': [1.991026, 3.721216, 1.553809]} B: {'rotation matrix': [[0.9999994163271791, 0.0007055386419518741, -5.183687097418444e-05], [-0.0007048159396394524, 1.0000001700794185, 0.00017964949547958028], [5.299300853873026e-05, -0.00017925701598013347, 1.000000048079148]], 'translation vector': [-0.0002435455336966541, -0.00047987538941862695, 0.0009530826592798469]} C: {'rotation matrix': [[-0.436198, -0.427205, 0.791977], [-0.899763, 0.219364, -0.377235], [-0.012574, -0.877141, -0.480069]], 'translation vector': [1.990491, 3.720783, 1.55354]} D: {'rotation matrix': [[-0.436159, -0.427335, 0.791928], [-0.899792, 0.218686, -0.377559], [-0.011839, -0.877246, -0.479894]], 'translation vector': [1.98993, 3.720837, 1.552023]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_7_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_7_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_7_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_7_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999987261495074, 0.0004975354064711766, -0.0014612465343166485], [-0.0004956714882147159, 0.9999976114101617, 0.002168145916521647], [0.0014629580715452147, -0.002166812264256858, 0.9999963843096157]], 'translation vector': [-0.0006911004437073487, 0.0010681685362672333, 0.00045340774962232544]} B: {'rotation matrix': [[0.254029, -0.222698, 0.941209], [-0.965413, 0.000689, 0.260725], [-0.058712, -0.974887, -0.21482]], 'translation vector': [0.927676, 4.785758, 1.499229]} C: {'rotation matrix': [[0.261058, -0.219751, 0.939978], [-0.963311, 0.003543, 0.268366], [-0.062304, -0.97555, -0.210763]], 'translation vector': [0.925951, 4.784105, 1.497862]} D: {'rotation matrix': [[0.253006, -0.222602, 0.941507], [-0.965684, 0.00092, 0.259721], [-0.058681, -0.974909, -0.21473]], 'translation vector': [0.928139, 4.78494, 1.499076]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999987261495074, 0.0004975354064711766, -0.0014612465343166485], [-0.0004956714882147159, 0.9999976114101617, 0.002168145916521647], [0.0014629580715452147, -0.002166812264256858, 0.9999963843096157]], 'translation vector': [-0.0006911004437073487, 0.0010681685362672333, 0.00045340774962232544]} B: {'rotation matrix': [[0.254029, -0.222698, 0.941209], [-0.965413, 0.000689, 0.260725], [-0.058712, -0.974887, -0.21482]], 'translation vector': [0.927676, 4.785758, 1.499229]} C: {'rotation matrix': [[0.261058, -0.219751, 0.939978], [-0.963311, 0.003543, 0.268366], [-0.062304, -0.97555, -0.210763]], 'translation vector': [0.925951, 4.784105, 1.497862]} D: {'rotation matrix': [[0.253006, -0.222602, 0.941507], [-0.965684, 0.00092, 0.259721], [-0.058681, -0.974909, -0.21473]], 'translation vector': [0.928139, 4.78494, 1.499076]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_8_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_8_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_8_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_8_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.298773, 0.351612, -0.887189], [0.953749, -0.077747, 0.290375], [0.033123, -0.932912, -0.358578]], 'translation vector': [3.912279, 4.982921, 1.420651]} B: {'rotation matrix': [[0.29932, 0.353357, -0.88631], [0.953697, -0.082092, 0.289349], [0.029485, -0.93188, -0.361567]], 'translation vector': [3.9112, 4.98563, 1.419169]} C: {'rotation matrix': [[0.999988451223679, 0.004467367701975065, -0.0013038134525021694], [-0.00445692043483639, 0.9999572940857223, 0.008125240965736606], [0.0013398420675200973, -0.008118916964061989, 0.9999668442244075]], 'translation vector': [0.0032416245875248606, 0.010404768814489485, 0.0002686970709979697]} D: {'rotation matrix': [[0.298213, 0.352721, -0.886937], [0.953989, -0.07977, 0.289034], [0.031197, -0.932323, -0.36028]], 'translation vector': [3.912466, 4.985029, 1.419803]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.298773, 0.351612, -0.887189], [0.953749, -0.077747, 0.290375], [0.033123, -0.932912, -0.358578]], 'translation vector': [3.912279, 4.982921, 1.420651]} B: {'rotation matrix': [[0.29932, 0.353357, -0.88631], [0.953697, -0.082092, 0.289349], [0.029485, -0.93188, -0.361567]], 'translation vector': [3.9112, 4.98563, 1.419169]} C: {'rotation matrix': [[0.999988451223679, 0.004467367701975065, -0.0013038134525021694], [-0.00445692043483639, 0.9999572940857223, 0.008125240965736606], [0.0013398420675200973, -0.008118916964061989, 0.9999668442244075]], 'translation vector': [0.0032416245875248606, 0.010404768814489485, 0.0002686970709979697]} D: {'rotation matrix': [[0.298213, 0.352721, -0.886937], [0.953989, -0.07977, 0.289034], [0.031197, -0.932323, -0.36028]], 'translation vector': [3.912466, 4.985029, 1.419803]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_9_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_9_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_9_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_9_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999651962705811, 0.003066448737415877, 0.007690547235694275], [-0.003089438182273661, 0.9999915450229314, 0.002959839315488226], [-0.007681501308992471, -0.0029840343790842917, 0.999966014383214]], 'translation vector': [-0.009845168086086709, -0.005623772397939042, 0.0006148134083248102]} B: {'rotation matrix': [[-0.998744, -0.022866, -0.044595], [0.034706, 0.326335, -0.944617], [0.036152, -0.944977, -0.325132]], 'translation vector': [2.332638, 2.988529, 1.390534]} C: {'rotation matrix': [[-0.998733, -0.022769, -0.044885], [0.035006, 0.326505, -0.944547], [0.036161, -0.944921, -0.325294]], 'translation vector': [2.335994, 2.987912, 1.391848]} D: {'rotation matrix': [[-0.998702, -0.02238, -0.045764], [0.035975, 0.326219, -0.94461], [0.03607, -0.945029, -0.32499]], 'translation vector': [2.340556, 2.987934, 1.391904]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999651962705811, 0.003066448737415877, 0.007690547235694275], [-0.003089438182273661, 0.9999915450229314, 0.002959839315488226], [-0.007681501308992471, -0.0029840343790842917, 0.999966014383214]], 'translation vector': [-0.009845168086086709, -0.005623772397939042, 0.0006148134083248102]} B: {'rotation matrix': [[-0.998744, -0.022866, -0.044595], [0.034706, 0.326335, -0.944617], [0.036152, -0.944977, -0.325132]], 'translation vector': [2.332638, 2.988529, 1.390534]} C: {'rotation matrix': [[-0.998733, -0.022769, -0.044885], [0.035006, 0.326505, -0.944547], [0.036161, -0.944921, -0.325294]], 'translation vector': [2.335994, 2.987912, 1.391848]} D: {'rotation matrix': [[-0.998702, -0.02238, -0.045764], [0.035975, 0.326219, -0.94461], [0.03607, -0.945029, -0.32499]], 'translation vector': [2.340556, 2.987934, 1.391904]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_10_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_10_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_10_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_10_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.088289, -0.769037, 0.633078], [-0.992448, -0.013575, 0.121917], [-0.085165, -0.63906, -0.764427]], 'translation vector': [1.06143, 1.251586, 2.183495]} B: {'rotation matrix': [[0.095281, -0.770575, 0.630187], [-0.991458, -0.016816, 0.129342], [-0.08907, -0.637128, -0.765594]], 'translation vector': [1.056131, 1.246655, 2.184574]} C: {'rotation matrix': [[0.101903, -0.771131, 0.628469], [-0.990357, -0.019031, 0.13723], [-0.093862, -0.636392, -0.765634]], 'translation vector': [1.04909, 1.241123, 2.18482]} D: {'rotation matrix': [[0.9999704077161121, 0.0009465902067394159, -0.007647096819155797], [-0.0009526969531251086, 0.9999995333260298, -0.0008216172460913287], [0.00764682863028495, 0.0008292870802229541, 0.9999701657998578]], 'translation vector': [0.005049491112872229, 0.003519427946364395, -0.004842133831311157]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.088289, -0.769037, 0.633078], [-0.992448, -0.013575, 0.121917], [-0.085165, -0.63906, -0.764427]], 'translation vector': [1.06143, 1.251586, 2.183495]} B: {'rotation matrix': [[0.095281, -0.770575, 0.630187], [-0.991458, -0.016816, 0.129342], [-0.08907, -0.637128, -0.765594]], 'translation vector': [1.056131, 1.246655, 2.184574]} C: {'rotation matrix': [[0.101903, -0.771131, 0.628469], [-0.990357, -0.019031, 0.13723], [-0.093862, -0.636392, -0.765634]], 'translation vector': [1.04909, 1.241123, 2.18482]} D: {'rotation matrix': [[0.9999704077161121, 0.0009465902067394159, -0.007647096819155797], [-0.0009526969531251086, 0.9999995333260298, -0.0008216172460913287], [0.00764682863028495, 0.0008292870802229541, 0.9999701657998578]], 'translation vector': [0.005049491112872229, 0.003519427946364395, -0.004842133831311157]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_11_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_11_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_11_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_11_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.236859, -0.585227, 0.775504], [-0.967029, -0.065142, 0.246196], [-0.093563, -0.808248, -0.581361]], 'translation vector': [0.85633, 3.124968, 1.418476]} B: {'rotation matrix': [[0.9999986227118945, -0.0014386707321173084, -0.0013720086731618905], [0.0014396405048904127, 0.9999985343757846, 0.0002480174905685849], [0.0013722163701430706, -0.00024858511187529484, 0.9999990039875143]], 'translation vector': [0.0014743108378150183, 9.881450519233503e-05, 0.00010772367212419365]} C: {'rotation matrix': [[0.234228, -0.586349, 0.775456], [-0.967526, -0.06262, 0.244894], [-0.095034, -0.807635, -0.581975]], 'translation vector': [0.858687, 3.12069, 1.418757]} D: {'rotation matrix': [[0.234642, -0.58546, 0.776002], [-0.967537, -0.063552, 0.24461], [-0.093893, -0.808206, -0.581366]], 'translation vector': [0.856906, 3.122666, 1.417663]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.236859, -0.585227, 0.775504], [-0.967029, -0.065142, 0.246196], [-0.093563, -0.808248, -0.581361]], 'translation vector': [0.85633, 3.124968, 1.418476]} B: {'rotation matrix': [[0.9999986227118945, -0.0014386707321173084, -0.0013720086731618905], [0.0014396405048904127, 0.9999985343757846, 0.0002480174905685849], [0.0013722163701430706, -0.00024858511187529484, 0.9999990039875143]], 'translation vector': [0.0014743108378150183, 9.881450519233503e-05, 0.00010772367212419365]} C: {'rotation matrix': [[0.234228, -0.586349, 0.775456], [-0.967526, -0.06262, 0.244894], [-0.095034, -0.807635, -0.581975]], 'translation vector': [0.858687, 3.12069, 1.418757]} D: {'rotation matrix': [[0.234642, -0.58546, 0.776002], [-0.967537, -0.063552, 0.24461], [-0.093893, -0.808206, -0.581366]], 'translation vector': [0.856906, 3.122666, 1.417663]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_12_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_12_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_12_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_12_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.582104, 0.470868, -0.662901], [0.81311, -0.339656, 0.472743], [-0.002559, -0.814197, -0.580583]], 'translation vector': [4.229822, 1.596572, 1.425168]} B: {'rotation matrix': [[0.9999560146697009, 0.003230475520535795, -0.00886892770497088], [-0.0032175833964298243, 0.9999942676924473, 0.0014734023416888033], [0.008873986014087454, -0.001444906579376565, 0.9999590747869875]], 'translation vector': [0.0012149381321875374, 0.0024560981455157282, -0.00010287317760537817]} C: {'rotation matrix': [[0.582444, 0.471641, -0.662053], [0.812867, -0.340629, 0.472461], [-0.002682, -0.813343, -0.581779]], 'translation vector': [4.230144, 1.598887, 1.426125]} D: {'rotation matrix': [[0.583525, 0.471082, -0.661499], [0.812092, -0.340805, 0.473665], [-0.002307, -0.813593, -0.58143]], 'translation vector': [4.230429, 1.59898, 1.426046]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.582104, 0.470868, -0.662901], [0.81311, -0.339656, 0.472743], [-0.002559, -0.814197, -0.580583]], 'translation vector': [4.229822, 1.596572, 1.425168]} B: {'rotation matrix': [[0.9999560146697009, 0.003230475520535795, -0.00886892770497088], [-0.0032175833964298243, 0.9999942676924473, 0.0014734023416888033], [0.008873986014087454, -0.001444906579376565, 0.9999590747869875]], 'translation vector': [0.0012149381321875374, 0.0024560981455157282, -0.00010287317760537817]} C: {'rotation matrix': [[0.582444, 0.471641, -0.662053], [0.812867, -0.340629, 0.472461], [-0.002682, -0.813343, -0.581779]], 'translation vector': [4.230144, 1.598887, 1.426125]} D: {'rotation matrix': [[0.583525, 0.471082, -0.661499], [0.812092, -0.340805, 0.473665], [-0.002307, -0.813593, -0.58143]], 'translation vector': [4.230429, 1.59898, 1.426046]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_13_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_13_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_13_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_13_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.990893, 0.057008, -0.121987], [0.134304, -0.353431, 0.92577], [0.009662, -0.933722, -0.357869]], 'translation vector': [2.186028, 2.144782, 1.462596]} B: {'rotation matrix': [[0.991569, 0.053062, -0.11822], [0.129357, -0.351493, 0.927211], [0.007646, -0.934686, -0.355393]], 'translation vector': [2.183204, 2.143093, 1.462234]} C: {'rotation matrix': [[0.9999874902969159, 0.004379197439594465, -0.002403723493325247], [-0.004372650351021444, 0.9999870005118716, 0.0026700250405810233], [0.0024158589744238553, -0.0026609890925621414, 0.9999939599581709]], 'translation vector': [-0.003672033476809222, -0.0017027412429904132, -0.0003357999980959647]} D: {'rotation matrix': [[0.991257, 0.055775, -0.119575], [0.131602, -0.352888, 0.926364], [0.009471, -0.934002, -0.357143]], 'translation vector': [2.184101, 2.143995, 1.46179]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.990893, 0.057008, -0.121987], [0.134304, -0.353431, 0.92577], [0.009662, -0.933722, -0.357869]], 'translation vector': [2.186028, 2.144782, 1.462596]} B: {'rotation matrix': [[0.991569, 0.053062, -0.11822], [0.129357, -0.351493, 0.927211], [0.007646, -0.934686, -0.355393]], 'translation vector': [2.183204, 2.143093, 1.462234]} C: {'rotation matrix': [[0.9999874902969159, 0.004379197439594465, -0.002403723493325247], [-0.004372650351021444, 0.9999870005118716, 0.0026700250405810233], [0.0024158589744238553, -0.0026609890925621414, 0.9999939599581709]], 'translation vector': [-0.003672033476809222, -0.0017027412429904132, -0.0003357999980959647]} D: {'rotation matrix': [[0.991257, 0.055775, -0.119575], [0.131602, -0.352888, 0.926364], [0.009471, -0.934002, -0.357143]], 'translation vector': [2.184101, 2.143995, 1.46179]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_14_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_14_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_14_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_14_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999986691328494, -0.001073261840895818, -0.0008802624854347336], [0.001080335550453663, 0.9999723432097648, 0.00736012496129083], [0.0008730903166935182, -0.007359768837914202, 0.9999729147693108]], 'translation vector': [0.0010486658094048806, -0.004009939681768326, 0.0017973568614269853]} B: {'rotation matrix': [[-0.386299, -0.298688, 0.872673], [-0.920393, 0.186791, -0.343491], [-0.060411, -0.935893, -0.347067]], 'translation vector': [2.08048, 4.009937, 1.840847]} C: {'rotation matrix': [[-0.383122, -0.307436, 0.871034], [-0.921947, 0.185316, -0.340108], [-0.056855, -0.933349, -0.354438]], 'translation vector': [2.080896, 4.009106, 1.847586]} D: {'rotation matrix': [[-0.384424, -0.301178, 0.872645], [-0.921297, 0.185141, -0.341959], [-0.058572, -0.935422, -0.348647]], 'translation vector': [2.077995, 4.010322, 1.837904]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999986691328494, -0.001073261840895818, -0.0008802624854347336], [0.001080335550453663, 0.9999723432097648, 0.00736012496129083], [0.0008730903166935182, -0.007359768837914202, 0.9999729147693108]], 'translation vector': [0.0010486658094048806, -0.004009939681768326, 0.0017973568614269853]} B: {'rotation matrix': [[-0.386299, -0.298688, 0.872673], [-0.920393, 0.186791, -0.343491], [-0.060411, -0.935893, -0.347067]], 'translation vector': [2.08048, 4.009937, 1.840847]} C: {'rotation matrix': [[-0.383122, -0.307436, 0.871034], [-0.921947, 0.185316, -0.340108], [-0.056855, -0.933349, -0.354438]], 'translation vector': [2.080896, 4.009106, 1.847586]} D: {'rotation matrix': [[-0.384424, -0.301178, 0.872645], [-0.921297, 0.185141, -0.341959], [-0.058572, -0.935422, -0.348647]], 'translation vector': [2.077995, 4.010322, 1.837904]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_15_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_15_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_15_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_15_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999787823940977, 0.006347499783107699, -0.0013436878206843045], [-0.006341718624184496, 0.9999688828294876, 0.004625015892328648], [0.0013735202687803576, -0.004616292980016383, 0.9999878757602079]], 'translation vector': [-0.006298849286503927, 0.01405890593176995, 0.0007444533799123576]} B: {'rotation matrix': [[0.999733, -0.006694, 0.022129], [-0.023039, -0.368118, 0.929494], [0.001924, -0.929755, -0.368173]], 'translation vector': [3.317142, 3.173762, 1.523565]} C: {'rotation matrix': [[0.999731, -0.010083, 0.02088], [-0.023127, -0.369367, 0.928996], [-0.001654, -0.929229, -0.3695]], 'translation vector': [3.314788, 3.169853, 1.521514]} D: {'rotation matrix': [[0.999712, -0.007131, 0.022924], [-0.023946, -0.364324, 0.930964], [0.001713, -0.931245, -0.36439]], 'translation vector': [3.320507, 3.174599, 1.524876]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999787823940977, 0.006347499783107699, -0.0013436878206843045], [-0.006341718624184496, 0.9999688828294876, 0.004625015892328648], [0.0013735202687803576, -0.004616292980016383, 0.9999878757602079]], 'translation vector': [-0.006298849286503927, 0.01405890593176995, 0.0007444533799123576]} B: {'rotation matrix': [[0.999733, -0.006694, 0.022129], [-0.023039, -0.368118, 0.929494], [0.001924, -0.929755, -0.368173]], 'translation vector': [3.317142, 3.173762, 1.523565]} C: {'rotation matrix': [[0.999731, -0.010083, 0.02088], [-0.023127, -0.369367, 0.928996], [-0.001654, -0.929229, -0.3695]], 'translation vector': [3.314788, 3.169853, 1.521514]} D: {'rotation matrix': [[0.999712, -0.007131, 0.022924], [-0.023946, -0.364324, 0.930964], [0.001713, -0.931245, -0.36439]], 'translation vector': [3.320507, 3.174599, 1.524876]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_16_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_16_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_16_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_16_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.998283, -0.004041, -0.058434], [0.054839, 0.286044, -0.956646], [0.020581, -0.958208, -0.285332]], 'translation vector': [1.688122, 4.435732, 1.572228]} B: {'rotation matrix': [[0.9999952600112642, 0.0029895442027471574, 0.0009673920050112699], [-0.0029953662693526914, 0.9999719574782809, 0.006845684012961962], [-0.000945954294544353, -0.006847856485920328, 0.9999767653082445]], 'translation vector': [-0.00043220364465224037, 0.0023057137872921907, 0.0026271806076847426]} C: {'rotation matrix': [[-0.998336, -0.002848, -0.057597], [0.054423, 0.283794, -0.95734], [0.019072, -0.958881, -0.283167]], 'translation vector': [1.687961, 4.436946, 1.571062]} D: {'rotation matrix': [[-0.998358, -0.001309, -0.057275], [0.054546, 0.284027, -0.957264], [0.017521, -0.958815, -0.283489]], 'translation vector': [1.688286, 4.43679, 1.571851]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.998283, -0.004041, -0.058434], [0.054839, 0.286044, -0.956646], [0.020581, -0.958208, -0.285332]], 'translation vector': [1.688122, 4.435732, 1.572228]} B: {'rotation matrix': [[0.9999952600112642, 0.0029895442027471574, 0.0009673920050112699], [-0.0029953662693526914, 0.9999719574782809, 0.006845684012961962], [-0.000945954294544353, -0.006847856485920328, 0.9999767653082445]], 'translation vector': [-0.00043220364465224037, 0.0023057137872921907, 0.0026271806076847426]} C: {'rotation matrix': [[-0.998336, -0.002848, -0.057597], [0.054423, 0.283794, -0.95734], [0.019072, -0.958881, -0.283167]], 'translation vector': [1.687961, 4.436946, 1.571062]} D: {'rotation matrix': [[-0.998358, -0.001309, -0.057275], [0.054546, 0.284027, -0.957264], [0.017521, -0.958815, -0.283489]], 'translation vector': [1.688286, 4.43679, 1.571851]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_17_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_17_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_17_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_17_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.083515, 0.422666, -0.902429], [0.995888, 0.067297, -0.060645], [0.035099, -0.903783, -0.426549]], 'translation vector': [4.26049, 5.866284, 1.66918]} B: {'rotation matrix': [[-0.080848, 0.422553, -0.902725], [0.996028, 0.068154, -0.057302], [0.037311, -0.903772, -0.426385]], 'translation vector': [4.26043, 5.866841, 1.668667]} C: {'rotation matrix': [[-0.081468, 0.422714, -0.902594], [0.995995, 0.068006, -0.058049], [0.036844, -0.903708, -0.426561]], 'translation vector': [4.260486, 5.864969, 1.669529]} D: {'rotation matrix': [[0.9999996666026792, 0.0007024902365725143, 0.00045309895052521656], [-0.0007041385629428506, 0.9999945142012453, 0.003060691886503368], [-0.00045146230549075186, -0.0030616184704849174, 0.9999957671575359]], 'translation vector': [-0.008238592634347341, 0.0026712907326988944, 0.0010534554726602252]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.083515, 0.422666, -0.902429], [0.995888, 0.067297, -0.060645], [0.035099, -0.903783, -0.426549]], 'translation vector': [4.26049, 5.866284, 1.66918]} B: {'rotation matrix': [[-0.080848, 0.422553, -0.902725], [0.996028, 0.068154, -0.057302], [0.037311, -0.903772, -0.426385]], 'translation vector': [4.26043, 5.866841, 1.668667]} C: {'rotation matrix': [[-0.081468, 0.422714, -0.902594], [0.995995, 0.068006, -0.058049], [0.036844, -0.903708, -0.426561]], 'translation vector': [4.260486, 5.864969, 1.669529]} D: {'rotation matrix': [[0.9999996666026792, 0.0007024902365725143, 0.00045309895052521656], [-0.0007041385629428506, 0.9999945142012453, 0.003060691886503368], [-0.00045146230549075186, -0.0030616184704849174, 0.9999957671575359]], 'translation vector': [-0.008238592634347341, 0.0026712907326988944, 0.0010534554726602252]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_18_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_18_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_18_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_18_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.192624, -0.379717, 0.904826], [-0.981148, -0.059825, 0.183766], [-0.015648, -0.923166, -0.384082]], 'translation vector': [4.984646, 4.164808, 1.32267]} B: {'rotation matrix': [[0.9993897560101446, -0.009672092115768357, 0.033569058676964116], [0.00944513640094131, 0.9999317047122397, 0.006930507743012298], [-0.033634032991460915, -0.006610261888877057, 0.9994127816547865]], 'translation vector': [-0.03424616147212767, -0.0027538632482175807, 0.008124405533084023]} C: {'rotation matrix': [[0.180272, -0.384554, 0.905329], [-0.983511, -0.056947, 0.171651], [-0.014453, -0.921344, -0.388479]], 'translation vector': [4.987018, 4.177592, 1.323464]} D: {'rotation matrix': [[0.205405, -0.377617, 0.902892], [-0.978531, -0.0633, 0.196139], [-0.016912, -0.923796, -0.382512]], 'translation vector': [4.985321, 4.152791, 1.324267]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.192624, -0.379717, 0.904826], [-0.981148, -0.059825, 0.183766], [-0.015648, -0.923166, -0.384082]], 'translation vector': [4.984646, 4.164808, 1.32267]} B: {'rotation matrix': [[0.9993897560101446, -0.009672092115768357, 0.033569058676964116], [0.00944513640094131, 0.9999317047122397, 0.006930507743012298], [-0.033634032991460915, -0.006610261888877057, 0.9994127816547865]], 'translation vector': [-0.03424616147212767, -0.0027538632482175807, 0.008124405533084023]} C: {'rotation matrix': [[0.180272, -0.384554, 0.905329], [-0.983511, -0.056947, 0.171651], [-0.014453, -0.921344, -0.388479]], 'translation vector': [4.987018, 4.177592, 1.323464]} D: {'rotation matrix': [[0.205405, -0.377617, 0.902892], [-0.978531, -0.0633, 0.196139], [-0.016912, -0.923796, -0.382512]], 'translation vector': [4.985321, 4.152791, 1.324267]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_19_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_19_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_19_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_19_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.084118, -0.329466, 0.940413], [-0.993483, 0.100574, -0.05363], [-0.076912, -0.938795, -0.335779]], 'translation vector': [4.338453, 2.933071, 1.462896]} B: {'rotation matrix': [[0.9999984493090167, 0.0015295352178733802, -0.0012886089849350254], [-0.0015301527829556035, 0.9999993364831051, -0.0007407082576259022], [0.0012866367449453698, 0.0007417730730382566, 0.99999926268211]], 'translation vector': [-0.001971799758651027, -0.003988184523042726, -0.0019001345524003455]} C: {'rotation matrix': [[-0.084181, -0.324678, 0.942071], [-0.993543, 0.09952, -0.054482], [-0.076066, -0.940574, -0.330959]], 'translation vector': [4.337488, 2.935505, 1.461639]} D: {'rotation matrix': [[-0.083371, -0.331462, 0.939778], [-0.993645, 0.099215, -0.053156], [-0.075621, -0.938238, -0.337627]], 'translation vector': [4.338066, 2.933557, 1.453891]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.084118, -0.329466, 0.940413], [-0.993483, 0.100574, -0.05363], [-0.076912, -0.938795, -0.335779]], 'translation vector': [4.338453, 2.933071, 1.462896]} B: {'rotation matrix': [[0.9999984493090167, 0.0015295352178733802, -0.0012886089849350254], [-0.0015301527829556035, 0.9999993364831051, -0.0007407082576259022], [0.0012866367449453698, 0.0007417730730382566, 0.99999926268211]], 'translation vector': [-0.001971799758651027, -0.003988184523042726, -0.0019001345524003455]} C: {'rotation matrix': [[-0.084181, -0.324678, 0.942071], [-0.993543, 0.09952, -0.054482], [-0.076066, -0.940574, -0.330959]], 'translation vector': [4.337488, 2.935505, 1.461639]} D: {'rotation matrix': [[-0.083371, -0.331462, 0.939778], [-0.993645, 0.099215, -0.053156], [-0.075621, -0.938238, -0.337627]], 'translation vector': [4.338066, 2.933557, 1.453891]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_20_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_20_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_20_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_20_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.486704, 0.327719, -0.809765], [0.869935, 0.097394, -0.483454], [-0.079571, -0.939742, -0.332496]], 'translation vector': [4.437128, 2.283443, 1.465507]} B: {'rotation matrix': [[0.9999935589617881, -0.0023123151478069903, 0.002638162918517237], [0.0023036775758451737, 0.9999925417720922, 0.0032437850296420778], [-0.0026449296307575294, -0.0032387699437697024, 0.9999912244700261]], 'translation vector': [0.0032199017210038927, 0.0001093759992842891, 0.0024338106134420556]} C: {'rotation matrix': [[-0.494127, 0.32769, -0.805269], [0.866163, 0.105829, -0.488427], [-0.074832, -0.938839, -0.336126]], 'translation vector': [4.441189, 2.279036, 1.469096]} D: {'rotation matrix': [[-0.489836, 0.32797, -0.807773], [0.868301, 0.100425, -0.485767], [-0.078196, -0.939335, -0.333968]], 'translation vector': [4.439312, 2.280933, 1.467607]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.486704, 0.327719, -0.809765], [0.869935, 0.097394, -0.483454], [-0.079571, -0.939742, -0.332496]], 'translation vector': [4.437128, 2.283443, 1.465507]} B: {'rotation matrix': [[0.9999935589617881, -0.0023123151478069903, 0.002638162918517237], [0.0023036775758451737, 0.9999925417720922, 0.0032437850296420778], [-0.0026449296307575294, -0.0032387699437697024, 0.9999912244700261]], 'translation vector': [0.0032199017210038927, 0.0001093759992842891, 0.0024338106134420556]} C: {'rotation matrix': [[-0.494127, 0.32769, -0.805269], [0.866163, 0.105829, -0.488427], [-0.074832, -0.938839, -0.336126]], 'translation vector': [4.441189, 2.279036, 1.469096]} D: {'rotation matrix': [[-0.489836, 0.32797, -0.807773], [0.868301, 0.100425, -0.485767], [-0.078196, -0.939335, -0.333968]], 'translation vector': [4.439312, 2.280933, 1.467607]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_21_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_21_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_21_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_21_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.591474, -0.360427, 0.721284], [-0.806244, -0.251769, 0.535335], [-0.011352, -0.898167, -0.439507]], 'translation vector': [2.523668, 2.4613, 1.342936]} B: {'rotation matrix': [[0.9999823901895873, 0.005315913984669213, -0.0024241384709724934], [-0.005325670093989841, 0.9999780230897936, -0.003916850861463004], [0.002402806763812986, 0.0039304838949891525, 0.9999899783862463]], 'translation vector': [-0.0021162233882717763, -0.0011065369325464758, -0.0015805869003076012]} C: {'rotation matrix': [[0.588358, -0.362651, 0.722717], [-0.808515, -0.250803, 0.532355], [-0.0118, -0.897542, -0.440771]], 'translation vector': [2.523157, 2.461525, 1.343416]} D: {'rotation matrix': [[0.586933, -0.361149, 0.724625], [-0.809565, -0.249931, 0.531168], [-0.010725, -0.898391, -0.439067]], 'translation vector': [2.521696, 2.461699, 1.342706]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.591474, -0.360427, 0.721284], [-0.806244, -0.251769, 0.535335], [-0.011352, -0.898167, -0.439507]], 'translation vector': [2.523668, 2.4613, 1.342936]} B: {'rotation matrix': [[0.9999823901895873, 0.005315913984669213, -0.0024241384709724934], [-0.005325670093989841, 0.9999780230897936, -0.003916850861463004], [0.002402806763812986, 0.0039304838949891525, 0.9999899783862463]], 'translation vector': [-0.0021162233882717763, -0.0011065369325464758, -0.0015805869003076012]} C: {'rotation matrix': [[0.588358, -0.362651, 0.722717], [-0.808515, -0.250803, 0.532355], [-0.0118, -0.897542, -0.440771]], 'translation vector': [2.523157, 2.461525, 1.343416]} D: {'rotation matrix': [[0.586933, -0.361149, 0.724625], [-0.809565, -0.249931, 0.531168], [-0.010725, -0.898391, -0.439067]], 'translation vector': [2.521696, 2.461699, 1.342706]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_22_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_22_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_22_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_22_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.519941, -0.4438, 0.729866], [-0.853216, -0.228773, 0.468706], [-0.041038, -0.866432, -0.497605]], 'translation vector': [1.000289, 1.985685, 1.347635]} B: {'rotation matrix': [[0.520738, -0.4401, 0.731535], [-0.852723, -0.226811, 0.470553], [-0.041171, -0.868832, -0.493393]], 'translation vector': [0.998782, 1.983781, 1.347411]} C: {'rotation matrix': [[0.9999982219593319, -0.002079266464163152, 4.9620397493296405e-05], [0.0020793800784517404, 0.99998989374647, 0.004115140408478336], [-5.7016409592928054e-05, -0.004114590657101431, 0.9999914687195216]], 'translation vector': [-0.0013942399199289301, -0.0008989415392872679, 0.0029889416631920795]} D: {'rotation matrix': [[0.521192, -0.438092, 0.732417], [-0.852373, -0.224319, 0.472378], [-0.04265, -0.870492, -0.490332]], 'translation vector': [0.999181, 1.981126, 1.348386]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.519941, -0.4438, 0.729866], [-0.853216, -0.228773, 0.468706], [-0.041038, -0.866432, -0.497605]], 'translation vector': [1.000289, 1.985685, 1.347635]} B: {'rotation matrix': [[0.520738, -0.4401, 0.731535], [-0.852723, -0.226811, 0.470553], [-0.041171, -0.868832, -0.493393]], 'translation vector': [0.998782, 1.983781, 1.347411]} C: {'rotation matrix': [[0.9999982219593319, -0.002079266464163152, 4.9620397493296405e-05], [0.0020793800784517404, 0.99998989374647, 0.004115140408478336], [-5.7016409592928054e-05, -0.004114590657101431, 0.9999914687195216]], 'translation vector': [-0.0013942399199289301, -0.0008989415392872679, 0.0029889416631920795]} D: {'rotation matrix': [[0.521192, -0.438092, 0.732417], [-0.852373, -0.224319, 0.472378], [-0.04265, -0.870492, -0.490332]], 'translation vector': [0.999181, 1.981126, 1.348386]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_23_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_23_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_23_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_23_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.961526, 0.04991, -0.270143], [0.263115, -0.450039, 0.853367], [-0.078983, -0.891613, -0.445856]], 'translation vector': [2.643601, 1.008587, 1.47483]} B: {'rotation matrix': [[0.9999611816262259, 0.006037262376624097, -0.006357733639992428], [-0.0060929360747264, 0.9999425771984013, -0.008789441445278661], [0.006305603526763411, 0.00882761527567942, 0.9999410260999323]], 'translation vector': [0.006025344459442472, -0.004704561758730241, -0.003336645842906716]} C: {'rotation matrix': [[0.958799, 0.0516, -0.27936], [0.272826, -0.441359, 0.85485], [-0.079187, -0.895846, -0.437252]], 'translation vector': [2.65219, 1.005876, 1.472401]} D: {'rotation matrix': [[0.963523, 0.050371, -0.262843], [0.256662, -0.452159, 0.854211], [-0.075819, -0.890514, -0.448594]], 'translation vector': [2.637859, 1.00927, 1.478429]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.961526, 0.04991, -0.270143], [0.263115, -0.450039, 0.853367], [-0.078983, -0.891613, -0.445856]], 'translation vector': [2.643601, 1.008587, 1.47483]} B: {'rotation matrix': [[0.9999611816262259, 0.006037262376624097, -0.006357733639992428], [-0.0060929360747264, 0.9999425771984013, -0.008789441445278661], [0.006305603526763411, 0.00882761527567942, 0.9999410260999323]], 'translation vector': [0.006025344459442472, -0.004704561758730241, -0.003336645842906716]} C: {'rotation matrix': [[0.958799, 0.0516, -0.27936], [0.272826, -0.441359, 0.85485], [-0.079187, -0.895846, -0.437252]], 'translation vector': [2.65219, 1.005876, 1.472401]} D: {'rotation matrix': [[0.963523, 0.050371, -0.262843], [0.256662, -0.452159, 0.854211], [-0.075819, -0.890514, -0.448594]], 'translation vector': [2.637859, 1.00927, 1.478429]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_24_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_24_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_24_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_24_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999982465629441, -0.0013465983865406563, -0.0009053084488285325], [0.0013501875456354963, 0.999982864157121, 0.005743205099670796], [0.0008980715136351007, -0.0057437521444019864, 0.9999827649954101]], 'translation vector': [0.006929822597295576, -0.003954296383870348, -0.0008962942027399556]} B: {'rotation matrix': [[0.678055, 0.431256, -0.595198], [0.734977, -0.40565, 0.543375], [-0.007108, -0.805894, -0.592017]], 'translation vector': [3.965842, 0.866337, 1.41271]} C: {'rotation matrix': [[0.680551, 0.428937, -0.594024], [0.732652, -0.407746, 0.544944], [-0.008465, -0.806075, -0.591754]], 'translation vector': [3.965306, 0.868392, 1.416605]} D: {'rotation matrix': [[0.681867, 0.427349, -0.593659], [0.731402, -0.409894, 0.545013], [-0.010426, -0.805829, -0.592057]], 'translation vector': [3.966104, 0.870012, 1.418402]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999982465629441, -0.0013465983865406563, -0.0009053084488285325], [0.0013501875456354963, 0.999982864157121, 0.005743205099670796], [0.0008980715136351007, -0.0057437521444019864, 0.9999827649954101]], 'translation vector': [0.006929822597295576, -0.003954296383870348, -0.0008962942027399556]} B: {'rotation matrix': [[0.678055, 0.431256, -0.595198], [0.734977, -0.40565, 0.543375], [-0.007108, -0.805894, -0.592017]], 'translation vector': [3.965842, 0.866337, 1.41271]} C: {'rotation matrix': [[0.680551, 0.428937, -0.594024], [0.732652, -0.407746, 0.544944], [-0.008465, -0.806075, -0.591754]], 'translation vector': [3.965306, 0.868392, 1.416605]} D: {'rotation matrix': [[0.681867, 0.427349, -0.593659], [0.731402, -0.409894, 0.545013], [-0.010426, -0.805829, -0.592057]], 'translation vector': [3.966104, 0.870012, 1.418402]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_25_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_25_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_25_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_25_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.999985554212974, -0.0031855347936376403, 0.004407056654662203], [0.003212953146819932, 0.9999747868858251, -0.006356723963664241], [-0.004386364338204691, 0.006371176808258376, 0.999970327730571]], 'translation vector': [-0.010337331339885125, -0.003078319020026643, -0.0057934529197571916]} B: {'rotation matrix': [[-0.816952, -0.193331, 0.543335], [-0.575587, 0.331994, -0.747315], [-0.035905, -0.923257, -0.382502]], 'translation vector': [4.389139, 4.029859, 1.398995]} C: {'rotation matrix': [[-0.817965, -0.190324, 0.542871], [-0.574258, 0.326013, -0.750961], [-0.034057, -0.926009, -0.375963]], 'translation vector': [4.389857, 4.037429, 1.401592]} D: {'rotation matrix': [[-0.817754, -0.196252, 0.541077], [-0.574392, 0.338327, -0.745392], [-0.036776, -0.920337, -0.389394]], 'translation vector': [4.391615, 4.02441, 1.397694]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.999985554212974, -0.0031855347936376403, 0.004407056654662203], [0.003212953146819932, 0.9999747868858251, -0.006356723963664241], [-0.004386364338204691, 0.006371176808258376, 0.999970327730571]], 'translation vector': [-0.010337331339885125, -0.003078319020026643, -0.0057934529197571916]} B: {'rotation matrix': [[-0.816952, -0.193331, 0.543335], [-0.575587, 0.331994, -0.747315], [-0.035905, -0.923257, -0.382502]], 'translation vector': [4.389139, 4.029859, 1.398995]} C: {'rotation matrix': [[-0.817965, -0.190324, 0.542871], [-0.574258, 0.326013, -0.750961], [-0.034057, -0.926009, -0.375963]], 'translation vector': [4.389857, 4.037429, 1.401592]} D: {'rotation matrix': [[-0.817754, -0.196252, 0.541077], [-0.574392, 0.338327, -0.745392], [-0.036776, -0.920337, -0.389394]], 'translation vector': [4.391615, 4.02441, 1.397694]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_26_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_26_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_26_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_26_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.989636, -0.107174, 0.095574], [-0.139302, -0.554918, 0.820159], [-0.034864, -0.824973, -0.564096]], 'translation vector': [6.683643, 2.494903, 1.406773]} B: {'rotation matrix': [[0.989623, -0.107386, 0.095468], [-0.139407, -0.55662, 0.818988], [-0.034808, -0.823798, -0.565814]], 'translation vector': [6.681599, 2.49535, 1.408922]} C: {'rotation matrix': [[0.989755, -0.10674, 0.094822], [-0.138471, -0.555821, 0.819688], [-0.034789, -0.824421, -0.564907]], 'translation vector': [6.681521, 2.493315, 1.407658]} D: {'rotation matrix': [[0.9999901303029469, 0.004176228929177566, 0.0011903596205295832], [-0.00418098989555596, 0.9999858303738082, 0.003280298331639201], [-0.0011769495287118517, -0.003284936107684076, 0.9999936907012513]], 'translation vector': [-0.000365649748907515, 0.007725567810238587, -0.0007277349140568656]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.989636, -0.107174, 0.095574], [-0.139302, -0.554918, 0.820159], [-0.034864, -0.824973, -0.564096]], 'translation vector': [6.683643, 2.494903, 1.406773]} B: {'rotation matrix': [[0.989623, -0.107386, 0.095468], [-0.139407, -0.55662, 0.818988], [-0.034808, -0.823798, -0.565814]], 'translation vector': [6.681599, 2.49535, 1.408922]} C: {'rotation matrix': [[0.989755, -0.10674, 0.094822], [-0.138471, -0.555821, 0.819688], [-0.034789, -0.824421, -0.564907]], 'translation vector': [6.681521, 2.493315, 1.407658]} D: {'rotation matrix': [[0.9999901303029469, 0.004176228929177566, 0.0011903596205295832], [-0.00418098989555596, 0.9999858303738082, 0.003280298331639201], [-0.0011769495287118517, -0.003284936107684076, 0.9999936907012513]], 'translation vector': [-0.000365649748907515, 0.007725567810238587, -0.0007277349140568656]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_27_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_27_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_27_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_27_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999990866555979, 0.0004093298689293289, 0.0008391460833273652], [-0.00041250820264666677, 0.9999930945433543, 0.0037605519712407454], [-0.0008378351814566854, -0.0037610473264969298, 0.9999924864591837]], 'translation vector': [-0.002544400937407598, -0.0017921618995201394, 0.0018599883369136982]} B: {'rotation matrix': [[0.155491, 0.600889, -0.784063], [0.987779, -0.103232, 0.116776], [-0.010771, -0.792638, -0.609597]], 'translation vector': [3.280226, 1.958162, 1.281368]} C: {'rotation matrix': [[0.159827, 0.598569, -0.784966], [0.987096, -0.104834, 0.121042], [-0.009839, -0.794182, -0.6076]], 'translation vector': [3.27763, 1.954194, 1.282551]} D: {'rotation matrix': [[0.164916, 0.595071, -0.786571], [0.986276, -0.105924, 0.126651], [-0.007951, -0.796662, -0.604372]], 'translation vector': [3.274219, 1.949482, 1.285722]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999990866555979, 0.0004093298689293289, 0.0008391460833273652], [-0.00041250820264666677, 0.9999930945433543, 0.0037605519712407454], [-0.0008378351814566854, -0.0037610473264969298, 0.9999924864591837]], 'translation vector': [-0.002544400937407598, -0.0017921618995201394, 0.0018599883369136982]} B: {'rotation matrix': [[0.155491, 0.600889, -0.784063], [0.987779, -0.103232, 0.116776], [-0.010771, -0.792638, -0.609597]], 'translation vector': [3.280226, 1.958162, 1.281368]} C: {'rotation matrix': [[0.159827, 0.598569, -0.784966], [0.987096, -0.104834, 0.121042], [-0.009839, -0.794182, -0.6076]], 'translation vector': [3.27763, 1.954194, 1.282551]} D: {'rotation matrix': [[0.164916, 0.595071, -0.786571], [0.986276, -0.105924, 0.126651], [-0.007951, -0.796662, -0.604372]], 'translation vector': [3.274219, 1.949482, 1.285722]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_28_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_28_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_28_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_28_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999748122492941, 0.0038384551465654687, -0.005906369455983883], [-0.0037983225864595374, 0.9999703256171942, 0.006729367156156027], [0.005932617650240982, -0.006707131114408277, 0.9999600560348555]], 'translation vector': [-0.00423530822573337, 0.003061759875670811, -0.009950114450137715]} B: {'rotation matrix': [[-0.937821, -0.115212, 0.32744], [-0.346749, 0.354456, -0.868405], [-0.016013, -0.927948, -0.372366]], 'translation vector': [5.30238, 4.116027, 1.850731]} C: {'rotation matrix': [[-0.932005, -0.116649, 0.343162], [-0.36182, 0.355063, -0.861984], [-0.021294, -0.927536, -0.373127]], 'translation vector': [5.291139, 4.11983, 1.856331]} D: {'rotation matrix': [[-0.934388, -0.115649, 0.336964], [-0.355745, 0.353624, -0.865099], [-0.01911, -0.928211, -0.371563]], 'translation vector': [5.294776, 4.11946, 1.854234]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999748122492941, 0.0038384551465654687, -0.005906369455983883], [-0.0037983225864595374, 0.9999703256171942, 0.006729367156156027], [0.005932617650240982, -0.006707131114408277, 0.9999600560348555]], 'translation vector': [-0.00423530822573337, 0.003061759875670811, -0.009950114450137715]} B: {'rotation matrix': [[-0.937821, -0.115212, 0.32744], [-0.346749, 0.354456, -0.868405], [-0.016013, -0.927948, -0.372366]], 'translation vector': [5.30238, 4.116027, 1.850731]} C: {'rotation matrix': [[-0.932005, -0.116649, 0.343162], [-0.36182, 0.355063, -0.861984], [-0.021294, -0.927536, -0.373127]], 'translation vector': [5.291139, 4.11983, 1.856331]} D: {'rotation matrix': [[-0.934388, -0.115649, 0.336964], [-0.355745, 0.353624, -0.865099], [-0.01911, -0.928211, -0.371563]], 'translation vector': [5.294776, 4.11946, 1.854234]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_29_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_29_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_29_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_29_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.431582, -0.098037, 0.896731], [-0.900431, 0.106787, -0.421688], [-0.054418, -0.989437, -0.134363]], 'translation vector': [4.412532, 3.596741, 1.526323]} B: {'rotation matrix': [[-0.43275, -0.095778, 0.896412], [-0.899777, 0.107595, -0.422878], [-0.055947, -0.989571, -0.132741]], 'translation vector': [4.410773, 3.601486, 1.526138]} C: {'rotation matrix': [[0.9999520333968362, 0.0006753791567632332, -0.009755571516398104], [-0.0006310509478896895, 0.999990797204237, 0.004384447971913257], [0.009758133830260066, -0.004378955576420755, 0.9999427994349811]], 'translation vector': [0.0016435229369795579, -0.00040384651884517453, 0.0035746064241082287]} D: {'rotation matrix': [[-0.433914, -0.093907, 0.896047], [-0.899123, 0.108519, -0.42403], [-0.057419, -0.989649, -0.131522]], 'translation vector': [4.40951, 3.606652, 1.52516]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.431582, -0.098037, 0.896731], [-0.900431, 0.106787, -0.421688], [-0.054418, -0.989437, -0.134363]], 'translation vector': [4.412532, 3.596741, 1.526323]} B: {'rotation matrix': [[-0.43275, -0.095778, 0.896412], [-0.899777, 0.107595, -0.422878], [-0.055947, -0.989571, -0.132741]], 'translation vector': [4.410773, 3.601486, 1.526138]} C: {'rotation matrix': [[0.9999520333968362, 0.0006753791567632332, -0.009755571516398104], [-0.0006310509478896895, 0.999990797204237, 0.004384447971913257], [0.009758133830260066, -0.004378955576420755, 0.9999427994349811]], 'translation vector': [0.0016435229369795579, -0.00040384651884517453, 0.0035746064241082287]} D: {'rotation matrix': [[-0.433914, -0.093907, 0.896047], [-0.899123, 0.108519, -0.42403], [-0.057419, -0.989649, -0.131522]], 'translation vector': [4.40951, 3.606652, 1.52516]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_30_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_30_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_30_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_30_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999917661523451, 0.003965604575831933, -0.00020113541169654973], [-0.0039642406405361414, 0.9999897644646852, 0.002088386147537849], [0.00020867644615939134, -0.0020887952983848278, 0.9999975122366389]], 'translation vector': [0.003940681703816118, 0.0007777989134077623, 0.003188885648093276]} B: {'rotation matrix': [[-0.926146, 0.120999, -0.357228], [0.374267, 0.177659, -0.910144], [-0.046662, -0.976625, -0.209824]], 'translation vector': [4.737155, 2.737478, 1.223721]} C: {'rotation matrix': [[-0.926101, 0.124421, -0.356169], [0.374063, 0.179874, -0.909792], [-0.049131, -0.975789, -0.213123]], 'translation vector': [4.73486, 2.737298, 1.223615]} D: {'rotation matrix': [[-0.927631, 0.118543, -0.354186], [0.370581, 0.173865, -0.912382], [-0.046576, -0.977609, -0.205212]], 'translation vector': [4.731637, 2.739449, 1.226493]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999917661523451, 0.003965604575831933, -0.00020113541169654973], [-0.0039642406405361414, 0.9999897644646852, 0.002088386147537849], [0.00020867644615939134, -0.0020887952983848278, 0.9999975122366389]], 'translation vector': [0.003940681703816118, 0.0007777989134077623, 0.003188885648093276]} B: {'rotation matrix': [[-0.926146, 0.120999, -0.357228], [0.374267, 0.177659, -0.910144], [-0.046662, -0.976625, -0.209824]], 'translation vector': [4.737155, 2.737478, 1.223721]} C: {'rotation matrix': [[-0.926101, 0.124421, -0.356169], [0.374063, 0.179874, -0.909792], [-0.049131, -0.975789, -0.213123]], 'translation vector': [4.73486, 2.737298, 1.223615]} D: {'rotation matrix': [[-0.927631, 0.118543, -0.354186], [0.370581, 0.173865, -0.912382], [-0.046576, -0.977609, -0.205212]], 'translation vector': [4.731637, 2.739449, 1.226493]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_31_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_31_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_31_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_31_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.854414, -0.337949, 0.394674], [-0.51408, -0.439475, 0.736602], [-0.075485, -0.832257, -0.549227]], 'translation vector': [2.728753, 6.764147, 1.410515]} B: {'rotation matrix': [[0.857663, -0.338131, 0.387404], [-0.508133, -0.441807, 0.739329], [-0.078832, -0.830948, -0.550737]], 'translation vector': [2.730525, 6.755143, 1.407191]} C: {'rotation matrix': [[0.856314, -0.338309, 0.390222], [-0.510605, -0.441176, 0.738002], [-0.077516, -0.83121, -0.550528]], 'translation vector': [2.731703, 6.760056, 1.408417]} D: {'rotation matrix': [[0.9999681707679642, 0.006356789386196493, 0.004849115684302276], [-0.0063488135736310385, 0.9999779524760675, -0.0017687198088092734], [-0.004860696689611514, 0.0017388114569044306, 0.9999869431575653]], 'translation vector': [0.001030885579985874, -0.006730226347642976, 0.006769981822561277]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.854414, -0.337949, 0.394674], [-0.51408, -0.439475, 0.736602], [-0.075485, -0.832257, -0.549227]], 'translation vector': [2.728753, 6.764147, 1.410515]} B: {'rotation matrix': [[0.857663, -0.338131, 0.387404], [-0.508133, -0.441807, 0.739329], [-0.078832, -0.830948, -0.550737]], 'translation vector': [2.730525, 6.755143, 1.407191]} C: {'rotation matrix': [[0.856314, -0.338309, 0.390222], [-0.510605, -0.441176, 0.738002], [-0.077516, -0.83121, -0.550528]], 'translation vector': [2.731703, 6.760056, 1.408417]} D: {'rotation matrix': [[0.9999681707679642, 0.006356789386196493, 0.004849115684302276], [-0.0063488135736310385, 0.9999779524760675, -0.0017687198088092734], [-0.004860696689611514, 0.0017388114569044306, 0.9999869431575653]], 'translation vector': [0.001030885579985874, -0.006730226347642976, 0.006769981822561277]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_32_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_32_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_32_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_32_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.230447, -0.471956, 0.850971], [-0.964157, 0.007445, 0.265227], [-0.131511, -0.881591, -0.453324]], 'translation vector': [3.039354, 2.955346, 1.549151]} B: {'rotation matrix': [[0.228449, -0.472123, 0.851417], [-0.96468, 0.008044, 0.2633], [-0.131159, -0.881496, -0.45361]], 'translation vector': [3.038737, 2.954341, 1.548813]} C: {'rotation matrix': [[0.9999932374461685, -2.1218966376535376e-05, -0.003832905020754294], [2.3397413103181216e-05, 0.9999998755264938, 0.00025510731414015743], [0.003833858200182055, -0.0002556535302727228, 0.9999922097121886]], 'translation vector': [-0.00018189815458224956, -0.001091765193039329, 0.0006659190149727046]} D: {'rotation matrix': [[0.234859, -0.471403, 0.850071], [-0.962925, 0.006583, 0.269689], [-0.132728, -0.881894, -0.452379]], 'translation vector': [3.04024, 2.955162, 1.549553]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.230447, -0.471956, 0.850971], [-0.964157, 0.007445, 0.265227], [-0.131511, -0.881591, -0.453324]], 'translation vector': [3.039354, 2.955346, 1.549151]} B: {'rotation matrix': [[0.228449, -0.472123, 0.851417], [-0.96468, 0.008044, 0.2633], [-0.131159, -0.881496, -0.45361]], 'translation vector': [3.038737, 2.954341, 1.548813]} C: {'rotation matrix': [[0.9999932374461685, -2.1218966376535376e-05, -0.003832905020754294], [2.3397413103181216e-05, 0.9999998755264938, 0.00025510731414015743], [0.003833858200182055, -0.0002556535302727228, 0.9999922097121886]], 'translation vector': [-0.00018189815458224956, -0.001091765193039329, 0.0006659190149727046]} D: {'rotation matrix': [[0.234859, -0.471403, 0.850071], [-0.962925, 0.006583, 0.269689], [-0.132728, -0.881894, -0.452379]], 'translation vector': [3.04024, 2.955162, 1.549553]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_33_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_33_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_33_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_33_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999722451927703, 0.006302215099590525, -0.00403981735739725], [-0.006327345454891822, 0.9999605703041478, -0.0062233586210535905], [0.004001166188993241, 0.006248748688806741, 0.9999728906669906]], 'translation vector': [0.005093628494140745, -0.0003734020522905279, 0.0005966377475724594]} B: {'rotation matrix': [[-0.852779, -0.130984, 0.505581], [-0.521088, 0.148208, -0.840537], [0.035166, -0.980244, -0.194643]], 'translation vector': [2.708243, 1.722235, 1.600397]} C: {'rotation matrix': [[-0.85558, -0.133703, 0.500106], [-0.51643, 0.153622, -0.842437], [0.035809, -0.979042, -0.200484]], 'translation vector': [2.710987, 1.723705, 1.596351]} D: {'rotation matrix': [[-0.853917, -0.132599, 0.503232], [-0.519221, 0.151792, -0.841052], [0.035136, -0.979478, -0.198466]], 'translation vector': [2.709099, 1.722802, 1.598917]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999722451927703, 0.006302215099590525, -0.00403981735739725], [-0.006327345454891822, 0.9999605703041478, -0.0062233586210535905], [0.004001166188993241, 0.006248748688806741, 0.9999728906669906]], 'translation vector': [0.005093628494140745, -0.0003734020522905279, 0.0005966377475724594]} B: {'rotation matrix': [[-0.852779, -0.130984, 0.505581], [-0.521088, 0.148208, -0.840537], [0.035166, -0.980244, -0.194643]], 'translation vector': [2.708243, 1.722235, 1.600397]} C: {'rotation matrix': [[-0.85558, -0.133703, 0.500106], [-0.51643, 0.153622, -0.842437], [0.035809, -0.979042, -0.200484]], 'translation vector': [2.710987, 1.723705, 1.596351]} D: {'rotation matrix': [[-0.853917, -0.132599, 0.503232], [-0.519221, 0.151792, -0.841052], [0.035136, -0.979478, -0.198466]], 'translation vector': [2.709099, 1.722802, 1.598917]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_34_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_34_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_34_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_34_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.478873, -0.428944, 0.765955], [-0.87533, -0.166797, 0.453846], [-0.066915, -0.887798, -0.455343]], 'translation vector': [0.725473, 2.084639, 1.401624]} B: {'rotation matrix': [[0.9999321559246817, -0.004700941469421, -0.010648795235394873], [0.0046277052826301434, 0.9999657024420984, -0.006814383513752801], [0.010680686020790284, 0.006765103656469935, 0.9999199949357819]], 'translation vector': [-0.010159202650746213, -0.00890278579572934, 0.006564575177659959]} C: {'rotation matrix': [[0.476891, -0.427829, 0.767814], [-0.876452, -0.165482, 0.452159], [-0.066387, -0.888582, -0.453888]], 'translation vector': [0.720453, 2.082574, 1.402557]} D: {'rotation matrix': [[0.480806, -0.429519, 0.764421], [-0.874127, -0.166433, 0.456292], [-0.068761, -0.887589, -0.455476]], 'translation vector': [0.729586, 2.089959, 1.401763]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.478873, -0.428944, 0.765955], [-0.87533, -0.166797, 0.453846], [-0.066915, -0.887798, -0.455343]], 'translation vector': [0.725473, 2.084639, 1.401624]} B: {'rotation matrix': [[0.9999321559246817, -0.004700941469421, -0.010648795235394873], [0.0046277052826301434, 0.9999657024420984, -0.006814383513752801], [0.010680686020790284, 0.006765103656469935, 0.9999199949357819]], 'translation vector': [-0.010159202650746213, -0.00890278579572934, 0.006564575177659959]} C: {'rotation matrix': [[0.476891, -0.427829, 0.767814], [-0.876452, -0.165482, 0.452159], [-0.066387, -0.888582, -0.453888]], 'translation vector': [0.720453, 2.082574, 1.402557]} D: {'rotation matrix': [[0.480806, -0.429519, 0.764421], [-0.874127, -0.166433, 0.456292], [-0.068761, -0.887589, -0.455476]], 'translation vector': [0.729586, 2.089959, 1.401763]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_35_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_35_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_35_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_35_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.745148, -0.37119, 0.554052], [-0.66666, -0.436838, 0.603934], [0.017857, -0.819385, -0.572966]], 'translation vector': [3.707678, 4.401502, 1.259793]} B: {'rotation matrix': [[0.9999956925108978, 0.0027628800894689116, -0.0013776131907199199], [-0.002750831230441356, 0.9999530244932063, 0.009285447903977378], [0.0014027365353670037, -0.00928147923100416, 0.9999562334978788]], 'translation vector': [-0.001323540742452639, -0.0019242276069570963, 0.0020358659652854882]} C: {'rotation matrix': [[0.745353, -0.370803, 0.554034], [-0.666429, -0.436771, 0.604239], [0.017933, -0.819595, -0.572662]], 'translation vector': [3.707908, 4.40198, 1.260519]} D: {'rotation matrix': [[0.746372, -0.37052, 0.55285], [-0.665272, -0.438418, 0.60432], [0.018468, -0.818844, -0.57372]], 'translation vector': [3.708833, 4.402057, 1.261367]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.745148, -0.37119, 0.554052], [-0.66666, -0.436838, 0.603934], [0.017857, -0.819385, -0.572966]], 'translation vector': [3.707678, 4.401502, 1.259793]} B: {'rotation matrix': [[0.9999956925108978, 0.0027628800894689116, -0.0013776131907199199], [-0.002750831230441356, 0.9999530244932063, 0.009285447903977378], [0.0014027365353670037, -0.00928147923100416, 0.9999562334978788]], 'translation vector': [-0.001323540742452639, -0.0019242276069570963, 0.0020358659652854882]} C: {'rotation matrix': [[0.745353, -0.370803, 0.554034], [-0.666429, -0.436771, 0.604239], [0.017933, -0.819595, -0.572662]], 'translation vector': [3.707908, 4.40198, 1.260519]} D: {'rotation matrix': [[0.746372, -0.37052, 0.55285], [-0.665272, -0.438418, 0.60432], [0.018468, -0.818844, -0.57372]], 'translation vector': [3.708833, 4.402057, 1.261367]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_36_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_36_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_36_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_36_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.116268, -0.545929, 0.829725], [-0.992164, 0.102308, -0.071715], [-0.045736, -0.831562, -0.553546]], 'translation vector': [1.188241, 1.804719, 1.496587]} B: {'rotation matrix': [[-0.114381, -0.546538, 0.829586], [-0.992382, 0.101334, -0.070067], [-0.045771, -0.83128, -0.553966]], 'translation vector': [1.18804, 1.806907, 1.497044]} C: {'rotation matrix': [[-0.116275, -0.545912, 0.829735], [-0.992183, 0.101947, -0.071965], [-0.045303, -0.831617, -0.553499]], 'translation vector': [1.188215, 1.807271, 1.496983]} D: {'rotation matrix': [[0.9999972656726313, 0.0013206868291442259, 0.0020218952923470846], [-0.0013233096218697464, 0.999999141112598, 0.0010787718934225417], [-0.0020206374390544144, -0.0010806530653509267, 0.9999977188154618]], 'translation vector': [-0.0038275910671821123, 0.000160776135250007, -0.0021485328355081296]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.116268, -0.545929, 0.829725], [-0.992164, 0.102308, -0.071715], [-0.045736, -0.831562, -0.553546]], 'translation vector': [1.188241, 1.804719, 1.496587]} B: {'rotation matrix': [[-0.114381, -0.546538, 0.829586], [-0.992382, 0.101334, -0.070067], [-0.045771, -0.83128, -0.553966]], 'translation vector': [1.18804, 1.806907, 1.497044]} C: {'rotation matrix': [[-0.116275, -0.545912, 0.829735], [-0.992183, 0.101947, -0.071965], [-0.045303, -0.831617, -0.553499]], 'translation vector': [1.188215, 1.807271, 1.496983]} D: {'rotation matrix': [[0.9999972656726313, 0.0013206868291442259, 0.0020218952923470846], [-0.0013233096218697464, 0.999999141112598, 0.0010787718934225417], [-0.0020206374390544144, -0.0010806530653509267, 0.9999977188154618]], 'translation vector': [-0.0038275910671821123, 0.000160776135250007, -0.0021485328355081296]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_37_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_37_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_37_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_37_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.997087, -0.025415, -0.071922], [0.054952, -0.414609, 0.908339], [-0.052905, -0.909645, -0.412004]], 'translation vector': [4.407682, 5.403047, 1.49649]} B: {'rotation matrix': [[1.0000003154168173, -0.00026066196587795827, 0.0009499731630029714], [0.00026257414143552785, 0.9999962311537921, -0.0026991488717855007], [-0.0009496510997198135, 0.002699452079922895, 0.9999961867215906]], 'translation vector': [-0.0035058102061285012, -0.0001503164701972537, 0.00022028015795205746]} C: {'rotation matrix': [[0.996877, -0.026735, -0.074307], [0.056551, -0.415107, 0.908013], [-0.055122, -0.909379, -0.412299]], 'translation vector': [4.407921, 5.402507, 1.494552]} D: {'rotation matrix': [[0.997138, -0.02412, -0.07165], [0.055312, -0.413324, 0.908903], [-0.051537, -0.910265, -0.410807]], 'translation vector': [4.410345, 5.401881, 1.497987]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.997087, -0.025415, -0.071922], [0.054952, -0.414609, 0.908339], [-0.052905, -0.909645, -0.412004]], 'translation vector': [4.407682, 5.403047, 1.49649]} B: {'rotation matrix': [[1.0000003154168173, -0.00026066196587795827, 0.0009499731630029714], [0.00026257414143552785, 0.9999962311537921, -0.0026991488717855007], [-0.0009496510997198135, 0.002699452079922895, 0.9999961867215906]], 'translation vector': [-0.0035058102061285012, -0.0001503164701972537, 0.00022028015795205746]} C: {'rotation matrix': [[0.996877, -0.026735, -0.074307], [0.056551, -0.415107, 0.908013], [-0.055122, -0.909379, -0.412299]], 'translation vector': [4.407921, 5.402507, 1.494552]} D: {'rotation matrix': [[0.997138, -0.02412, -0.07165], [0.055312, -0.413324, 0.908903], [-0.051537, -0.910265, -0.410807]], 'translation vector': [4.410345, 5.401881, 1.497987]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_38_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_38_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_38_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_38_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.317061, -0.465845, 0.826112], [-0.947162, 0.200121, -0.250671], [-0.048548, -0.86194, -0.504681]], 'translation vector': [2.298134, 2.388596, 1.453916]} B: {'rotation matrix': [[-0.317304, -0.461983, 0.828185], [-0.946993, 0.200626, -0.250908], [-0.05024, -0.863899, -0.501153]], 'translation vector': [2.298876, 2.392571, 1.455489]} C: {'rotation matrix': [[0.99999454935107, 0.0002197888751369094, -0.0032128422811739327], [-0.00022937596583946223, 0.9999976816384528, -0.0024943946424807743], [0.0032131009034445414, 0.0024955910558726972, 0.9999912821080568]], 'translation vector': [0.001089045909415276, -0.0004423003337574727, -0.0002086110960047849]} D: {'rotation matrix': [[-0.314906, -0.456701, 0.83202], [-0.947639, 0.200286, -0.248728], [-0.053048, -0.866781, -0.49586]], 'translation vector': [2.297376, 2.389925, 1.457247]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.317061, -0.465845, 0.826112], [-0.947162, 0.200121, -0.250671], [-0.048548, -0.86194, -0.504681]], 'translation vector': [2.298134, 2.388596, 1.453916]} B: {'rotation matrix': [[-0.317304, -0.461983, 0.828185], [-0.946993, 0.200626, -0.250908], [-0.05024, -0.863899, -0.501153]], 'translation vector': [2.298876, 2.392571, 1.455489]} C: {'rotation matrix': [[0.99999454935107, 0.0002197888751369094, -0.0032128422811739327], [-0.00022937596583946223, 0.9999976816384528, -0.0024943946424807743], [0.0032131009034445414, 0.0024955910558726972, 0.9999912821080568]], 'translation vector': [0.001089045909415276, -0.0004423003337574727, -0.0002086110960047849]} D: {'rotation matrix': [[-0.314906, -0.456701, 0.83202], [-0.947639, 0.200286, -0.248728], [-0.053048, -0.866781, -0.49586]], 'translation vector': [2.297376, 2.389925, 1.457247]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_39_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_39_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_39_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_39_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.887986, -0.072993, 0.45404], [-0.454573, -0.288743, 0.84261], [0.069596, -0.95462, -0.28958]], 'translation vector': [3.216625, 3.12153, 1.569232]} B: {'rotation matrix': [[0.881294, -0.091283, 0.463668], [-0.468392, -0.298889, 0.831429], [0.06269, -0.949912, -0.306165]], 'translation vector': [3.22503, 3.133041, 1.572641]} C: {'rotation matrix': [[0.9998534926564413, 0.011234421547280734, -0.012941695383424894], [-0.01131150095792877, 0.9999182350466784, -0.005915937307264116], [0.012873405071388795, 0.006062261057420049, 0.9998987281608317]], 'translation vector': [-0.0006289172879170302, -0.011376901257172278, -0.010410317713380746]} D: {'rotation matrix': [[0.883743, -0.084646, 0.460254], [-0.463409, -0.29531, 0.83549], [0.065197, -0.951644, -0.300204]], 'translation vector': [3.211292, 3.12843, 1.571525]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.887986, -0.072993, 0.45404], [-0.454573, -0.288743, 0.84261], [0.069596, -0.95462, -0.28958]], 'translation vector': [3.216625, 3.12153, 1.569232]} B: {'rotation matrix': [[0.881294, -0.091283, 0.463668], [-0.468392, -0.298889, 0.831429], [0.06269, -0.949912, -0.306165]], 'translation vector': [3.22503, 3.133041, 1.572641]} C: {'rotation matrix': [[0.9998534926564413, 0.011234421547280734, -0.012941695383424894], [-0.01131150095792877, 0.9999182350466784, -0.005915937307264116], [0.012873405071388795, 0.006062261057420049, 0.9998987281608317]], 'translation vector': [-0.0006289172879170302, -0.011376901257172278, -0.010410317713380746]} D: {'rotation matrix': [[0.883743, -0.084646, 0.460254], [-0.463409, -0.29531, 0.83549], [0.065197, -0.951644, -0.300204]], 'translation vector': [3.211292, 3.12843, 1.571525]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_40_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_40_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_40_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_40_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999922215867046, 0.00022785537094286064, 0.0038428059210989744], [-0.0002767566400686762, 0.9999180395239896, 0.0128255569964717], [-0.0038395911947271166, -0.01282698821636408, 0.9999095074136637]], 'translation vector': [-0.012178319620715694, 0.0009877403245357463, 0.004998693428563072]} B: {'rotation matrix': [[-0.349791, 0.571502, -0.742315], [0.927295, 0.098467, -0.361147], [-0.133303, -0.814672, -0.564394]], 'translation vector': [7.153554, 3.625007, 1.584927]} C: {'rotation matrix': [[-0.352738, 0.563812, -0.746788], [0.92567, 0.093586, -0.366575], [-0.13679, -0.820584, -0.554915]], 'translation vector': [7.154875, 3.637451, 1.583088]} D: {'rotation matrix': [[-0.346362, 0.577228, -0.739487], [0.929238, 0.103006, -0.354833], [-0.128648, -0.81006, -0.57206]], 'translation vector': [7.154236, 3.613202, 1.583063]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999922215867046, 0.00022785537094286064, 0.0038428059210989744], [-0.0002767566400686762, 0.9999180395239896, 0.0128255569964717], [-0.0038395911947271166, -0.01282698821636408, 0.9999095074136637]], 'translation vector': [-0.012178319620715694, 0.0009877403245357463, 0.004998693428563072]} B: {'rotation matrix': [[-0.349791, 0.571502, -0.742315], [0.927295, 0.098467, -0.361147], [-0.133303, -0.814672, -0.564394]], 'translation vector': [7.153554, 3.625007, 1.584927]} C: {'rotation matrix': [[-0.352738, 0.563812, -0.746788], [0.92567, 0.093586, -0.366575], [-0.13679, -0.820584, -0.554915]], 'translation vector': [7.154875, 3.637451, 1.583088]} D: {'rotation matrix': [[-0.346362, 0.577228, -0.739487], [0.929238, 0.103006, -0.354833], [-0.128648, -0.81006, -0.57206]], 'translation vector': [7.154236, 3.613202, 1.583063]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_41_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_41_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_41_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_41_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.295342, -0.337479, 0.893802], [-0.954338, -0.060275, 0.292587], [-0.044868, -0.939402, -0.33987]], 'translation vector': [3.757863, 4.507889, 1.342911]} B: {'rotation matrix': [[0.300826, -0.332026, 0.894015], [-0.952739, -0.063015, 0.297182], [-0.042336, -0.941163, -0.33529]], 'translation vector': [3.757184, 4.502328, 1.344268]} C: {'rotation matrix': [[0.280244, -0.341756, 0.897032], [-0.959084, -0.060487, 0.276585], [-0.040265, -0.93784, -0.344724]], 'translation vector': [3.749212, 4.541941, 1.346336]} D: {'rotation matrix': [[0.9996750004430802, 0.005976407862532351, -0.024761409167148862], [-0.005880950295372731, 0.9999756244730406, 0.0039275528492273585], [0.024784884729748376, -0.0037817785482656863, 0.9996858791488856]], 'translation vector': [0.014484406993793275, 0.0006255655612603661, -0.006516735656635575]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.295342, -0.337479, 0.893802], [-0.954338, -0.060275, 0.292587], [-0.044868, -0.939402, -0.33987]], 'translation vector': [3.757863, 4.507889, 1.342911]} B: {'rotation matrix': [[0.300826, -0.332026, 0.894015], [-0.952739, -0.063015, 0.297182], [-0.042336, -0.941163, -0.33529]], 'translation vector': [3.757184, 4.502328, 1.344268]} C: {'rotation matrix': [[0.280244, -0.341756, 0.897032], [-0.959084, -0.060487, 0.276585], [-0.040265, -0.93784, -0.344724]], 'translation vector': [3.749212, 4.541941, 1.346336]} D: {'rotation matrix': [[0.9996750004430802, 0.005976407862532351, -0.024761409167148862], [-0.005880950295372731, 0.9999756244730406, 0.0039275528492273585], [0.024784884729748376, -0.0037817785482656863, 0.9996858791488856]], 'translation vector': [0.014484406993793275, 0.0006255655612603661, -0.006516735656635575]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_42_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_42_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_42_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_42_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.408105, -0.298824, 0.862644], [-0.912691, -0.155393, 0.377953], [0.021107, -0.941572, -0.33615]], 'translation vector': [3.68854, 2.987475, 1.504179]} B: {'rotation matrix': [[0.414415, -0.280989, 0.865625], [-0.909796, -0.152002, 0.386221], [0.023053, -0.947597, -0.318634]], 'translation vector': [3.695469, 2.977012, 1.528306]} C: {'rotation matrix': [[0.9999691985275884, -0.0028723049102575577, -0.007257311467463551], [0.0029984988555096107, 0.9998441859378951, 0.01739980616527257], [0.007206986340996781, -0.017422228683580315, 0.9998224150329578]], 'translation vector': [0.005083024714500617, 0.008976294562036191, -0.004546920528859744]} D: {'rotation matrix': [[0.410301, -0.290948, 0.864293], [-0.911655, -0.15496, 0.38062], [0.02319, -0.944106, -0.328824]], 'translation vector': [3.694328, 2.984669, 1.517045]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.408105, -0.298824, 0.862644], [-0.912691, -0.155393, 0.377953], [0.021107, -0.941572, -0.33615]], 'translation vector': [3.68854, 2.987475, 1.504179]} B: {'rotation matrix': [[0.414415, -0.280989, 0.865625], [-0.909796, -0.152002, 0.386221], [0.023053, -0.947597, -0.318634]], 'translation vector': [3.695469, 2.977012, 1.528306]} C: {'rotation matrix': [[0.9999691985275884, -0.0028723049102575577, -0.007257311467463551], [0.0029984988555096107, 0.9998441859378951, 0.01739980616527257], [0.007206986340996781, -0.017422228683580315, 0.9998224150329578]], 'translation vector': [0.005083024714500617, 0.008976294562036191, -0.004546920528859744]} D: {'rotation matrix': [[0.410301, -0.290948, 0.864293], [-0.911655, -0.15496, 0.38062], [0.02319, -0.944106, -0.328824]], 'translation vector': [3.694328, 2.984669, 1.517045]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_43_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_43_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_43_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_43_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.794148, 0.542055, -0.274783], [0.607642, 0.715697, -0.34431], [0.010026, -0.440403, -0.897744]], 'translation vector': [2.029685, 2.312871, 1.199782]} B: {'rotation matrix': [[-0.789274, 0.545355, -0.282196], [0.613822, 0.713018, -0.338862], [0.016411, -0.440674, -0.897518]], 'translation vector': [2.029754, 2.312013, 1.198812]} C: {'rotation matrix': [[-0.792558, 0.542991, -0.277512], [0.609667, 0.714954, -0.342268], [0.01256, -0.440457, -0.897686]], 'translation vector': [2.028831, 2.312793, 1.199579]} D: {'rotation matrix': [[0.9999690183091173, 0.00758939386438217, -0.0016348482581436392], [-0.007592849178659918, 0.9999686021169869, -0.0023322818814674375], [0.0016172805944689142, 0.0023449024761050914, 0.9999961697739403]], 'translation vector': [-0.0009595698380654716, -0.001243015152278204, -0.0008030280503015241]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.794148, 0.542055, -0.274783], [0.607642, 0.715697, -0.34431], [0.010026, -0.440403, -0.897744]], 'translation vector': [2.029685, 2.312871, 1.199782]} B: {'rotation matrix': [[-0.789274, 0.545355, -0.282196], [0.613822, 0.713018, -0.338862], [0.016411, -0.440674, -0.897518]], 'translation vector': [2.029754, 2.312013, 1.198812]} C: {'rotation matrix': [[-0.792558, 0.542991, -0.277512], [0.609667, 0.714954, -0.342268], [0.01256, -0.440457, -0.897686]], 'translation vector': [2.028831, 2.312793, 1.199579]} D: {'rotation matrix': [[0.9999690183091173, 0.00758939386438217, -0.0016348482581436392], [-0.007592849178659918, 0.9999686021169869, -0.0023322818814674375], [0.0016172805944689142, 0.0023449024761050914, 0.9999961697739403]], 'translation vector': [-0.0009595698380654716, -0.001243015152278204, -0.0008030280503015241]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_44_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_44_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_44_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_44_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.595869, 0.488846, -0.637158], [0.802996, -0.351087, 0.481596], [0.011728, -0.798604, -0.601743]], 'translation vector': [3.453696, 1.113575, 1.412785]} B: {'rotation matrix': [[0.596116, 0.489381, -0.636516], [0.802814, -0.351792, 0.481386], [0.01166, -0.797966, -0.60259]], 'translation vector': [3.45192, 1.112521, 1.411639]} C: {'rotation matrix': [[0.9999972585421386, -0.0019706644639079346, -0.0016038162580140711], [0.0019696489330632795, 0.9999981939869151, -0.0004898637930363391], [0.00160459924260016, 0.0004861135599392089, 0.9999985246041514]], 'translation vector': [0.0004367632436044211, -0.0013470306629629059, 0.001255614697354801]} D: {'rotation matrix': [[0.596167, 0.487305, -0.638059], [0.802791, -0.351322, 0.481768], [0.010604, -0.799442, -0.60065]], 'translation vector': [3.452477, 1.114933, 1.412574]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.595869, 0.488846, -0.637158], [0.802996, -0.351087, 0.481596], [0.011728, -0.798604, -0.601743]], 'translation vector': [3.453696, 1.113575, 1.412785]} B: {'rotation matrix': [[0.596116, 0.489381, -0.636516], [0.802814, -0.351792, 0.481386], [0.01166, -0.797966, -0.60259]], 'translation vector': [3.45192, 1.112521, 1.411639]} C: {'rotation matrix': [[0.9999972585421386, -0.0019706644639079346, -0.0016038162580140711], [0.0019696489330632795, 0.9999981939869151, -0.0004898637930363391], [0.00160459924260016, 0.0004861135599392089, 0.9999985246041514]], 'translation vector': [0.0004367632436044211, -0.0013470306629629059, 0.001255614697354801]} D: {'rotation matrix': [[0.596167, 0.487305, -0.638059], [0.802791, -0.351322, 0.481768], [0.010604, -0.799442, -0.60065]], 'translation vector': [3.452477, 1.114933, 1.412574]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_45_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_45_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_45_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_45_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.454351, -0.425578, 0.782591], [-0.890802, 0.223047, -0.395881], [-0.006077, -0.877003, -0.480447]], 'translation vector': [2.248463, 3.862178, 1.517095]} B: {'rotation matrix': [[-0.455273, -0.423684, 0.783083], [-0.890312, 0.224946, -0.395908], [-0.008411, -0.877434, -0.479623]], 'translation vector': [2.248543, 3.862554, 1.517483]} C: {'rotation matrix': [[0.9999998220095317, 0.00019344203418205028, 0.0003904002954544705], [-0.00019414720576528636, 0.99999726822095, 0.002542005647158053], [-0.00038905761812178927, -0.002542402173661647, 0.9999965389998547]], 'translation vector': [-0.0007329855911066829, -0.0003036787606989222, 0.00038766167203613255]} D: {'rotation matrix': [[-0.455182, -0.424042, 0.782942], [-0.890372, 0.223522, -0.39658], [-0.006838, -0.877625, -0.479299]], 'translation vector': [2.247845, 3.863035, 1.516836]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.454351, -0.425578, 0.782591], [-0.890802, 0.223047, -0.395881], [-0.006077, -0.877003, -0.480447]], 'translation vector': [2.248463, 3.862178, 1.517095]} B: {'rotation matrix': [[-0.455273, -0.423684, 0.783083], [-0.890312, 0.224946, -0.395908], [-0.008411, -0.877434, -0.479623]], 'translation vector': [2.248543, 3.862554, 1.517483]} C: {'rotation matrix': [[0.9999998220095317, 0.00019344203418205028, 0.0003904002954544705], [-0.00019414720576528636, 0.99999726822095, 0.002542005647158053], [-0.00038905761812178927, -0.002542402173661647, 0.9999965389998547]], 'translation vector': [-0.0007329855911066829, -0.0003036787606989222, 0.00038766167203613255]} D: {'rotation matrix': [[-0.455182, -0.424042, 0.782942], [-0.890372, 0.223522, -0.39658], [-0.006838, -0.877625, -0.479299]], 'translation vector': [2.247845, 3.863035, 1.516836]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_46_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_46_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_46_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_46_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.503003, -0.389292, 0.771648], [-0.863104, 0.179601, -0.472011], [0.045161, -0.903435, -0.426339]], 'translation vector': [8.991447, 2.792113, 1.935809]} B: {'rotation matrix': [[0.9998820105783071, 0.006892269339613531, -0.013715431860878731], [-0.006800370949834618, 0.9999536838119013, 0.00673862053023821], [0.013761408703211613, -0.006644159929287518, 0.9998834142169373]], 'translation vector': [0.0018210588463203337, -0.0009922093443961444, -0.010804184818734797]} C: {'rotation matrix': [[-0.507392, -0.392271, 0.767253], [-0.860549, 0.184347, -0.474839], [0.044825, -0.901188, -0.431104]], 'translation vector': [8.996889, 2.787546, 1.938329]} D: {'rotation matrix': [[-0.511945, -0.391945, 0.76439], [-0.857826, 0.186392, -0.47895], [0.045246, -0.900909, -0.431643]], 'translation vector': [9.004251, 2.788493, 1.934378]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.503003, -0.389292, 0.771648], [-0.863104, 0.179601, -0.472011], [0.045161, -0.903435, -0.426339]], 'translation vector': [8.991447, 2.792113, 1.935809]} B: {'rotation matrix': [[0.9998820105783071, 0.006892269339613531, -0.013715431860878731], [-0.006800370949834618, 0.9999536838119013, 0.00673862053023821], [0.013761408703211613, -0.006644159929287518, 0.9998834142169373]], 'translation vector': [0.0018210588463203337, -0.0009922093443961444, -0.010804184818734797]} C: {'rotation matrix': [[-0.507392, -0.392271, 0.767253], [-0.860549, 0.184347, -0.474839], [0.044825, -0.901188, -0.431104]], 'translation vector': [8.996889, 2.787546, 1.938329]} D: {'rotation matrix': [[-0.511945, -0.391945, 0.76439], [-0.857826, 0.186392, -0.47895], [0.045246, -0.900909, -0.431643]], 'translation vector': [9.004251, 2.788493, 1.934378]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_47_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_47_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_47_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_47_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.347731, 0.021734, -0.937343], [0.937583, -0.012995, 0.347518], [-0.004627, -0.999679, -0.024896]], 'translation vector': [3.086271, 2.7877, 1.609772]} B: {'rotation matrix': [[0.349639, 0.022266, -0.93662], [0.936876, -0.012692, 0.349433], [-0.004108, -0.999671, -0.025298]], 'translation vector': [3.085923, 2.787744, 1.608445]} C: {'rotation matrix': [[0.9999983503028658, 0.0012588328917477426, 0.0010046121758577645], [-0.001258491549862339, 0.999999582567488, 0.0007249187267349242], [-0.0010031229358240259, -0.0007259449856603071, 0.9999988669360486]], 'translation vector': [-0.0007969980165536406, 0.0011986171600251172, 0.00041117594518969014]} D: {'rotation matrix': [[0.348071, 0.022212, -0.937205], [0.937459, -0.012734, 0.347863], [-0.004208, -0.999672, -0.025256]], 'translation vector': [3.0862, 2.78781, 1.60897]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.347731, 0.021734, -0.937343], [0.937583, -0.012995, 0.347518], [-0.004627, -0.999679, -0.024896]], 'translation vector': [3.086271, 2.7877, 1.609772]} B: {'rotation matrix': [[0.349639, 0.022266, -0.93662], [0.936876, -0.012692, 0.349433], [-0.004108, -0.999671, -0.025298]], 'translation vector': [3.085923, 2.787744, 1.608445]} C: {'rotation matrix': [[0.9999983503028658, 0.0012588328917477426, 0.0010046121758577645], [-0.001258491549862339, 0.999999582567488, 0.0007249187267349242], [-0.0010031229358240259, -0.0007259449856603071, 0.9999988669360486]], 'translation vector': [-0.0007969980165536406, 0.0011986171600251172, 0.00041117594518969014]} D: {'rotation matrix': [[0.348071, 0.022212, -0.937205], [0.937459, -0.012734, 0.347863], [-0.004208, -0.999672, -0.025256]], 'translation vector': [3.0862, 2.78781, 1.60897]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_48_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_48_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_48_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_48_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.671878, -0.274721, 0.687829], [-0.740313, -0.220562, 0.635051], [-0.022753, -0.935885, -0.35157]], 'translation vector': [3.807358, 2.10759, 1.500018]} B: {'rotation matrix': [[0.9999995287042943, -0.00016620863165950158, -1.0138120576769867e-05], [0.00016705647891749608, 0.9999995162619548, -0.0013603662243301747], [1.062657980571793e-05, 0.001360311886111166, 0.9999990686101642]], 'translation vector': [-0.004297820144825049, 0.003351067382226791, -0.0005408272137925607]} C: {'rotation matrix': [[0.670129, -0.272494, 0.690416], [-0.741875, -0.216557, 0.634606], [-0.023412, -0.93747, -0.347278]], 'translation vector': [3.805446, 2.107442, 1.49456]} D: {'rotation matrix': [[0.670813, -0.272809, 0.689627], [-0.741265, -0.217599, 0.634962], [-0.023161, -0.937137, -0.348192]], 'translation vector': [3.805646, 2.107794, 1.49708]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.671878, -0.274721, 0.687829], [-0.740313, -0.220562, 0.635051], [-0.022753, -0.935885, -0.35157]], 'translation vector': [3.807358, 2.10759, 1.500018]} B: {'rotation matrix': [[0.9999995287042943, -0.00016620863165950158, -1.0138120576769867e-05], [0.00016705647891749608, 0.9999995162619548, -0.0013603662243301747], [1.062657980571793e-05, 0.001360311886111166, 0.9999990686101642]], 'translation vector': [-0.004297820144825049, 0.003351067382226791, -0.0005408272137925607]} C: {'rotation matrix': [[0.670129, -0.272494, 0.690416], [-0.741875, -0.216557, 0.634606], [-0.023412, -0.93747, -0.347278]], 'translation vector': [3.805446, 2.107442, 1.49456]} D: {'rotation matrix': [[0.670813, -0.272809, 0.689627], [-0.741265, -0.217599, 0.634962], [-0.023161, -0.937137, -0.348192]], 'translation vector': [3.805646, 2.107794, 1.49708]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_49_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_49_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_49_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_49_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.479262, 0.501356, -0.720382], [0.874939, 0.337636, -0.347107], [0.069203, -0.796646, -0.600472]], 'translation vector': [2.874844, 0.864648, 1.19894]} B: {'rotation matrix': [[-0.476726, 0.503154, -0.720812], [0.876238, 0.337562, -0.343889], [0.070289, -0.795543, -0.601806]], 'translation vector': [2.872792, 0.865184, 1.200293]} C: {'rotation matrix': [[-0.480917, 0.499307, -0.720702], [0.874259, 0.335212, -0.351147], [0.066258, -0.798953, -0.597732]], 'translation vector': [2.877507, 0.861745, 1.198945]} D: {'rotation matrix': [[0.9999458075169825, -0.0037298030767581817, 0.009658870905228063], [0.003830453413616424, 0.9999377550296561, -0.010410573829210937], [-0.009619405173591757, 0.010446297554888797, 0.999899528124321]], 'translation vector': [0.004156407549993579, -0.0031544955662062835, 0.0021419719379069946]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.479262, 0.501356, -0.720382], [0.874939, 0.337636, -0.347107], [0.069203, -0.796646, -0.600472]], 'translation vector': [2.874844, 0.864648, 1.19894]} B: {'rotation matrix': [[-0.476726, 0.503154, -0.720812], [0.876238, 0.337562, -0.343889], [0.070289, -0.795543, -0.601806]], 'translation vector': [2.872792, 0.865184, 1.200293]} C: {'rotation matrix': [[-0.480917, 0.499307, -0.720702], [0.874259, 0.335212, -0.351147], [0.066258, -0.798953, -0.597732]], 'translation vector': [2.877507, 0.861745, 1.198945]} D: {'rotation matrix': [[0.9999458075169825, -0.0037298030767581817, 0.009658870905228063], [0.003830453413616424, 0.9999377550296561, -0.010410573829210937], [-0.009619405173591757, 0.010446297554888797, 0.999899528124321]], 'translation vector': [0.004156407549993579, -0.0031544955662062835, 0.0021419719379069946]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_50_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_50_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_50_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_50_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.408839, -0.490635, 0.769499], [-0.912309, 0.19818, -0.358354], [0.023322, -0.848529, -0.528634]], 'translation vector': [0.933751, 3.504875, 1.495928]} B: {'rotation matrix': [[-0.405517, -0.49009, 0.771601], [-0.913834, 0.197477, -0.354839], [0.02153, -0.849008, -0.527941]], 'translation vector': [0.92311, 3.508826, 1.494794]} C: {'rotation matrix': [[-0.406934, -0.490269, 0.770741], [-0.913168, 0.197092, -0.356762], [0.023003, -0.848994, -0.527902]], 'translation vector': [0.928096, 3.507151, 1.495325]} D: {'rotation matrix': [[0.9999720790780128, 0.0021449080565870337, 0.007189565686557225], [-0.0021449387549180303, 0.9999977939892998, -4.554193667967342e-05], [-0.007190098560018757, 3.036958542106401e-05, 0.9999745575458397]], 'translation vector': [-0.0022708049168844724, -0.01148622047209824, 0.014300413115339472]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.408839, -0.490635, 0.769499], [-0.912309, 0.19818, -0.358354], [0.023322, -0.848529, -0.528634]], 'translation vector': [0.933751, 3.504875, 1.495928]} B: {'rotation matrix': [[-0.405517, -0.49009, 0.771601], [-0.913834, 0.197477, -0.354839], [0.02153, -0.849008, -0.527941]], 'translation vector': [0.92311, 3.508826, 1.494794]} C: {'rotation matrix': [[-0.406934, -0.490269, 0.770741], [-0.913168, 0.197092, -0.356762], [0.023003, -0.848994, -0.527902]], 'translation vector': [0.928096, 3.507151, 1.495325]} D: {'rotation matrix': [[0.9999720790780128, 0.0021449080565870337, 0.007189565686557225], [-0.0021449387549180303, 0.9999977939892998, -4.554193667967342e-05], [-0.007190098560018757, 3.036958542106401e-05, 0.9999745575458397]], 'translation vector': [-0.0022708049168844724, -0.01148622047209824, 0.014300413115339472]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_51_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_51_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_51_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_51_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.812183, -0.277025, 0.513436], [-0.583176, 0.410049, -0.70126], [-0.016267, -0.868975, -0.494589]], 'translation vector': [4.864513, 2.490983, 1.398342]} B: {'rotation matrix': [[-0.813534, -0.276094, 0.511796], [-0.581281, 0.411223, -0.702146], [-0.016604, -0.868716, -0.495032]], 'translation vector': [4.865518, 2.490622, 1.399591]} C: {'rotation matrix': [[0.999997135129029, 0.001605805084179667, 0.0018057529572375504], [-0.0016158596045621908, 0.9999825699875163, 0.0055795127618636095], [-0.0017979244064656866, -0.005583390464990996, 0.9999826090372864]], 'translation vector': [-0.008521917625347264, -0.003245150959530152, 0.000826648743016356]} D: {'rotation matrix': [[-0.814102, -0.273924, 0.512058], [-0.580426, 0.411969, -0.702416], [-0.018543, -0.86905, -0.494377]], 'translation vector': [4.865249, 2.49003, 1.4009]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.812183, -0.277025, 0.513436], [-0.583176, 0.410049, -0.70126], [-0.016267, -0.868975, -0.494589]], 'translation vector': [4.864513, 2.490983, 1.398342]} B: {'rotation matrix': [[-0.813534, -0.276094, 0.511796], [-0.581281, 0.411223, -0.702146], [-0.016604, -0.868716, -0.495032]], 'translation vector': [4.865518, 2.490622, 1.399591]} C: {'rotation matrix': [[0.999997135129029, 0.001605805084179667, 0.0018057529572375504], [-0.0016158596045621908, 0.9999825699875163, 0.0055795127618636095], [-0.0017979244064656866, -0.005583390464990996, 0.9999826090372864]], 'translation vector': [-0.008521917625347264, -0.003245150959530152, 0.000826648743016356]} D: {'rotation matrix': [[-0.814102, -0.273924, 0.512058], [-0.580426, 0.411969, -0.702416], [-0.018543, -0.86905, -0.494377]], 'translation vector': [4.865249, 2.49003, 1.4009]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_52_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_52_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_52_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_52_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.065966, 0.424992, -0.90279], [0.996327, -0.077558, 0.03629], [-0.054596, -0.901868, -0.428547]], 'translation vector': [3.688125, 7.382969, 1.65232]} B: {'rotation matrix': [[0.06445, 0.42596, -0.902444], [0.996336, -0.078418, 0.034141], [-0.056225, -0.901337, -0.429453]], 'translation vector': [3.691079, 7.385597, 1.655249]} C: {'rotation matrix': [[0.065269, 0.425434, -0.902633], [0.996301, -0.078461, 0.035062], [-0.055905, -0.901582, -0.428981]], 'translation vector': [3.688166, 7.384302, 1.653993]} D: {'rotation matrix': [[0.9999823018718307, 0.004888113491700664, -0.003558790677819051], [-0.004889637706536031, 0.9999888180833659, -0.00037767294265026564], [0.0035570250944470354, 0.00039493287161776724, 0.9999941352091379]], 'translation vector': [-0.0029368758378494064, 0.0007877967404965047, -0.003178400438716089]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.065966, 0.424992, -0.90279], [0.996327, -0.077558, 0.03629], [-0.054596, -0.901868, -0.428547]], 'translation vector': [3.688125, 7.382969, 1.65232]} B: {'rotation matrix': [[0.06445, 0.42596, -0.902444], [0.996336, -0.078418, 0.034141], [-0.056225, -0.901337, -0.429453]], 'translation vector': [3.691079, 7.385597, 1.655249]} C: {'rotation matrix': [[0.065269, 0.425434, -0.902633], [0.996301, -0.078461, 0.035062], [-0.055905, -0.901582, -0.428981]], 'translation vector': [3.688166, 7.384302, 1.653993]} D: {'rotation matrix': [[0.9999823018718307, 0.004888113491700664, -0.003558790677819051], [-0.004889637706536031, 0.9999888180833659, -0.00037767294265026564], [0.0035570250944470354, 0.00039493287161776724, 0.9999941352091379]], 'translation vector': [-0.0029368758378494064, 0.0007877967404965047, -0.003178400438716089]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_53_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_53_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_53_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_53_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.664692, -0.099755, 0.740428], [-0.744592, -0.007027, 0.667483], [-0.061382, -0.994987, -0.078948]], 'translation vector': [3.729187, 1.43308, 1.737059]} B: {'rotation matrix': [[0.660717, -0.100231, 0.743913], [-0.748068, -0.006018, 0.663595], [-0.062036, -0.994946, -0.078955]], 'translation vector': [3.728547, 1.433503, 1.735599]} C: {'rotation matrix': [[0.9999743209792964, 0.004172766279522147, 0.005832278992731541], [-0.004189646737158265, 0.9999872000751636, 0.0029117442423506165], [-0.0058200970417569145, -0.0029366540837721536, 0.9999788200004149]], 'translation vector': [0.0013138555211342773, -0.001864474585307807, 0.0012853107981345424]} D: {'rotation matrix': [[0.656146, -0.099388, 0.74806], [-0.75226, -0.007571, 0.658823], [-0.059815, -0.99502, -0.079733]], 'translation vector': [3.729275, 1.433124, 1.734442]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.664692, -0.099755, 0.740428], [-0.744592, -0.007027, 0.667483], [-0.061382, -0.994987, -0.078948]], 'translation vector': [3.729187, 1.43308, 1.737059]} B: {'rotation matrix': [[0.660717, -0.100231, 0.743913], [-0.748068, -0.006018, 0.663595], [-0.062036, -0.994946, -0.078955]], 'translation vector': [3.728547, 1.433503, 1.735599]} C: {'rotation matrix': [[0.9999743209792964, 0.004172766279522147, 0.005832278992731541], [-0.004189646737158265, 0.9999872000751636, 0.0029117442423506165], [-0.0058200970417569145, -0.0029366540837721536, 0.9999788200004149]], 'translation vector': [0.0013138555211342773, -0.001864474585307807, 0.0012853107981345424]} D: {'rotation matrix': [[0.656146, -0.099388, 0.74806], [-0.75226, -0.007571, 0.658823], [-0.059815, -0.99502, -0.079733]], 'translation vector': [3.729275, 1.433124, 1.734442]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_54_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_54_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_54_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_54_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.482382, -0.62548, 0.613257], [-0.875317, -0.317346, 0.364844], [-0.033588, -0.712788, -0.700575]], 'translation vector': [-0.164493, 3.070356, 1.320176]} B: {'rotation matrix': [[0.482432, -0.626604, 0.612068], [-0.875266, -0.317577, 0.364766], [-0.034185, -0.711697, -0.701654]], 'translation vector': [-0.163574, 3.070977, 1.321051]} C: {'rotation matrix': [[0.9999881393517817, -0.00035757344474597234, -0.005016643883040467], [0.0003166564592981544, 0.999967468385718, -0.008020454596773861], [0.005019965204090123, 0.008019005544894866, 0.9999547455108736]], 'translation vector': [-0.0028720129328290156, -0.004572041684123063, -0.0005047793498673403]} D: {'rotation matrix': [[0.482883, -0.62302, 0.615362], [-0.875067, -0.316913, 0.36582], [-0.032897, -0.715131, -0.698216]], 'translation vector': [-0.165581, 3.069752, 1.319227]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.482382, -0.62548, 0.613257], [-0.875317, -0.317346, 0.364844], [-0.033588, -0.712788, -0.700575]], 'translation vector': [-0.164493, 3.070356, 1.320176]} B: {'rotation matrix': [[0.482432, -0.626604, 0.612068], [-0.875266, -0.317577, 0.364766], [-0.034185, -0.711697, -0.701654]], 'translation vector': [-0.163574, 3.070977, 1.321051]} C: {'rotation matrix': [[0.9999881393517817, -0.00035757344474597234, -0.005016643883040467], [0.0003166564592981544, 0.999967468385718, -0.008020454596773861], [0.005019965204090123, 0.008019005544894866, 0.9999547455108736]], 'translation vector': [-0.0028720129328290156, -0.004572041684123063, -0.0005047793498673403]} D: {'rotation matrix': [[0.482883, -0.62302, 0.615362], [-0.875067, -0.316913, 0.36582], [-0.032897, -0.715131, -0.698216]], 'translation vector': [-0.165581, 3.069752, 1.319227]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_55_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_55_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_55_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_55_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.254741, -0.436809, 0.862731], [-0.966661, 0.138975, -0.215064], [-0.025957, -0.888754, -0.457649]], 'translation vector': [1.470391, 3.880589, 1.437084]} B: {'rotation matrix': [[-0.255547, -0.436424, 0.862688], [-0.966448, 0.139272, -0.215827], [-0.025956, -0.888897, -0.457372]], 'translation vector': [1.471235, 3.880077, 1.436326]} C: {'rotation matrix': [[-0.25517, -0.435877, 0.863076], [-0.966551, 0.138838, -0.215646], [-0.025832, -0.889233, -0.456724]], 'translation vector': [1.470861, 3.880012, 1.43644]} D: {'rotation matrix': [[0.9999966837298163, 0.0008619563673921012, 0.0026549103476475175], [-0.0008486493068450321, 0.999987344007734, -0.004872285830769469], [-0.0026592683333448467, 0.0048702326102797195, 0.9999843899240968]], 'translation vector': [-0.0017811924174484517, 0.006401158448355426, 0.0014093231794466143]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.254741, -0.436809, 0.862731], [-0.966661, 0.138975, -0.215064], [-0.025957, -0.888754, -0.457649]], 'translation vector': [1.470391, 3.880589, 1.437084]} B: {'rotation matrix': [[-0.255547, -0.436424, 0.862688], [-0.966448, 0.139272, -0.215827], [-0.025956, -0.888897, -0.457372]], 'translation vector': [1.471235, 3.880077, 1.436326]} C: {'rotation matrix': [[-0.25517, -0.435877, 0.863076], [-0.966551, 0.138838, -0.215646], [-0.025832, -0.889233, -0.456724]], 'translation vector': [1.470861, 3.880012, 1.43644]} D: {'rotation matrix': [[0.9999966837298163, 0.0008619563673921012, 0.0026549103476475175], [-0.0008486493068450321, 0.999987344007734, -0.004872285830769469], [-0.0026592683333448467, 0.0048702326102797195, 0.9999843899240968]], 'translation vector': [-0.0017811924174484517, 0.006401158448355426, 0.0014093231794466143]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_56_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_56_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_56_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_56_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.877903, 0.287785, -0.382709], [0.47693, 0.596815, -0.645252], [0.042713, -0.748994, -0.661199]], 'translation vector': [3.16702, 3.626466, 1.453681]} B: {'rotation matrix': [[0.9999791193908465, -0.001916910413648059, -0.0061771002364880544], [0.001968865784627184, 0.9999613398790298, 0.008534807689413037], [0.006161535037181589, -0.008547114556570383, 0.9999441766313318]], 'translation vector': [0.0007167215000418725, 0.004111635033621663, 0.00058908656396639]} C: {'rotation matrix': [[-0.874912, 0.294682, -0.384306], [0.482557, 0.597398, -0.640512], [0.040836, -0.745841, -0.664871]], 'translation vector': [3.163697, 3.627347, 1.450583]} D: {'rotation matrix': [[-0.871313, 0.303569, -0.385564], [0.489353, 0.596266, -0.636396], [0.036709, -0.743177, -0.668087]], 'translation vector': [3.163155, 3.630899, 1.446354]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.877903, 0.287785, -0.382709], [0.47693, 0.596815, -0.645252], [0.042713, -0.748994, -0.661199]], 'translation vector': [3.16702, 3.626466, 1.453681]} B: {'rotation matrix': [[0.9999791193908465, -0.001916910413648059, -0.0061771002364880544], [0.001968865784627184, 0.9999613398790298, 0.008534807689413037], [0.006161535037181589, -0.008547114556570383, 0.9999441766313318]], 'translation vector': [0.0007167215000418725, 0.004111635033621663, 0.00058908656396639]} C: {'rotation matrix': [[-0.874912, 0.294682, -0.384306], [0.482557, 0.597398, -0.640512], [0.040836, -0.745841, -0.664871]], 'translation vector': [3.163697, 3.627347, 1.450583]} D: {'rotation matrix': [[-0.871313, 0.303569, -0.385564], [0.489353, 0.596266, -0.636396], [0.036709, -0.743177, -0.668087]], 'translation vector': [3.163155, 3.630899, 1.446354]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_57_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_57_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_57_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_57_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.078798, -0.401808, 0.912327], [-0.996147, 0.067086, -0.056491], [-0.038506, -0.913263, -0.405546]], 'translation vector': [2.214502, 1.810217, 1.39288]} B: {'rotation matrix': [[-0.078108, -0.404311, 0.91128], [-0.996161, 0.067892, -0.055261], [-0.039526, -0.912098, -0.408062]], 'translation vector': [2.215161, 1.809587, 1.395775]} C: {'rotation matrix': [[0.9999986851865202, 0.0008401734129283168, -0.0015770679658950186], [-0.0008378992163381685, 0.9999975925523196, 0.0021246735415499604], [0.0015786984008670537, -0.002123956111471475, 0.9999965494818978]], 'translation vector': [0.0020818624690659426, 0.003854659633225399, 0.00023093351122471795]} D: {'rotation matrix': [[-0.078693, -0.405741, 0.910594], [-0.996048, 0.069734, -0.055005], [-0.041182, -0.911324, -0.409625]], 'translation vector': [2.217248, 1.812374, 1.391779]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.078798, -0.401808, 0.912327], [-0.996147, 0.067086, -0.056491], [-0.038506, -0.913263, -0.405546]], 'translation vector': [2.214502, 1.810217, 1.39288]} B: {'rotation matrix': [[-0.078108, -0.404311, 0.91128], [-0.996161, 0.067892, -0.055261], [-0.039526, -0.912098, -0.408062]], 'translation vector': [2.215161, 1.809587, 1.395775]} C: {'rotation matrix': [[0.9999986851865202, 0.0008401734129283168, -0.0015770679658950186], [-0.0008378992163381685, 0.9999975925523196, 0.0021246735415499604], [0.0015786984008670537, -0.002123956111471475, 0.9999965494818978]], 'translation vector': [0.0020818624690659426, 0.003854659633225399, 0.00023093351122471795]} D: {'rotation matrix': [[-0.078693, -0.405741, 0.910594], [-0.996048, 0.069734, -0.055005], [-0.041182, -0.911324, -0.409625]], 'translation vector': [2.217248, 1.812374, 1.391779]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_58_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_58_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_58_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_58_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.529336, -0.227144, 0.817441], [-0.847759, 0.103788, -0.520128], [0.033303, -0.968315, -0.247502]], 'translation vector': [5.896173, 2.790533, 1.549775]} B: {'rotation matrix': [[0.9999873040333512, 0.004505537820277509, -0.002397070922509149], [-0.004504137793554688, 0.9999890779279523, 0.0010154010037770195], [0.0024022565915601136, -0.0010036320370672355, 0.999996209316038]], 'translation vector': [-0.001560160498486951, -0.0020049110640587564, -0.0017324624821037915]} C: {'rotation matrix': [[-0.531472, -0.2283, 0.815731], [-0.846401, 0.104685, -0.522156], [0.033813, -0.967947, -0.24887]], 'translation vector': [5.895259, 2.788617, 1.559572]} D: {'rotation matrix': [[-0.53062, -0.226646, 0.816746], [-0.846944, 0.10358, -0.521495], [0.033596, -0.968454, -0.246918]], 'translation vector': [5.896636, 2.790495, 1.551807]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.529336, -0.227144, 0.817441], [-0.847759, 0.103788, -0.520128], [0.033303, -0.968315, -0.247502]], 'translation vector': [5.896173, 2.790533, 1.549775]} B: {'rotation matrix': [[0.9999873040333512, 0.004505537820277509, -0.002397070922509149], [-0.004504137793554688, 0.9999890779279523, 0.0010154010037770195], [0.0024022565915601136, -0.0010036320370672355, 0.999996209316038]], 'translation vector': [-0.001560160498486951, -0.0020049110640587564, -0.0017324624821037915]} C: {'rotation matrix': [[-0.531472, -0.2283, 0.815731], [-0.846401, 0.104685, -0.522156], [0.033813, -0.967947, -0.24887]], 'translation vector': [5.895259, 2.788617, 1.559572]} D: {'rotation matrix': [[-0.53062, -0.226646, 0.816746], [-0.846944, 0.10358, -0.521495], [0.033596, -0.968454, -0.246918]], 'translation vector': [5.896636, 2.790495, 1.551807]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_59_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_59_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_59_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_59_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999735234224584, -0.0071926018984539266, -0.00013127408012229648], [0.007193266878786128, 0.999950750728307, 0.006784512971560901], [8.152710211630049e-05, -0.006784805304509037, 0.9999770195971557]], 'translation vector': [-0.005319134943293502, -0.0035091612770564717, 0.0004269635666275251]} B: {'rotation matrix': [[-0.879528, -0.314344, 0.357236], [-0.47435, 0.638683, -0.605869], [-0.03771, -0.702334, -0.710848]], 'translation vector': [3.140295, 1.690182, 1.269802]} C: {'rotation matrix': [[-0.879673, -0.316123, 0.355304], [-0.474189, 0.640089, -0.604509], [-0.036327, -0.700252, -0.712971]], 'translation vector': [3.138628, 1.688987, 1.26968]} D: {'rotation matrix': [[-0.879671, -0.317176, 0.354371], [-0.474219, 0.641391, -0.603103], [-0.036001, -0.698582, -0.714624]], 'translation vector': [3.137942, 1.687445, 1.270163]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999735234224584, -0.0071926018984539266, -0.00013127408012229648], [0.007193266878786128, 0.999950750728307, 0.006784512971560901], [8.152710211630049e-05, -0.006784805304509037, 0.9999770195971557]], 'translation vector': [-0.005319134943293502, -0.0035091612770564717, 0.0004269635666275251]} B: {'rotation matrix': [[-0.879528, -0.314344, 0.357236], [-0.47435, 0.638683, -0.605869], [-0.03771, -0.702334, -0.710848]], 'translation vector': [3.140295, 1.690182, 1.269802]} C: {'rotation matrix': [[-0.879673, -0.316123, 0.355304], [-0.474189, 0.640089, -0.604509], [-0.036327, -0.700252, -0.712971]], 'translation vector': [3.138628, 1.688987, 1.26968]} D: {'rotation matrix': [[-0.879671, -0.317176, 0.354371], [-0.474219, 0.641391, -0.603103], [-0.036001, -0.698582, -0.714624]], 'translation vector': [3.137942, 1.687445, 1.270163]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_60_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_60_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_60_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_60_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.303413, -0.396105, 0.866627], [-0.952854, 0.129076, -0.274605], [-0.003088, -0.909088, -0.416593]], 'translation vector': [3.699021, 3.5579, 1.347225]} B: {'rotation matrix': [[-0.298621, -0.390383, 0.870877], [-0.954343, 0.1293, -0.26928], [-0.007482, -0.911527, -0.411171]], 'translation vector': [3.695972, 3.555829, 1.344301]} C: {'rotation matrix': [[-0.295385, -0.381895, 0.875731], [-0.955321, 0.128105, -0.266366], [-0.010462, -0.915284, -0.402672]], 'translation vector': [3.694636, 3.554343, 1.343555]} D: {'rotation matrix': [[0.9999470991216314, -8.645859163103856e-05, -0.010261215579303299], [0.00018576960757566105, 0.999954044961018, 0.009631176353467179], [0.010258362047762553, -0.00963308504359663, 0.9999007352405366]], 'translation vector': [0.002023687193802637, -0.005328769253949428, -0.0010872499872041086]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.303413, -0.396105, 0.866627], [-0.952854, 0.129076, -0.274605], [-0.003088, -0.909088, -0.416593]], 'translation vector': [3.699021, 3.5579, 1.347225]} B: {'rotation matrix': [[-0.298621, -0.390383, 0.870877], [-0.954343, 0.1293, -0.26928], [-0.007482, -0.911527, -0.411171]], 'translation vector': [3.695972, 3.555829, 1.344301]} C: {'rotation matrix': [[-0.295385, -0.381895, 0.875731], [-0.955321, 0.128105, -0.266366], [-0.010462, -0.915284, -0.402672]], 'translation vector': [3.694636, 3.554343, 1.343555]} D: {'rotation matrix': [[0.9999470991216314, -8.645859163103856e-05, -0.010261215579303299], [0.00018576960757566105, 0.999954044961018, 0.009631176353467179], [0.010258362047762553, -0.00963308504359663, 0.9999007352405366]], 'translation vector': [0.002023687193802637, -0.005328769253949428, -0.0010872499872041086]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_61_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_61_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_61_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_61_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.996466, -0.001244, 0.083992], [-0.083908, 0.032374, 0.995948], [-0.003958, -0.999475, 0.032156]], 'translation vector': [2.320184, 5.772667, 1.343957]} B: {'rotation matrix': [[0.994982, 0.000179, 0.100051], [-0.099963, 0.043922, 0.994021], [-0.004216, -0.999035, 0.043719]], 'translation vector': [2.304385, 5.780403, 1.335008]} C: {'rotation matrix': [[0.995982, -5.3e-05, 0.089553], [-0.089485, 0.038471, 0.995245], [-0.003498, -0.99926, 0.038311]], 'translation vector': [2.323582, 5.777781, 1.339158]} D: {'rotation matrix': [[0.9997533523434441, 0.006129226982668424, -0.021333118212536917], [-0.0059433732378316425, 0.9999427902508286, 0.008815866423587717], [0.02138545815854184, -0.008687653795007199, 0.9997333060483455]], 'translation vector': [0.03726599986839263, -0.00376568964599322, 0.0024709716040858254]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.996466, -0.001244, 0.083992], [-0.083908, 0.032374, 0.995948], [-0.003958, -0.999475, 0.032156]], 'translation vector': [2.320184, 5.772667, 1.343957]} B: {'rotation matrix': [[0.994982, 0.000179, 0.100051], [-0.099963, 0.043922, 0.994021], [-0.004216, -0.999035, 0.043719]], 'translation vector': [2.304385, 5.780403, 1.335008]} C: {'rotation matrix': [[0.995982, -5.3e-05, 0.089553], [-0.089485, 0.038471, 0.995245], [-0.003498, -0.99926, 0.038311]], 'translation vector': [2.323582, 5.777781, 1.339158]} D: {'rotation matrix': [[0.9997533523434441, 0.006129226982668424, -0.021333118212536917], [-0.0059433732378316425, 0.9999427902508286, 0.008815866423587717], [0.02138545815854184, -0.008687653795007199, 0.9997333060483455]], 'translation vector': [0.03726599986839263, -0.00376568964599322, 0.0024709716040858254]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_62_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_62_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_62_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_62_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.980568, 0.060238, -0.186705], [0.195333, -0.388226, 0.900625], [-0.018232, -0.919594, -0.392448]], 'translation vector': [0.950732, 0.877848, 1.428266]} B: {'rotation matrix': [[0.980128, 0.059665, -0.18918], [0.197203, -0.396203, 0.896735], [-0.02145, -0.916222, -0.400096]], 'translation vector': [0.955184, 0.877183, 1.426427]} C: {'rotation matrix': [[0.979822, 0.061197, -0.190271], [0.198756, -0.398709, 0.89528], [-0.021074, -0.915034, -0.402827]], 'translation vector': [0.958185, 0.874355, 1.42036]} D: {'rotation matrix': [[0.9999275128023173, 0.008592189796214917, -0.008452948749791484], [-0.008364555101980847, 0.9996139276735185, 0.026478714279731284], [0.008677131864842291, -0.02640733905967608, 0.9996135651618278]], 'translation vector': [0.01623466192676637, 0.01524648577924892, 0.005088344597766196]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.980568, 0.060238, -0.186705], [0.195333, -0.388226, 0.900625], [-0.018232, -0.919594, -0.392448]], 'translation vector': [0.950732, 0.877848, 1.428266]} B: {'rotation matrix': [[0.980128, 0.059665, -0.18918], [0.197203, -0.396203, 0.896735], [-0.02145, -0.916222, -0.400096]], 'translation vector': [0.955184, 0.877183, 1.426427]} C: {'rotation matrix': [[0.979822, 0.061197, -0.190271], [0.198756, -0.398709, 0.89528], [-0.021074, -0.915034, -0.402827]], 'translation vector': [0.958185, 0.874355, 1.42036]} D: {'rotation matrix': [[0.9999275128023173, 0.008592189796214917, -0.008452948749791484], [-0.008364555101980847, 0.9996139276735185, 0.026478714279731284], [0.008677131864842291, -0.02640733905967608, 0.9996135651618278]], 'translation vector': [0.01623466192676637, 0.01524648577924892, 0.005088344597766196]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_63_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_63_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_63_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_63_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.986729, -0.120978, 0.108304], [-0.140205, -0.298357, 0.944101], [-0.081902, -0.946757, -0.311359]], 'translation vector': [1.126551, 1.554919, 1.507245]} B: {'rotation matrix': [[0.9999934208085578, -0.0036450224249741864, 0.00012972614797144], [0.003645024213464494, 0.9999784140945303, 0.005329513561381964], [-0.0001495669882096765, -0.005329922173518521, 0.999986531390115]], 'translation vector': [0.0031820360164642736, 0.0011599203443171113, -0.0008228633488331916]} C: {'rotation matrix': [[0.986279, -0.125902, 0.106787], [-0.140227, -0.297512, 0.944364], [-0.087128, -0.94638, -0.311084]], 'translation vector': [1.129178, 1.552708, 1.506911]} D: {'rotation matrix': [[0.987067, -0.117318, 0.109254], [-0.140068, -0.29963, 0.943717], [-0.077979, -0.946815, -0.312188]], 'translation vector': [1.12401, 1.557217, 1.508026]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.986729, -0.120978, 0.108304], [-0.140205, -0.298357, 0.944101], [-0.081902, -0.946757, -0.311359]], 'translation vector': [1.126551, 1.554919, 1.507245]} B: {'rotation matrix': [[0.9999934208085578, -0.0036450224249741864, 0.00012972614797144], [0.003645024213464494, 0.9999784140945303, 0.005329513561381964], [-0.0001495669882096765, -0.005329922173518521, 0.999986531390115]], 'translation vector': [0.0031820360164642736, 0.0011599203443171113, -0.0008228633488331916]} C: {'rotation matrix': [[0.986279, -0.125902, 0.106787], [-0.140227, -0.297512, 0.944364], [-0.087128, -0.94638, -0.311084]], 'translation vector': [1.129178, 1.552708, 1.506911]} D: {'rotation matrix': [[0.987067, -0.117318, 0.109254], [-0.140068, -0.29963, 0.943717], [-0.077979, -0.946815, -0.312188]], 'translation vector': [1.12401, 1.557217, 1.508026]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_64_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_64_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_64_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_64_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.34785, 0.12218, -0.929555], [0.936582, -0.000241, 0.350448], [0.042594, -0.992508, -0.114515]], 'translation vector': [2.709976, 2.082475, 1.464411]} B: {'rotation matrix': [[0.348346, 0.120067, -0.929645], [0.936396, 0.00053, 0.350944], [0.042629, -0.992766, -0.112245]], 'translation vector': [2.711116, 2.081261, 1.464473]} C: {'rotation matrix': [[0.9999996813993267, 0.0006538118368534332, -8.345927351154747e-06], [-0.0006528854877680812, 0.9999955547316733, 0.002915205326606667], [1.0134396361542957e-05, -0.002915969719233099, 0.9999961918791215]], 'translation vector': [-0.0015843322088442413, -0.00023090688010451998, -0.00020610665531961558]} D: {'rotation matrix': [[0.34832, 0.118845, -0.929811], [0.936428, 0.00049, 0.350861], [0.042154, -0.992913, -0.111119]], 'translation vector': [2.712512, 2.080143, 1.464219]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.34785, 0.12218, -0.929555], [0.936582, -0.000241, 0.350448], [0.042594, -0.992508, -0.114515]], 'translation vector': [2.709976, 2.082475, 1.464411]} B: {'rotation matrix': [[0.348346, 0.120067, -0.929645], [0.936396, 0.00053, 0.350944], [0.042629, -0.992766, -0.112245]], 'translation vector': [2.711116, 2.081261, 1.464473]} C: {'rotation matrix': [[0.9999996813993267, 0.0006538118368534332, -8.345927351154747e-06], [-0.0006528854877680812, 0.9999955547316733, 0.002915205326606667], [1.0134396361542957e-05, -0.002915969719233099, 0.9999961918791215]], 'translation vector': [-0.0015843322088442413, -0.00023090688010451998, -0.00020610665531961558]} D: {'rotation matrix': [[0.34832, 0.118845, -0.929811], [0.936428, 0.00049, 0.350861], [0.042154, -0.992913, -0.111119]], 'translation vector': [2.712512, 2.080143, 1.464219]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_65_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_65_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_65_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_65_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.436759, -0.378371, 0.816135], [-0.888864, -0.041911, 0.45625], [-0.138426, -0.924705, -0.354625]], 'translation vector': [2.634246, 6.766675, 1.418575]} B: {'rotation matrix': [[0.9999585207206515, -0.003693386756648477, 0.008341273999683681], [0.0038081841800440604, 0.9998961013275416, -0.013845142600948103], [-0.008289566528701709, 0.013875695158089622, 0.9998694901286989]], 'translation vector': [0.0023225809960010224, 0.0034699322670346255, -0.0016854173948939177]} C: {'rotation matrix': [[0.435508, -0.378095, 0.816931], [-0.889287, -0.039919, 0.455605], [-0.139651, -0.924906, -0.35362]], 'translation vector': [2.637863, 6.764602, 1.421504]} D: {'rotation matrix': [[0.436668, -0.378575, 0.81609], [-0.888812, -0.041337, 0.456404], [-0.139048, -0.924647, -0.354533]], 'translation vector': [2.636727, 6.764818, 1.421436]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.436759, -0.378371, 0.816135], [-0.888864, -0.041911, 0.45625], [-0.138426, -0.924705, -0.354625]], 'translation vector': [2.634246, 6.766675, 1.418575]} B: {'rotation matrix': [[0.9999585207206515, -0.003693386756648477, 0.008341273999683681], [0.0038081841800440604, 0.9998961013275416, -0.013845142600948103], [-0.008289566528701709, 0.013875695158089622, 0.9998694901286989]], 'translation vector': [0.0023225809960010224, 0.0034699322670346255, -0.0016854173948939177]} C: {'rotation matrix': [[0.435508, -0.378095, 0.816931], [-0.889287, -0.039919, 0.455605], [-0.139651, -0.924906, -0.35362]], 'translation vector': [2.637863, 6.764602, 1.421504]} D: {'rotation matrix': [[0.436668, -0.378575, 0.81609], [-0.888812, -0.041337, 0.456404], [-0.139048, -0.924647, -0.354533]], 'translation vector': [2.636727, 6.764818, 1.421436]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_66_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_66_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_66_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_66_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.994032, -0.08462, 0.068848], [-0.109061, -0.785368, 0.609346], [0.002509, -0.613218, -0.78991]], 'translation vector': [1.310442, 0.50567, 1.185464]} B: {'rotation matrix': [[0.994117, -0.083714, 0.068724], [-0.108266, -0.785982, 0.608696], [0.003059, -0.612556, -0.790421]], 'translation vector': [1.309119, 0.507232, 1.184932]} C: {'rotation matrix': [[0.9999858152282176, 0.005111825032549412, 0.0011655701624676482], [-0.005114663160965653, 0.9999842406155692, 0.0025048411154926643], [-0.0011536230586058512, -0.002510397377259177, 0.9999958649343827]], 'translation vector': [-0.003249111441538055, -0.00014047167946484862, 0.0018748641056286486]} D: {'rotation matrix': [[0.99397, -0.085854, 0.068209], [-0.109644, -0.78528, 0.609356], [0.001247, -0.61316, -0.789958]], 'translation vector': [1.312051, 0.504544, 1.186353]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.994032, -0.08462, 0.068848], [-0.109061, -0.785368, 0.609346], [0.002509, -0.613218, -0.78991]], 'translation vector': [1.310442, 0.50567, 1.185464]} B: {'rotation matrix': [[0.994117, -0.083714, 0.068724], [-0.108266, -0.785982, 0.608696], [0.003059, -0.612556, -0.790421]], 'translation vector': [1.309119, 0.507232, 1.184932]} C: {'rotation matrix': [[0.9999858152282176, 0.005111825032549412, 0.0011655701624676482], [-0.005114663160965653, 0.9999842406155692, 0.0025048411154926643], [-0.0011536230586058512, -0.002510397377259177, 0.9999958649343827]], 'translation vector': [-0.003249111441538055, -0.00014047167946484862, 0.0018748641056286486]} D: {'rotation matrix': [[0.99397, -0.085854, 0.068209], [-0.109644, -0.78528, 0.609356], [0.001247, -0.61316, -0.789958]], 'translation vector': [1.312051, 0.504544, 1.186353]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_67_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_67_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_67_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_67_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.184838, -0.635323, 0.7498], [-0.98276, 0.116273, -0.143746], [0.004144, -0.763444, -0.645861]], 'translation vector': [1.003433, 1.175637, 1.437383]} B: {'rotation matrix': [[-0.184201, -0.636583, 0.748887], [-0.982879, 0.11585, -0.143279], [0.00445, -0.762457, -0.647023]], 'translation vector': [1.004527, 1.174467, 1.438164]} C: {'rotation matrix': [[-0.184847, -0.63596, 0.749258], [-0.982754, 0.115597, -0.144335], [0.005179, -0.763016, -0.646359]], 'translation vector': [1.003287, 1.175642, 1.437097]} D: {'rotation matrix': [[0.9999986055688241, -0.001502869212153915, -0.0010557523049182509], [0.0014994906185130158, 0.9999931829288878, -0.003258507979167455], [0.0010610991854197703, 0.003257203501798957, 0.999994335142242]], 'translation vector': [0.0018601875903911935, -0.0006944560630759433, -0.0003289584369169929]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.184838, -0.635323, 0.7498], [-0.98276, 0.116273, -0.143746], [0.004144, -0.763444, -0.645861]], 'translation vector': [1.003433, 1.175637, 1.437383]} B: {'rotation matrix': [[-0.184201, -0.636583, 0.748887], [-0.982879, 0.11585, -0.143279], [0.00445, -0.762457, -0.647023]], 'translation vector': [1.004527, 1.174467, 1.438164]} C: {'rotation matrix': [[-0.184847, -0.63596, 0.749258], [-0.982754, 0.115597, -0.144335], [0.005179, -0.763016, -0.646359]], 'translation vector': [1.003287, 1.175642, 1.437097]} D: {'rotation matrix': [[0.9999986055688241, -0.001502869212153915, -0.0010557523049182509], [0.0014994906185130158, 0.9999931829288878, -0.003258507979167455], [0.0010610991854197703, 0.003257203501798957, 0.999994335142242]], 'translation vector': [0.0018601875903911935, -0.0006944560630759433, -0.0003289584369169929]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_68_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_68_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_68_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_68_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.200306, -0.502555, 0.841021], [-0.979587, 0.117581, -0.163047], [-0.016948, -0.856512, -0.515849]], 'translation vector': [2.912164, 4.287547, 1.28791]} B: {'rotation matrix': [[0.9999873120379679, 0.002880995332778331, 0.004067114056895998], [-0.002882835524779029, 0.9999951519449766, 0.0005437699978073844], [-0.004064760122873662, -0.0005563594395375273, 0.9999918873961958]], 'translation vector': [-0.0006376699678316555, 0.00863085045062073, -0.004612247460962893]} C: {'rotation matrix': [[-0.196493, -0.497947, 0.844654], [-0.980345, 0.115377, -0.160041], [-0.017762, -0.859498, -0.51083]], 'translation vector': [2.914041, 4.284364, 1.288676]} D: {'rotation matrix': [[-0.191542, -0.494391, 0.847873], [-0.981313, 0.112624, -0.156017], [-0.018357, -0.861913, -0.506724]], 'translation vector': [2.915548, 4.280207, 1.289523]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.200306, -0.502555, 0.841021], [-0.979587, 0.117581, -0.163047], [-0.016948, -0.856512, -0.515849]], 'translation vector': [2.912164, 4.287547, 1.28791]} B: {'rotation matrix': [[0.9999873120379679, 0.002880995332778331, 0.004067114056895998], [-0.002882835524779029, 0.9999951519449766, 0.0005437699978073844], [-0.004064760122873662, -0.0005563594395375273, 0.9999918873961958]], 'translation vector': [-0.0006376699678316555, 0.00863085045062073, -0.004612247460962893]} C: {'rotation matrix': [[-0.196493, -0.497947, 0.844654], [-0.980345, 0.115377, -0.160041], [-0.017762, -0.859498, -0.51083]], 'translation vector': [2.914041, 4.284364, 1.288676]} D: {'rotation matrix': [[-0.191542, -0.494391, 0.847873], [-0.981313, 0.112624, -0.156017], [-0.018357, -0.861913, -0.506724]], 'translation vector': [2.915548, 4.280207, 1.289523]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_69_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_69_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_69_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_69_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.734788, 0.391108, -0.554185], [0.678289, 0.419895, -0.603003], [-0.00314, -0.818977, -0.573818]], 'translation vector': [5.172049, 2.206823, 1.423276]} B: {'rotation matrix': [[-0.735622, 0.390311, -0.55364], [0.677385, 0.420178, -0.603821], [-0.003051, -0.819212, -0.573483]], 'translation vector': [5.170603, 2.207022, 1.424387]} C: {'rotation matrix': [[0.9999900939462747, -0.004290505816425898, 0.0009195812709430778], [0.0042999758462496885, 0.9999235506202053, -0.011514550430676607], [-0.0008694094505867219, 0.011517701317526751, 0.9999331376988827]], 'translation vector': [-0.00082889643265327, -0.0036811171481734295, -0.003335935402839496]} D: {'rotation matrix': [[-0.734029, 0.39088, -0.55535], [0.679109, 0.418321, -0.603174], [-0.003454, -0.81989, -0.57251]], 'translation vector': [5.174113, 2.207384, 1.421993]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.734788, 0.391108, -0.554185], [0.678289, 0.419895, -0.603003], [-0.00314, -0.818977, -0.573818]], 'translation vector': [5.172049, 2.206823, 1.423276]} B: {'rotation matrix': [[-0.735622, 0.390311, -0.55364], [0.677385, 0.420178, -0.603821], [-0.003051, -0.819212, -0.573483]], 'translation vector': [5.170603, 2.207022, 1.424387]} C: {'rotation matrix': [[0.9999900939462747, -0.004290505816425898, 0.0009195812709430778], [0.0042999758462496885, 0.9999235506202053, -0.011514550430676607], [-0.0008694094505867219, 0.011517701317526751, 0.9999331376988827]], 'translation vector': [-0.00082889643265327, -0.0036811171481734295, -0.003335935402839496]} D: {'rotation matrix': [[-0.734029, 0.39088, -0.55535], [0.679109, 0.418321, -0.603174], [-0.003454, -0.81989, -0.57251]], 'translation vector': [5.174113, 2.207384, 1.421993]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_70_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_70_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_70_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_70_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.231441, -0.548452, 0.803514], [-0.97266, -0.114172, 0.202231], [-0.019175, -0.828351, -0.559882]], 'translation vector': [1.70644, 2.067417, 1.36452]} B: {'rotation matrix': [[0.226329, -0.547002, 0.805955], [-0.973947, -0.114973, 0.195472], [-0.01426, -0.829199, -0.558772]], 'translation vector': [1.704179, 2.073727, 1.363978]} C: {'rotation matrix': [[0.9999250411381765, -0.0006651889723176079, -0.012145965376701085], [0.0006720606381267904, 0.999998823757648, 0.0005907315128157197], [0.012145773622422931, -0.0005986694012902582, 0.9999254709423802]], 'translation vector': [0.004506212132421972, 0.005377300872088764, -0.0022216956686449407]} D: {'rotation matrix': [[0.220852, -0.547607, 0.807063], [-0.975257, -0.115603, 0.188439], [-0.009892, -0.828711, -0.559589]], 'translation vector': [1.70298, 2.078271, 1.364741]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.231441, -0.548452, 0.803514], [-0.97266, -0.114172, 0.202231], [-0.019175, -0.828351, -0.559882]], 'translation vector': [1.70644, 2.067417, 1.36452]} B: {'rotation matrix': [[0.226329, -0.547002, 0.805955], [-0.973947, -0.114973, 0.195472], [-0.01426, -0.829199, -0.558772]], 'translation vector': [1.704179, 2.073727, 1.363978]} C: {'rotation matrix': [[0.9999250411381765, -0.0006651889723176079, -0.012145965376701085], [0.0006720606381267904, 0.999998823757648, 0.0005907315128157197], [0.012145773622422931, -0.0005986694012902582, 0.9999254709423802]], 'translation vector': [0.004506212132421972, 0.005377300872088764, -0.0022216956686449407]} D: {'rotation matrix': [[0.220852, -0.547607, 0.807063], [-0.975257, -0.115603, 0.188439], [-0.009892, -0.828711, -0.559589]], 'translation vector': [1.70298, 2.078271, 1.364741]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_71_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_71_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_71_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_71_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.122634, -0.436101, 0.891503], [-0.989963, 0.117329, -0.078783], [-0.070242, -0.892216, -0.446113]], 'translation vector': [3.397121, 4.680246, 1.399477]} B: {'rotation matrix': [[-0.131936, -0.437064, 0.889701], [-0.988639, 0.123231, -0.08607], [-0.072021, -0.890949, -0.448357]], 'translation vector': [3.380324, 4.680538, 1.400463]} C: {'rotation matrix': [[0.9999977526314023, 0.0018483257426729351, -0.00041760047623725873], [-0.0018481932934636253, 0.9999980766573896, 0.00088155464161366], [0.00041944957876658323, -0.0008809692307902862, 0.9999991600629605]], 'translation vector': [0.0013914092466897898, -0.0023350058272084695, 0.005488229626908758]} D: {'rotation matrix': [[-0.127448, -0.436966, 0.890403], [-0.989339, 0.119783, -0.082825], [-0.070464, -0.891467, -0.447574]], 'translation vector': [3.388002, 4.681844, 1.400749]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.122634, -0.436101, 0.891503], [-0.989963, 0.117329, -0.078783], [-0.070242, -0.892216, -0.446113]], 'translation vector': [3.397121, 4.680246, 1.399477]} B: {'rotation matrix': [[-0.131936, -0.437064, 0.889701], [-0.988639, 0.123231, -0.08607], [-0.072021, -0.890949, -0.448357]], 'translation vector': [3.380324, 4.680538, 1.400463]} C: {'rotation matrix': [[0.9999977526314023, 0.0018483257426729351, -0.00041760047623725873], [-0.0018481932934636253, 0.9999980766573896, 0.00088155464161366], [0.00041944957876658323, -0.0008809692307902862, 0.9999991600629605]], 'translation vector': [0.0013914092466897898, -0.0023350058272084695, 0.005488229626908758]} D: {'rotation matrix': [[-0.127448, -0.436966, 0.890403], [-0.989339, 0.119783, -0.082825], [-0.070464, -0.891467, -0.447574]], 'translation vector': [3.388002, 4.681844, 1.400749]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_72_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_72_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_72_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_72_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.018523, 0.490425, -0.871286], [0.99775, 0.065233, 0.015507], [0.064442, -0.869039, -0.49053]], 'translation vector': [3.293662, 2.081986, 1.287803]} B: {'rotation matrix': [[-0.012031, 0.49001, -0.871634], [0.99805, 0.059277, 0.019548], [0.061246, -0.869699, -0.489768]], 'translation vector': [3.297196, 2.086649, 1.289788]} C: {'rotation matrix': [[0.9998524821662119, 0.011110486941731442, -0.013083720076090504], [-0.011104516921568186, 0.9999377181682902, 0.0005342849090069752], [0.013088749073536516, -0.0003893477266632072, 0.9999144546094512]], 'translation vector': [-0.004299120253105748, -0.007367168150444914, 0.008875125679755236]} D: {'rotation matrix': [[-0.025914, 0.492003, -0.870208], [0.997577, 0.068946, 0.009274], [0.06456, -0.867859, -0.492598]], 'translation vector': [3.28927, 2.078913, 1.287729]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.018523, 0.490425, -0.871286], [0.99775, 0.065233, 0.015507], [0.064442, -0.869039, -0.49053]], 'translation vector': [3.293662, 2.081986, 1.287803]} B: {'rotation matrix': [[-0.012031, 0.49001, -0.871634], [0.99805, 0.059277, 0.019548], [0.061246, -0.869699, -0.489768]], 'translation vector': [3.297196, 2.086649, 1.289788]} C: {'rotation matrix': [[0.9998524821662119, 0.011110486941731442, -0.013083720076090504], [-0.011104516921568186, 0.9999377181682902, 0.0005342849090069752], [0.013088749073536516, -0.0003893477266632072, 0.9999144546094512]], 'translation vector': [-0.004299120253105748, -0.007367168150444914, 0.008875125679755236]} D: {'rotation matrix': [[-0.025914, 0.492003, -0.870208], [0.997577, 0.068946, 0.009274], [0.06456, -0.867859, -0.492598]], 'translation vector': [3.28927, 2.078913, 1.287729]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_73_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_73_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_73_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_73_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.963707, 0.155577, -0.216944], [0.257928, 0.333002, -0.906964], [-0.06886, -0.930003, -0.361044]], 'translation vector': [5.977247, 2.820638, 1.467431]} B: {'rotation matrix': [[-0.963568, 0.155178, -0.217846], [0.258718, 0.334184, -0.906303], [-0.067837, -0.929646, -0.362157]], 'translation vector': [5.975011, 2.821235, 1.467201]} C: {'rotation matrix': [[-0.963289, 0.1552, -0.219062], [0.259892, 0.33449, -0.905855], [-0.067315, -0.929532, -0.362545]], 'translation vector': [5.973778, 2.820463, 1.46621]} D: {'rotation matrix': [[0.9999997264810032, 0.0001398888061159318, -0.0006664023459939352], [-0.00013916119976689398, 1.0000000334978612, 0.0010113123861037441], [0.0006662597489821222, -0.0010109047313490711, 0.9999993871422703]], 'translation vector': [0.0010522232087115668, -0.0015450075589019119, 0.0008995589608247201]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.963707, 0.155577, -0.216944], [0.257928, 0.333002, -0.906964], [-0.06886, -0.930003, -0.361044]], 'translation vector': [5.977247, 2.820638, 1.467431]} B: {'rotation matrix': [[-0.963568, 0.155178, -0.217846], [0.258718, 0.334184, -0.906303], [-0.067837, -0.929646, -0.362157]], 'translation vector': [5.975011, 2.821235, 1.467201]} C: {'rotation matrix': [[-0.963289, 0.1552, -0.219062], [0.259892, 0.33449, -0.905855], [-0.067315, -0.929532, -0.362545]], 'translation vector': [5.973778, 2.820463, 1.46621]} D: {'rotation matrix': [[0.9999997264810032, 0.0001398888061159318, -0.0006664023459939352], [-0.00013916119976689398, 1.0000000334978612, 0.0010113123861037441], [0.0006662597489821222, -0.0010109047313490711, 0.9999993871422703]], 'translation vector': [0.0010522232087115668, -0.0015450075589019119, 0.0008995589608247201]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_74_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_74_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_74_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_74_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.608915, -0.355061, 0.709333], [-0.792506, -0.310645, 0.524818], [0.034009, -0.881721, -0.470545]], 'translation vector': [3.226315, 3.403534, 1.349898]} B: {'rotation matrix': [[0.615195, -0.359882, 0.701442], [-0.787888, -0.311929, 0.530973], [0.027713, -0.87931, -0.475444]], 'translation vector': [3.233385, 3.405524, 1.366998]} C: {'rotation matrix': [[0.613018, -0.357666, 0.704474], [-0.789518, -0.310613, 0.529321], [0.029499, -0.880678, -0.472795]], 'translation vector': [3.232441, 3.405463, 1.362879]} D: {'rotation matrix': [[0.9997863328706507, 0.00048772072536455783, -0.020639341477887214], [-0.000435326360773427, 0.9999962939853105, 0.002563461941184151], [0.020641174681034113, -0.002552850852538859, 0.9997836062327491]], 'translation vector': [0.014979793826815802, -0.00028266630712581176, -0.003454343250508085]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.608915, -0.355061, 0.709333], [-0.792506, -0.310645, 0.524818], [0.034009, -0.881721, -0.470545]], 'translation vector': [3.226315, 3.403534, 1.349898]} B: {'rotation matrix': [[0.615195, -0.359882, 0.701442], [-0.787888, -0.311929, 0.530973], [0.027713, -0.87931, -0.475444]], 'translation vector': [3.233385, 3.405524, 1.366998]} C: {'rotation matrix': [[0.613018, -0.357666, 0.704474], [-0.789518, -0.310613, 0.529321], [0.029499, -0.880678, -0.472795]], 'translation vector': [3.232441, 3.405463, 1.362879]} D: {'rotation matrix': [[0.9997863328706507, 0.00048772072536455783, -0.020639341477887214], [-0.000435326360773427, 0.9999962939853105, 0.002563461941184151], [0.020641174681034113, -0.002552850852538859, 0.9997836062327491]], 'translation vector': [0.014979793826815802, -0.00028266630712581176, -0.003454343250508085]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_75_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_75_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_75_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_75_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999991463733822, 0.0008702753414361648, -0.0009523887468317617], [-0.0008598677378153328, 0.999935869624125, 0.011274652427134848], [0.0009622841974666614, -0.011274638788349072, 0.9999353623727418]], 'translation vector': [-0.0018668216035679919, 0.003964358597176476, 0.0035095844812185473]} B: {'rotation matrix': [[0.995169, 0.04021, -0.089565], [0.098119, -0.43886, 0.893182], [-0.003392, -0.897655, -0.440686]], 'translation vector': [3.819187, 1.33594, 1.360146]} C: {'rotation matrix': [[0.994619, 0.036032, -0.097136], [0.10302, -0.443404, 0.890382], [-0.010989, -0.895597, -0.44473]], 'translation vector': [3.820524, 1.337409, 1.359976]} D: {'rotation matrix': [[0.995617, 0.045838, -0.081525], [0.09337, -0.436452, 0.89487], [0.005437, -0.898559, -0.438819]], 'translation vector': [3.821348, 1.335292, 1.36241]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999991463733822, 0.0008702753414361648, -0.0009523887468317617], [-0.0008598677378153328, 0.999935869624125, 0.011274652427134848], [0.0009622841974666614, -0.011274638788349072, 0.9999353623727418]], 'translation vector': [-0.0018668216035679919, 0.003964358597176476, 0.0035095844812185473]} B: {'rotation matrix': [[0.995169, 0.04021, -0.089565], [0.098119, -0.43886, 0.893182], [-0.003392, -0.897655, -0.440686]], 'translation vector': [3.819187, 1.33594, 1.360146]} C: {'rotation matrix': [[0.994619, 0.036032, -0.097136], [0.10302, -0.443404, 0.890382], [-0.010989, -0.895597, -0.44473]], 'translation vector': [3.820524, 1.337409, 1.359976]} D: {'rotation matrix': [[0.995617, 0.045838, -0.081525], [0.09337, -0.436452, 0.89487], [0.005437, -0.898559, -0.438819]], 'translation vector': [3.821348, 1.335292, 1.36241]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_76_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_76_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_76_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_76_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.882555, 0.386221, -0.268197], [0.46123, 0.600144, -0.653524], [-0.091448, -0.700472, -0.707797]], 'translation vector': [4.952963, 3.575409, 1.461658]} B: {'rotation matrix': [[-0.884605, 0.387053, -0.260122], [0.456774, 0.606746, -0.650551], [-0.09397, -0.694298, -0.713526]], 'translation vector': [4.944654, 3.579183, 1.459738]} C: {'rotation matrix': [[-0.883899, 0.386346, -0.263552], [0.458302, 0.603262, -0.652713], [-0.093182, -0.697719, -0.710286]], 'translation vector': [4.946745, 3.577697, 1.460677]} D: {'rotation matrix': [[0.9999447182645155, 0.005004874877878123, -0.00920632642357687], [-0.0050456554798214885, 0.9999777740634089, -0.004314913443862226], [0.009184864298060464, 0.004360756390993736, 0.9999481114756171]], 'translation vector': [0.007685923361448133, 0.0066471354724360054, 0.0017036092209536946]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.882555, 0.386221, -0.268197], [0.46123, 0.600144, -0.653524], [-0.091448, -0.700472, -0.707797]], 'translation vector': [4.952963, 3.575409, 1.461658]} B: {'rotation matrix': [[-0.884605, 0.387053, -0.260122], [0.456774, 0.606746, -0.650551], [-0.09397, -0.694298, -0.713526]], 'translation vector': [4.944654, 3.579183, 1.459738]} C: {'rotation matrix': [[-0.883899, 0.386346, -0.263552], [0.458302, 0.603262, -0.652713], [-0.093182, -0.697719, -0.710286]], 'translation vector': [4.946745, 3.577697, 1.460677]} D: {'rotation matrix': [[0.9999447182645155, 0.005004874877878123, -0.00920632642357687], [-0.0050456554798214885, 0.9999777740634089, -0.004314913443862226], [0.009184864298060464, 0.004360756390993736, 0.9999481114756171]], 'translation vector': [0.007685923361448133, 0.0066471354724360054, 0.0017036092209536946]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_77_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_77_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_77_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_77_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.625113, 0.311868, -0.715523], [0.780406, -0.266348, 0.565708], [-0.014152, -0.912029, -0.409881]], 'translation vector': [1.602076, 0.627028, 1.325196]} B: {'rotation matrix': [[0.622635, 0.31497, -0.716324], [0.782419, -0.264717, 0.563689], [-0.012077, -0.911438, -0.411261]], 'translation vector': [1.601839, 0.627416, 1.324643]} C: {'rotation matrix': [[0.624152, 0.313246, -0.715759], [0.781196, -0.26537, 0.565077], [-0.012933, -0.911842, -0.410338]], 'translation vector': [1.601807, 0.626749, 1.324787]} D: {'rotation matrix': [[0.999966975162773, 0.003632343802915245, 0.007281117690826753], [-0.0036218018444724924, 0.9999920045733598, -0.0017116834889060193], [-0.007286301405287572, 0.0016849146368096719, 0.9999717827304806]], 'translation vector': [-0.0025932164044990547, 0.0007159923074403496, -0.0006736212556601728]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.625113, 0.311868, -0.715523], [0.780406, -0.266348, 0.565708], [-0.014152, -0.912029, -0.409881]], 'translation vector': [1.602076, 0.627028, 1.325196]} B: {'rotation matrix': [[0.622635, 0.31497, -0.716324], [0.782419, -0.264717, 0.563689], [-0.012077, -0.911438, -0.411261]], 'translation vector': [1.601839, 0.627416, 1.324643]} C: {'rotation matrix': [[0.624152, 0.313246, -0.715759], [0.781196, -0.26537, 0.565077], [-0.012933, -0.911842, -0.410338]], 'translation vector': [1.601807, 0.626749, 1.324787]} D: {'rotation matrix': [[0.999966975162773, 0.003632343802915245, 0.007281117690826753], [-0.0036218018444724924, 0.9999920045733598, -0.0017116834889060193], [-0.007286301405287572, 0.0016849146368096719, 0.9999717827304806]], 'translation vector': [-0.0025932164044990547, 0.0007159923074403496, -0.0006736212556601728]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_78_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_78_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_78_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_78_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.198116, 0.271577, -0.941805], [0.979964, -0.034779, 0.196115], [0.020505, -0.961788, -0.273026]], 'translation vector': [3.606948, 3.761193, 1.556592]} B: {'rotation matrix': [[0.193825, 0.274451, -0.941864], [0.980909, -0.038747, 0.19057], [0.015807, -0.96082, -0.276722]], 'translation vector': [3.608205, 3.76769, 1.544741]} C: {'rotation matrix': [[0.999997674889758, 0.0021739401100205674, -0.00025104493249259135], [-0.002175952729401346, 0.9999848730149307, -0.004981286419615835], [0.0002396488755047073, 0.004981659902978713, 0.9999879544274658]], 'translation vector': [0.0009190453627176964, -0.0033553865594018184, -0.0035327864721872437]} D: {'rotation matrix': [[0.190217, 0.28361, -0.939884], [0.981635, -0.040777, 0.186362], [0.014528, -0.958072, -0.286158]], 'translation vector': [3.605221, 3.771751, 1.549751]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.198116, 0.271577, -0.941805], [0.979964, -0.034779, 0.196115], [0.020505, -0.961788, -0.273026]], 'translation vector': [3.606948, 3.761193, 1.556592]} B: {'rotation matrix': [[0.193825, 0.274451, -0.941864], [0.980909, -0.038747, 0.19057], [0.015807, -0.96082, -0.276722]], 'translation vector': [3.608205, 3.76769, 1.544741]} C: {'rotation matrix': [[0.999997674889758, 0.0021739401100205674, -0.00025104493249259135], [-0.002175952729401346, 0.9999848730149307, -0.004981286419615835], [0.0002396488755047073, 0.004981659902978713, 0.9999879544274658]], 'translation vector': [0.0009190453627176964, -0.0033553865594018184, -0.0035327864721872437]} D: {'rotation matrix': [[0.190217, 0.28361, -0.939884], [0.981635, -0.040777, 0.186362], [0.014528, -0.958072, -0.286158]], 'translation vector': [3.605221, 3.771751, 1.549751]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_79_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_79_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_79_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_79_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.631227, -0.321947, 0.705622], [-0.775405, -0.28226, 0.564869], [0.017311, -0.903703, -0.427809]], 'translation vector': [-0.207113, 0.785695, 1.605991]} B: {'rotation matrix': [[0.9999995913321388, 0.0005903556746734515, -0.0005873839987845575], [-0.0005915541354645518, 0.9999966980036584, -0.0023348317149788846], [0.0005870160507556152, 0.00233575631512544, 0.9999968115853851]], 'translation vector': [0.0016624461367128474, -0.0028184747771204943, -0.001607026045218174]} C: {'rotation matrix': [[0.628117, -0.317695, 0.71031], [-0.777888, -0.278629, 0.563255], [0.018969, -0.906331, -0.422142]], 'translation vector': [-0.210483, 0.781575, 1.607029]} D: {'rotation matrix': [[0.626043, -0.313657, 0.713926], [-0.779508, -0.27628, 0.562171], [0.020914, -0.908454, -0.417462]], 'translation vector': [-0.212996, 0.77858, 1.610364]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.631227, -0.321947, 0.705622], [-0.775405, -0.28226, 0.564869], [0.017311, -0.903703, -0.427809]], 'translation vector': [-0.207113, 0.785695, 1.605991]} B: {'rotation matrix': [[0.9999995913321388, 0.0005903556746734515, -0.0005873839987845575], [-0.0005915541354645518, 0.9999966980036584, -0.0023348317149788846], [0.0005870160507556152, 0.00233575631512544, 0.9999968115853851]], 'translation vector': [0.0016624461367128474, -0.0028184747771204943, -0.001607026045218174]} C: {'rotation matrix': [[0.628117, -0.317695, 0.71031], [-0.777888, -0.278629, 0.563255], [0.018969, -0.906331, -0.422142]], 'translation vector': [-0.210483, 0.781575, 1.607029]} D: {'rotation matrix': [[0.626043, -0.313657, 0.713926], [-0.779508, -0.27628, 0.562171], [0.020914, -0.908454, -0.417462]], 'translation vector': [-0.212996, 0.77858, 1.610364]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_80_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_80_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_80_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_80_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999006085846415, 0.014105987403183131, 0.0007516964397581732], [-0.014115634211093402, 0.9997972933579915, 0.014373215967786759], [-0.0005489990557007766, -0.014382715808085993, 0.9998969169271865]], 'translation vector': [-0.02535757146051898, 0.0018154305901567636, 0.010236799804218322]} B: {'rotation matrix': [[0.151948, 0.599833, -0.785565], [0.987995, -0.114601, 0.103597], [-0.027885, -0.791875, -0.610046]], 'translation vector': [3.432288, 3.133084, 1.213871]} C: {'rotation matrix': [[0.14922, 0.604558, -0.78246], [0.988532, -0.109774, 0.103704], [-0.023198, -0.788961, -0.614005]], 'translation vector': [3.429968, 3.121084, 1.211424]} D: {'rotation matrix': [[0.14748, 0.608832, -0.77947], [0.988883, -0.105872, 0.104407], [-0.018958, -0.786202, -0.617678]], 'translation vector': [3.426714, 3.1102, 1.209074]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999006085846415, 0.014105987403183131, 0.0007516964397581732], [-0.014115634211093402, 0.9997972933579915, 0.014373215967786759], [-0.0005489990557007766, -0.014382715808085993, 0.9998969169271865]], 'translation vector': [-0.02535757146051898, 0.0018154305901567636, 0.010236799804218322]} B: {'rotation matrix': [[0.151948, 0.599833, -0.785565], [0.987995, -0.114601, 0.103597], [-0.027885, -0.791875, -0.610046]], 'translation vector': [3.432288, 3.133084, 1.213871]} C: {'rotation matrix': [[0.14922, 0.604558, -0.78246], [0.988532, -0.109774, 0.103704], [-0.023198, -0.788961, -0.614005]], 'translation vector': [3.429968, 3.121084, 1.211424]} D: {'rotation matrix': [[0.14748, 0.608832, -0.77947], [0.988883, -0.105872, 0.104407], [-0.018958, -0.786202, -0.617678]], 'translation vector': [3.426714, 3.1102, 1.209074]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_81_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_81_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_81_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_81_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.720072, 0.306191, -0.62269], [0.693309, -0.280455, 0.663829], [0.028622, -0.909721, -0.414232]], 'translation vector': [3.433251, 3.053234, 1.552574]} B: {'rotation matrix': [[0.715824, 0.307759, -0.626802], [0.697706, -0.278807, 0.659904], [0.028335, -0.909698, -0.414302]], 'translation vector': [3.42786, 3.050569, 1.552797]} C: {'rotation matrix': [[0.99998073687791, -0.005433231351435887, 0.0028092605219069734], [0.0054430621429484745, 0.9999793374936902, -0.0033485077732525377], [-0.00279094918696337, 0.0033635449074639256, 0.9999906279011188]], 'translation vector': [0.0048247922808197785, -0.007326500694675886, 7.779843116662022e-05]} D: {'rotation matrix': [[0.717959, 0.306862, -0.624797], [0.695515, -0.279904, 0.66175], [0.028183, -0.909665, -0.414386]], 'translation vector': [3.431505, 3.053102, 1.552563]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.720072, 0.306191, -0.62269], [0.693309, -0.280455, 0.663829], [0.028622, -0.909721, -0.414232]], 'translation vector': [3.433251, 3.053234, 1.552574]} B: {'rotation matrix': [[0.715824, 0.307759, -0.626802], [0.697706, -0.278807, 0.659904], [0.028335, -0.909698, -0.414302]], 'translation vector': [3.42786, 3.050569, 1.552797]} C: {'rotation matrix': [[0.99998073687791, -0.005433231351435887, 0.0028092605219069734], [0.0054430621429484745, 0.9999793374936902, -0.0033485077732525377], [-0.00279094918696337, 0.0033635449074639256, 0.9999906279011188]], 'translation vector': [0.0048247922808197785, -0.007326500694675886, 7.779843116662022e-05]} D: {'rotation matrix': [[0.717959, 0.306862, -0.624797], [0.695515, -0.279904, 0.66175], [0.028183, -0.909665, -0.414386]], 'translation vector': [3.431505, 3.053102, 1.552563]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_82_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_82_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_82_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_82_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.863341, -0.254981, 0.435461], [-0.503057, 0.367008, -0.782457], [0.039694, -0.894589, -0.445123]], 'translation vector': [2.006748, 3.81545, 1.542323]} B: {'rotation matrix': [[-0.863173, -0.254818, 0.43589], [-0.503388, 0.367381, -0.782069], [0.039148, -0.894483, -0.445386]], 'translation vector': [2.007018, 3.816806, 1.542476]} C: {'rotation matrix': [[-0.863454, -0.255279, 0.435064], [-0.502805, 0.366433, -0.782888], [0.040433, -0.89474, -0.444754]], 'translation vector': [2.007318, 3.814646, 1.54216]} D: {'rotation matrix': [[0.9999972277888285, -0.0019486605164344517, 0.0010264732410869921], [0.0019490971963479567, 0.9999969267726074, -0.0010703044149313807], [-0.0010241404575203601, 0.0010719252856060263, 0.9999989421516985]], 'translation vector': [-0.0025894589048998107, 0.007141119527829198, -0.0014552230705469071]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.863341, -0.254981, 0.435461], [-0.503057, 0.367008, -0.782457], [0.039694, -0.894589, -0.445123]], 'translation vector': [2.006748, 3.81545, 1.542323]} B: {'rotation matrix': [[-0.863173, -0.254818, 0.43589], [-0.503388, 0.367381, -0.782069], [0.039148, -0.894483, -0.445386]], 'translation vector': [2.007018, 3.816806, 1.542476]} C: {'rotation matrix': [[-0.863454, -0.255279, 0.435064], [-0.502805, 0.366433, -0.782888], [0.040433, -0.89474, -0.444754]], 'translation vector': [2.007318, 3.814646, 1.54216]} D: {'rotation matrix': [[0.9999972277888285, -0.0019486605164344517, 0.0010264732410869921], [0.0019490971963479567, 0.9999969267726074, -0.0010703044149313807], [-0.0010241404575203601, 0.0010719252856060263, 0.9999989421516985]], 'translation vector': [-0.0025894589048998107, 0.007141119527829198, -0.0014552230705469071]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_83_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_83_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_83_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_83_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.987787, 0.108072, -0.112241], [0.155697, -0.656841, 0.73778], [0.006009, -0.746244, -0.665645]], 'translation vector': [4.649458, 4.057209, 1.404581]} B: {'rotation matrix': [[0.988022, 0.106035, -0.112112], [0.15424, -0.656197, 0.738658], [0.004756, -0.747102, -0.664692]], 'translation vector': [4.650307, 4.057695, 1.405486]} C: {'rotation matrix': [[0.9999939235077703, -0.0009864268743032946, -0.003107875618402941], [0.0009789613139893545, 0.9999966009200537, -0.0022176346298812244], [0.003110843270450784, 0.0022141652882606867, 0.9999926277610204]], 'translation vector': [-0.007831508873088033, -0.00424079700623059, -0.0006393879079424902]} D: {'rotation matrix': [[0.987654, 0.108357, -0.113131], [0.15654, -0.65545, 0.738837], [0.005906, -0.747425, -0.66432]], 'translation vector': [4.648766, 4.054578, 1.401957]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.987787, 0.108072, -0.112241], [0.155697, -0.656841, 0.73778], [0.006009, -0.746244, -0.665645]], 'translation vector': [4.649458, 4.057209, 1.404581]} B: {'rotation matrix': [[0.988022, 0.106035, -0.112112], [0.15424, -0.656197, 0.738658], [0.004756, -0.747102, -0.664692]], 'translation vector': [4.650307, 4.057695, 1.405486]} C: {'rotation matrix': [[0.9999939235077703, -0.0009864268743032946, -0.003107875618402941], [0.0009789613139893545, 0.9999966009200537, -0.0022176346298812244], [0.003110843270450784, 0.0022141652882606867, 0.9999926277610204]], 'translation vector': [-0.007831508873088033, -0.00424079700623059, -0.0006393879079424902]} D: {'rotation matrix': [[0.987654, 0.108357, -0.113131], [0.15654, -0.65545, 0.738837], [0.005906, -0.747425, -0.66432]], 'translation vector': [4.648766, 4.054578, 1.401957]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_84_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_84_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_84_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_84_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9997717908276891, -0.014061705239683872, 0.016112763216433307], [0.0140800110532502, 0.9999007363199941, -0.0010460438789438157], [-0.01609611583081038, 0.0012720455953134791, 0.9998692891144138]], 'translation vector': [-0.018076948566243978, 0.0017768934909982992, 0.0006580952284183095]} B: {'rotation matrix': [[-0.782674, -0.257014, 0.566891], [-0.62216, 0.296092, -0.724739], [0.018416, -0.919931, -0.391647]], 'translation vector': [3.075882, 2.930909, 1.465913]} C: {'rotation matrix': [[-0.790591, -0.247688, 0.560015], [-0.61223, 0.301979, -0.730742], [0.011883, -0.920576, -0.390384]], 'translation vector': [3.085087, 2.935415, 1.467454]} D: {'rotation matrix': [[-0.773889, -0.266244, 0.574639], [-0.632944, 0.293814, -0.716279], [0.021868, -0.918034, -0.395897]], 'translation vector': [3.064209, 2.92712, 1.46117]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9997717908276891, -0.014061705239683872, 0.016112763216433307], [0.0140800110532502, 0.9999007363199941, -0.0010460438789438157], [-0.01609611583081038, 0.0012720455953134791, 0.9998692891144138]], 'translation vector': [-0.018076948566243978, 0.0017768934909982992, 0.0006580952284183095]} B: {'rotation matrix': [[-0.782674, -0.257014, 0.566891], [-0.62216, 0.296092, -0.724739], [0.018416, -0.919931, -0.391647]], 'translation vector': [3.075882, 2.930909, 1.465913]} C: {'rotation matrix': [[-0.790591, -0.247688, 0.560015], [-0.61223, 0.301979, -0.730742], [0.011883, -0.920576, -0.390384]], 'translation vector': [3.085087, 2.935415, 1.467454]} D: {'rotation matrix': [[-0.773889, -0.266244, 0.574639], [-0.632944, 0.293814, -0.716279], [0.021868, -0.918034, -0.395897]], 'translation vector': [3.064209, 2.92712, 1.46117]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_85_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_85_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_85_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_85_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.516456, 0.471348, -0.714916], [0.852952, -0.209256, 0.47821], [0.075803, -0.856763, -0.510109]], 'translation vector': [4.97866, 0.423553, 1.591931]} B: {'rotation matrix': [[0.514459, 0.473148, -0.715167], [0.854068, -0.208015, 0.476757], [0.076811, -0.856073, -0.511116]], 'translation vector': [4.979161, 0.423603, 1.588672]} C: {'rotation matrix': [[0.513176, 0.475448, -0.714563], [0.854688, -0.206948, 0.476112], [0.078489, -0.855056, -0.51256]], 'translation vector': [4.976408, 0.420953, 1.588878]} D: {'rotation matrix': [[0.9999760932186582, 0.0012257187804321542, -0.006834405192096566], [-0.001218782424370881, 0.999999818921041, 0.0008912149688576313], [0.006835564452074455, -0.0008827669412868106, 0.9999768915925589]], 'translation vector': [-0.008703367750305002, 0.013496314561282197, 0.004560884153690381]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.516456, 0.471348, -0.714916], [0.852952, -0.209256, 0.47821], [0.075803, -0.856763, -0.510109]], 'translation vector': [4.97866, 0.423553, 1.591931]} B: {'rotation matrix': [[0.514459, 0.473148, -0.715167], [0.854068, -0.208015, 0.476757], [0.076811, -0.856073, -0.511116]], 'translation vector': [4.979161, 0.423603, 1.588672]} C: {'rotation matrix': [[0.513176, 0.475448, -0.714563], [0.854688, -0.206948, 0.476112], [0.078489, -0.855056, -0.51256]], 'translation vector': [4.976408, 0.420953, 1.588878]} D: {'rotation matrix': [[0.9999760932186582, 0.0012257187804321542, -0.006834405192096566], [-0.001218782424370881, 0.999999818921041, 0.0008912149688576313], [0.006835564452074455, -0.0008827669412868106, 0.9999768915925589]], 'translation vector': [-0.008703367750305002, 0.013496314561282197, 0.004560884153690381]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_86_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_86_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_86_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_86_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.448824, 0.136877, -0.883075], [0.892984, 0.105987, -0.437432], [0.033721, -0.984902, -0.169799]], 'translation vector': [3.315047, 2.127717, 1.592265]} B: {'rotation matrix': [[-0.452202, 0.137197, -0.8813], [0.891317, 0.105713, -0.440885], [0.032677, -0.984887, -0.170089]], 'translation vector': [3.315698, 2.124716, 1.590659]} C: {'rotation matrix': [[-0.449366, 0.136914, -0.882794], [0.892692, 0.106685, -0.437859], [0.034232, -0.984821, -0.170162]], 'translation vector': [3.315906, 2.123902, 1.590809]} D: {'rotation matrix': [[0.9999985219155758, 3.3460926462502616e-05, -0.0017161305114821916], [-2.2107949587045813e-05, 0.9999776535003064, 0.006715346047559243], [0.0017166465785429835, -0.006715383734168117, 0.9999757458350781]], 'translation vector': [0.0004478029195722488, -0.00269782175769262, 0.002036977128338613]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.448824, 0.136877, -0.883075], [0.892984, 0.105987, -0.437432], [0.033721, -0.984902, -0.169799]], 'translation vector': [3.315047, 2.127717, 1.592265]} B: {'rotation matrix': [[-0.452202, 0.137197, -0.8813], [0.891317, 0.105713, -0.440885], [0.032677, -0.984887, -0.170089]], 'translation vector': [3.315698, 2.124716, 1.590659]} C: {'rotation matrix': [[-0.449366, 0.136914, -0.882794], [0.892692, 0.106685, -0.437859], [0.034232, -0.984821, -0.170162]], 'translation vector': [3.315906, 2.123902, 1.590809]} D: {'rotation matrix': [[0.9999985219155758, 3.3460926462502616e-05, -0.0017161305114821916], [-2.2107949587045813e-05, 0.9999776535003064, 0.006715346047559243], [0.0017166465785429835, -0.006715383734168117, 0.9999757458350781]], 'translation vector': [0.0004478029195722488, -0.00269782175769262, 0.002036977128338613]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_87_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_87_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_87_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_87_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.993234, -0.016226, -0.114989], [0.102235, -0.347461, 0.932104], [-0.055078, -0.937554, -0.343451]], 'translation vector': [2.952414, 4.433719, 1.459459]} B: {'rotation matrix': [[0.993467, -0.015486, -0.113064], [0.100672, -0.347655, 0.932202], [-0.053743, -0.937495, -0.343825]], 'translation vector': [2.95506, 4.435545, 1.464879]} C: {'rotation matrix': [[0.9999909736646528, 0.004123633453855257, 0.0014048261378039103], [-0.004123349991970072, 0.9999914014789152, -0.00016491391217041438], [-0.0014064329904194771, 0.0001595777583995875, 0.9999985433300184]], 'translation vector': [-0.0007043054873738797, 0.0030876829023283037, 0.0005875691155496909]} D: {'rotation matrix': [[0.993543, -0.018943, -0.111866], [0.098443, -0.346258, 0.93296], [-0.056408, -0.937948, -0.342158]], 'translation vector': [2.958581, 4.436487, 1.463224]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.993234, -0.016226, -0.114989], [0.102235, -0.347461, 0.932104], [-0.055078, -0.937554, -0.343451]], 'translation vector': [2.952414, 4.433719, 1.459459]} B: {'rotation matrix': [[0.993467, -0.015486, -0.113064], [0.100672, -0.347655, 0.932202], [-0.053743, -0.937495, -0.343825]], 'translation vector': [2.95506, 4.435545, 1.464879]} C: {'rotation matrix': [[0.9999909736646528, 0.004123633453855257, 0.0014048261378039103], [-0.004123349991970072, 0.9999914014789152, -0.00016491391217041438], [-0.0014064329904194771, 0.0001595777583995875, 0.9999985433300184]], 'translation vector': [-0.0007043054873738797, 0.0030876829023283037, 0.0005875691155496909]} D: {'rotation matrix': [[0.993543, -0.018943, -0.111866], [0.098443, -0.346258, 0.93296], [-0.056408, -0.937948, -0.342158]], 'translation vector': [2.958581, 4.436487, 1.463224]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_88_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_88_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_88_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_88_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.481483, 0.389974, -0.784917], [0.875782, -0.249176, 0.413422], [-0.034359, -0.886471, -0.461507]], 'translation vector': [2.949051, 2.713893, 1.478454]} B: {'rotation matrix': [[0.478541, 0.391858, -0.785777], [0.877371, -0.248969, 0.410164], [-0.034908, -0.885699, -0.462947]], 'translation vector': [2.947931, 2.717417, 1.47825]} C: {'rotation matrix': [[0.48013, 0.390884, -0.785293], [0.876512, -0.249161, 0.41188], [-0.034667, -0.886075, -0.462245]], 'translation vector': [2.948499, 2.715565, 1.478062]} D: {'rotation matrix': [[0.9999997612782662, 0.0004988640565728734, 0.0011620670948559774], [-0.0004998749589789403, 0.9999982856757066, 0.0017162390398127588], [-0.0011605634579595124, -0.0017165704161403005, 0.9999970539013514]], 'translation vector': [0.0003215494383659312, -0.003127483043635193, -0.0005499886913977736]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.481483, 0.389974, -0.784917], [0.875782, -0.249176, 0.413422], [-0.034359, -0.886471, -0.461507]], 'translation vector': [2.949051, 2.713893, 1.478454]} B: {'rotation matrix': [[0.478541, 0.391858, -0.785777], [0.877371, -0.248969, 0.410164], [-0.034908, -0.885699, -0.462947]], 'translation vector': [2.947931, 2.717417, 1.47825]} C: {'rotation matrix': [[0.48013, 0.390884, -0.785293], [0.876512, -0.249161, 0.41188], [-0.034667, -0.886075, -0.462245]], 'translation vector': [2.948499, 2.715565, 1.478062]} D: {'rotation matrix': [[0.9999997612782662, 0.0004988640565728734, 0.0011620670948559774], [-0.0004998749589789403, 0.9999982856757066, 0.0017162390398127588], [-0.0011605634579595124, -0.0017165704161403005, 0.9999970539013514]], 'translation vector': [0.0003215494383659312, -0.003127483043635193, -0.0005499886913977736]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_89_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_89_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_89_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_89_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.564799, -0.352124, 0.746332], [-0.825057, 0.22251, -0.519395], [0.016825, -0.909119, -0.416196]], 'translation vector': [2.054545, 3.84102, 1.387591]} B: {'rotation matrix': [[-0.564546, -0.353818, 0.745722], [-0.825222, 0.223074, -0.518891], [0.017242, -0.908323, -0.417914]], 'translation vector': [2.054274, 3.838, 1.389919]} C: {'rotation matrix': [[0.9999863571433116, 0.000569020369849223, 0.005277349616356428], [-0.0005964877721919992, 0.9999870648779766, 0.0050113119474318605], [-0.005273998232851741, -0.005013939911459714, 0.9999743290291354]], 'translation vector': [-0.009394794053914524, 0.0032248655541047277, -0.0014403793043347157]} D: {'rotation matrix': [[-0.566299, -0.350153, 0.746122], [-0.824022, 0.221689, -0.521385], [0.017157, -0.91008, -0.414077]], 'translation vector': [2.055187, 3.843729, 1.385575]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.564799, -0.352124, 0.746332], [-0.825057, 0.22251, -0.519395], [0.016825, -0.909119, -0.416196]], 'translation vector': [2.054545, 3.84102, 1.387591]} B: {'rotation matrix': [[-0.564546, -0.353818, 0.745722], [-0.825222, 0.223074, -0.518891], [0.017242, -0.908323, -0.417914]], 'translation vector': [2.054274, 3.838, 1.389919]} C: {'rotation matrix': [[0.9999863571433116, 0.000569020369849223, 0.005277349616356428], [-0.0005964877721919992, 0.9999870648779766, 0.0050113119474318605], [-0.005273998232851741, -0.005013939911459714, 0.9999743290291354]], 'translation vector': [-0.009394794053914524, 0.0032248655541047277, -0.0014403793043347157]} D: {'rotation matrix': [[-0.566299, -0.350153, 0.746122], [-0.824022, 0.221689, -0.521385], [0.017157, -0.91008, -0.414077]], 'translation vector': [2.055187, 3.843729, 1.385575]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_90_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_90_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_90_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_90_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.037266, 0.594373, -0.803326], [0.998697, -0.005895, -0.05069], [-0.034865, -0.804168, -0.593379]], 'translation vector': [3.957977, 2.244087, 1.44004]} B: {'rotation matrix': [[0.9999996431737382, -0.0003859815143722872, 0.000745633467728039], [0.0003848347144862704, 1.0000000520852899, 0.00069936137332727], [-0.0007460186813055825, -0.0006987638070698045, 0.9999991664939947]], 'translation vector': [0.0003220625244955144, -0.0016866012265464025, 0.00017566976974592308]} C: {'rotation matrix': [[-0.03699, 0.597433, -0.801066], [0.998659, -0.006964, -0.051308], [-0.036231, -0.801889, -0.596374]], 'translation vector': [3.95766, 2.242744, 1.440408]} D: {'rotation matrix': [[-0.039909, 0.596654, -0.801506], [0.998413, -0.00808, -0.055729], [-0.039727, -0.802458, -0.595385]], 'translation vector': [3.959598, 2.247142, 1.43878]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.037266, 0.594373, -0.803326], [0.998697, -0.005895, -0.05069], [-0.034865, -0.804168, -0.593379]], 'translation vector': [3.957977, 2.244087, 1.44004]} B: {'rotation matrix': [[0.9999996431737382, -0.0003859815143722872, 0.000745633467728039], [0.0003848347144862704, 1.0000000520852899, 0.00069936137332727], [-0.0007460186813055825, -0.0006987638070698045, 0.9999991664939947]], 'translation vector': [0.0003220625244955144, -0.0016866012265464025, 0.00017566976974592308]} C: {'rotation matrix': [[-0.03699, 0.597433, -0.801066], [0.998659, -0.006964, -0.051308], [-0.036231, -0.801889, -0.596374]], 'translation vector': [3.95766, 2.242744, 1.440408]} D: {'rotation matrix': [[-0.039909, 0.596654, -0.801506], [0.998413, -0.00808, -0.055729], [-0.039727, -0.802458, -0.595385]], 'translation vector': [3.959598, 2.247142, 1.43878]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_91_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_91_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_91_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_91_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.875953, -0.064411, 0.478078], [-0.480708, 0.199407, -0.853907], [-0.040331, -0.977798, -0.205634]], 'translation vector': [2.420033, 1.712699, 1.489589]} B: {'rotation matrix': [[0.9999951897323609, 0.002443562746852685, 0.0019815417907405445], [-0.0024514031523570133, 0.9999905126626161, 0.0035483645433095957], [-0.001973097402749593, -0.0035542813588159473, 0.9999914538041953]], 'translation vector': [0.004274186437530858, 0.003113397542267471, -0.0028983696999268505]} C: {'rotation matrix': [[-0.873782, -0.064754, 0.481987], [-0.484652, 0.197901, -0.852026], [-0.040214, -0.978081, -0.204306]], 'translation vector': [2.408279, 1.71933, 1.490834]} D: {'rotation matrix': [[-0.874383, -0.064777, 0.480894], [-0.483517, 0.199683, -0.852255], [-0.04082, -0.977717, -0.20592]], 'translation vector': [2.41403, 1.715424, 1.490696]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.875953, -0.064411, 0.478078], [-0.480708, 0.199407, -0.853907], [-0.040331, -0.977798, -0.205634]], 'translation vector': [2.420033, 1.712699, 1.489589]} B: {'rotation matrix': [[0.9999951897323609, 0.002443562746852685, 0.0019815417907405445], [-0.0024514031523570133, 0.9999905126626161, 0.0035483645433095957], [-0.001973097402749593, -0.0035542813588159473, 0.9999914538041953]], 'translation vector': [0.004274186437530858, 0.003113397542267471, -0.0028983696999268505]} C: {'rotation matrix': [[-0.873782, -0.064754, 0.481987], [-0.484652, 0.197901, -0.852026], [-0.040214, -0.978081, -0.204306]], 'translation vector': [2.408279, 1.71933, 1.490834]} D: {'rotation matrix': [[-0.874383, -0.064777, 0.480894], [-0.483517, 0.199683, -0.852255], [-0.04082, -0.977717, -0.20592]], 'translation vector': [2.41403, 1.715424, 1.490696]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_92_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_92_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_92_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_92_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.222027, -0.462333, 0.858459], [-0.974308, 0.139332, -0.176951], [-0.0378, -0.875691, -0.48139]], 'translation vector': [2.717101, 1.647348, 1.522281]} B: {'rotation matrix': [[-0.218431, -0.46311, 0.858963], [-0.975079, 0.138612, -0.173227], [-0.038839, -0.875395, -0.481846]], 'translation vector': [2.716881, 1.647519, 1.52132]} C: {'rotation matrix': [[-0.21644, -0.463451, 0.859283], [-0.975487, 0.138488, -0.171017], [-0.039742, -0.875234, -0.482065]], 'translation vector': [2.718464, 1.6518, 1.521331]} D: {'rotation matrix': [[0.9999923983379827, -0.0004070717907623284, -0.003958509569048427], [0.0004054339454520325, 1.0000004886800318, -0.0002774375137664041], [0.003959398020789269, 0.00027564706640871675, 0.9999922541189072]], 'translation vector': [-0.005217870906849331, -0.0010876072780465762, 0.0013190166897232292]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.222027, -0.462333, 0.858459], [-0.974308, 0.139332, -0.176951], [-0.0378, -0.875691, -0.48139]], 'translation vector': [2.717101, 1.647348, 1.522281]} B: {'rotation matrix': [[-0.218431, -0.46311, 0.858963], [-0.975079, 0.138612, -0.173227], [-0.038839, -0.875395, -0.481846]], 'translation vector': [2.716881, 1.647519, 1.52132]} C: {'rotation matrix': [[-0.21644, -0.463451, 0.859283], [-0.975487, 0.138488, -0.171017], [-0.039742, -0.875234, -0.482065]], 'translation vector': [2.718464, 1.6518, 1.521331]} D: {'rotation matrix': [[0.9999923983379827, -0.0004070717907623284, -0.003958509569048427], [0.0004054339454520325, 1.0000004886800318, -0.0002774375137664041], [0.003959398020789269, 0.00027564706640871675, 0.9999922541189072]], 'translation vector': [-0.005217870906849331, -0.0010876072780465762, 0.0013190166897232292]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_93_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_93_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_93_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_93_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.937153, -0.143335, 0.318118], [-0.348912, 0.379164, -0.857027], [0.002223, -0.914161, -0.405346]], 'translation vector': [2.695696, 2.482015, 1.468683]} B: {'rotation matrix': [[0.9999943196573092, 0.0004252932585082039, -0.003407353327997387], [-0.0004083231357033075, 0.9999884704113977, 0.004802465167927532], [0.0034098975295442984, -0.004801063633517885, 0.9999828785878939]], 'translation vector': [4.878723511492211e-05, -0.0002916568078848991, 6.338042778675224e-05]} C: {'rotation matrix': [[-0.936491, -0.141969, 0.320669], [-0.350691, 0.379755, -0.856039], [-0.000244, -0.914129, -0.405424]], 'translation vector': [2.694833, 2.48135, 1.466405]} D: {'rotation matrix': [[-0.938082, -0.144128, 0.315008], [-0.346377, 0.376958, -0.859026], [0.005065, -0.914948, -0.40354]], 'translation vector': [2.697706, 2.481531, 1.470994]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.937153, -0.143335, 0.318118], [-0.348912, 0.379164, -0.857027], [0.002223, -0.914161, -0.405346]], 'translation vector': [2.695696, 2.482015, 1.468683]} B: {'rotation matrix': [[0.9999943196573092, 0.0004252932585082039, -0.003407353327997387], [-0.0004083231357033075, 0.9999884704113977, 0.004802465167927532], [0.0034098975295442984, -0.004801063633517885, 0.9999828785878939]], 'translation vector': [4.878723511492211e-05, -0.0002916568078848991, 6.338042778675224e-05]} C: {'rotation matrix': [[-0.936491, -0.141969, 0.320669], [-0.350691, 0.379755, -0.856039], [-0.000244, -0.914129, -0.405424]], 'translation vector': [2.694833, 2.48135, 1.466405]} D: {'rotation matrix': [[-0.938082, -0.144128, 0.315008], [-0.346377, 0.376958, -0.859026], [0.005065, -0.914948, -0.40354]], 'translation vector': [2.697706, 2.481531, 1.470994]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_94_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_94_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_94_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_94_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999926818767, 0.0006670318036002099, -0.0037525660402691484], [-0.0006413298116955215, 0.9999778975651503, 0.0065610016234285765], [0.0037569249243787368, -0.006558428485894876, 0.999971386151166]], 'translation vector': [0.00407147231806082, -0.002381515530327949, 0.00020808612264033854]} B: {'rotation matrix': [[0.598948, -0.354434, 0.718079], [-0.795274, -0.158225, 0.585238], [-0.093811, -0.921597, -0.376641]], 'translation vector': [2.366687, 6.228749, 1.483315]} C: {'rotation matrix': [[0.595688, -0.354051, 0.720975], [-0.797698, -0.155728, 0.582604], [-0.093996, -0.92217, -0.37519]], 'translation vector': [2.365015, 6.231124, 1.484416]} D: {'rotation matrix': [[0.602088, -0.354098, 0.715615], [-0.793005, -0.160904, 0.587582], [-0.092916, -0.921263, -0.37768]], 'translation vector': [2.370181, 6.228135, 1.483056]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999926818767, 0.0006670318036002099, -0.0037525660402691484], [-0.0006413298116955215, 0.9999778975651503, 0.0065610016234285765], [0.0037569249243787368, -0.006558428485894876, 0.999971386151166]], 'translation vector': [0.00407147231806082, -0.002381515530327949, 0.00020808612264033854]} B: {'rotation matrix': [[0.598948, -0.354434, 0.718079], [-0.795274, -0.158225, 0.585238], [-0.093811, -0.921597, -0.376641]], 'translation vector': [2.366687, 6.228749, 1.483315]} C: {'rotation matrix': [[0.595688, -0.354051, 0.720975], [-0.797698, -0.155728, 0.582604], [-0.093996, -0.92217, -0.37519]], 'translation vector': [2.365015, 6.231124, 1.484416]} D: {'rotation matrix': [[0.602088, -0.354098, 0.715615], [-0.793005, -0.160904, 0.587582], [-0.092916, -0.921263, -0.37768]], 'translation vector': [2.370181, 6.228135, 1.483056]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_95_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_95_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_95_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_95_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.749807, 0.343159, -0.565713], [0.658704, 0.306467, -0.687158], [-0.062432, -0.887874, -0.455832]], 'translation vector': [3.78087, 2.559782, 1.382918]} B: {'rotation matrix': [[0.9999937348891738, -5.242465291256345e-05, -0.003554980216800454], [4.743594033927849e-05, 0.9999987930802742, -0.0013704756295102494], [0.0035549170275783653, 0.0013698614468464884, 0.9999933438233037]], 'translation vector': [-0.006430893779766134, -0.00441205739948114, -0.013902381507369554]} C: {'rotation matrix': [[-0.753941, 0.344397, -0.559431], [0.653858, 0.310968, -0.68976], [-0.063586, -0.885827, -0.459639]], 'translation vector': [3.768856, 2.553297, 1.380708]} D: {'rotation matrix': [[-0.758857, 0.345337, -0.552158], [0.64782, 0.313263, -0.694403], [-0.066832, -0.884652, -0.461438]], 'translation vector': [3.75736, 2.54705, 1.379026]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.749807, 0.343159, -0.565713], [0.658704, 0.306467, -0.687158], [-0.062432, -0.887874, -0.455832]], 'translation vector': [3.78087, 2.559782, 1.382918]} B: {'rotation matrix': [[0.9999937348891738, -5.242465291256345e-05, -0.003554980216800454], [4.743594033927849e-05, 0.9999987930802742, -0.0013704756295102494], [0.0035549170275783653, 0.0013698614468464884, 0.9999933438233037]], 'translation vector': [-0.006430893779766134, -0.00441205739948114, -0.013902381507369554]} C: {'rotation matrix': [[-0.753941, 0.344397, -0.559431], [0.653858, 0.310968, -0.68976], [-0.063586, -0.885827, -0.459639]], 'translation vector': [3.768856, 2.553297, 1.380708]} D: {'rotation matrix': [[-0.758857, 0.345337, -0.552158], [0.64782, 0.313263, -0.694403], [-0.066832, -0.884652, -0.461438]], 'translation vector': [3.75736, 2.54705, 1.379026]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_96_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_96_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_96_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_96_3.png" ]
B
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.9999813823639969, 0.005886631638650806, 0.0017617762591203541], [-0.005897799441000984, 0.9999663260190635, 0.005653603868593601], [-0.0017278375660129883, -0.005663714705693189, 0.9999828776446472]], 'translation vector': [-0.009345482457980114, -0.0002560144178671564, 0.004418422526778709]} B: {'rotation matrix': [[0.930353, -0.229821, 0.285704], [-0.366636, -0.593139, 0.716774], [0.004732, -0.771601, -0.636089]], 'translation vector': [0.347034, 1.978598, 1.559374]} C: {'rotation matrix': [[0.932658, -0.225033, 0.281975], [-0.360742, -0.590178, 0.722188], [0.003899, -0.775274, -0.631613]], 'translation vector': [0.341015, 1.979035, 1.553548]} D: {'rotation matrix': [[0.93165, -0.227962, 0.282953], [-0.363337, -0.592976, 0.718587], [0.003973, -0.772278, -0.635273]], 'translation vector': [0.345174, 1.978811, 1.55669]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.9999813823639969, 0.005886631638650806, 0.0017617762591203541], [-0.005897799441000984, 0.9999663260190635, 0.005653603868593601], [-0.0017278375660129883, -0.005663714705693189, 0.9999828776446472]], 'translation vector': [-0.009345482457980114, -0.0002560144178671564, 0.004418422526778709]} B: {'rotation matrix': [[0.930353, -0.229821, 0.285704], [-0.366636, -0.593139, 0.716774], [0.004732, -0.771601, -0.636089]], 'translation vector': [0.347034, 1.978598, 1.559374]} C: {'rotation matrix': [[0.932658, -0.225033, 0.281975], [-0.360742, -0.590178, 0.722188], [0.003899, -0.775274, -0.631613]], 'translation vector': [0.341015, 1.979035, 1.553548]} D: {'rotation matrix': [[0.93165, -0.227962, 0.282953], [-0.363337, -0.592976, 0.718587], [0.003973, -0.772278, -0.635273]], 'translation vector': [0.345174, 1.978811, 1.55669]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_97_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_97_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_97_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_97_3.png" ]
A
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.805636, 0.331099, -0.491249], [0.591886, 0.41495, -0.691005], [-0.024947, -0.847461, -0.530271]], 'translation vector': [2.379813, 3.089217, 1.318416]} B: {'rotation matrix': [[-0.795605, 0.337599, -0.503031], [0.605104, 0.402607, -0.686846], [-0.029355, -0.850844, -0.524598]], 'translation vector': [2.393777, 3.105406, 1.314663]} C: {'rotation matrix': [[0.9993623988750846, 0.01800106003136589, -0.030848731804103247], [-0.01802560053443595, 0.9998375187449363, -0.0005268676766097016], [0.03083392596568167, 0.0010819486754358148, 0.9995239906208094]], 'translation vector': [-0.0016360885893116628, -0.010945290948126685, 0.024052024973950203]} D: {'rotation matrix': [[-0.800158, 0.334375, -0.497936], [0.599132, 0.406738, -0.689642], [-0.02807, -0.850152, -0.525789]], 'translation vector': [2.38798, 3.097038, 1.316188]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.805636, 0.331099, -0.491249], [0.591886, 0.41495, -0.691005], [-0.024947, -0.847461, -0.530271]], 'translation vector': [2.379813, 3.089217, 1.318416]} B: {'rotation matrix': [[-0.795605, 0.337599, -0.503031], [0.605104, 0.402607, -0.686846], [-0.029355, -0.850844, -0.524598]], 'translation vector': [2.393777, 3.105406, 1.314663]} C: {'rotation matrix': [[0.9993623988750846, 0.01800106003136589, -0.030848731804103247], [-0.01802560053443595, 0.9998375187449363, -0.0005268676766097016], [0.03083392596568167, 0.0010819486754358148, 0.9995239906208094]], 'translation vector': [-0.0016360885893116628, -0.010945290948126685, 0.024052024973950203]} D: {'rotation matrix': [[-0.800158, 0.334375, -0.497936], [0.599132, 0.406738, -0.689642], [-0.02807, -0.850152, -0.525789]], 'translation vector': [2.38798, 3.097038, 1.316188]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_98_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_98_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_98_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_98_3.png" ]
C
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.991094, 0.095151, -0.093156], [0.13246, 0.632786, -0.762913], [-0.013644, -0.768458, -0.639754]], 'translation vector': [1.823914, 5.346199, 1.288239]} B: {'rotation matrix': [[-0.988726, 0.104422, -0.107319], [0.149216, 0.627347, -0.764311], [-0.012484, -0.771707, -0.635855]], 'translation vector': [1.82699, 5.341948, 1.287049]} C: {'rotation matrix': [[-0.99302, 0.087717, -0.078848], [0.116766, 0.636826, -0.762115], [-0.016638, -0.766002, -0.642623]], 'translation vector': [1.820977, 5.35315, 1.28763]} D: {'rotation matrix': [[0.9995983225918212, 0.019501636556654815, -0.020561779482543004], [-0.019155805749363774, 0.9996737108067424, 0.016883013818148294], [0.020884207942970644, -0.01648212192569651, 0.9996460764084063]], 'translation vector': [0.004177467169132809, 0.0037647300644172432, -0.008346822766605477]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.991094, 0.095151, -0.093156], [0.13246, 0.632786, -0.762913], [-0.013644, -0.768458, -0.639754]], 'translation vector': [1.823914, 5.346199, 1.288239]} B: {'rotation matrix': [[-0.988726, 0.104422, -0.107319], [0.149216, 0.627347, -0.764311], [-0.012484, -0.771707, -0.635855]], 'translation vector': [1.82699, 5.341948, 1.287049]} C: {'rotation matrix': [[-0.99302, 0.087717, -0.078848], [0.116766, 0.636826, -0.762115], [-0.016638, -0.766002, -0.642623]], 'translation vector': [1.820977, 5.35315, 1.28763]} D: {'rotation matrix': [[0.9995983225918212, 0.019501636556654815, -0.020561779482543004], [-0.019155805749363774, 0.9996737108067424, 0.016883013818148294], [0.020884207942970644, -0.01648212192569651, 0.9996460764084063]], 'translation vector': [0.004177467169132809, 0.0037647300644172432, -0.008346822766605477]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_99_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_99_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_99_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_99_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[-0.821677, -0.468788, 0.324168], [-0.569738, 0.691217, -0.444543], [-0.015674, -0.549962, -0.835043]], 'translation vector': [3.090628, 8.002418, 1.936363]} B: {'rotation matrix': [[-0.828255, -0.463511, 0.314882], [-0.560231, 0.696605, -0.4482], [-0.011603, -0.547631, -0.83664]], 'translation vector': [3.092081, 8.003743, 1.933112]} C: {'rotation matrix': [[-0.825245, -0.467159, 0.317384], [-0.564664, 0.693585, -0.44732], [-0.011164, -0.548364, -0.836165]], 'translation vector': [3.09483, 8.004893, 1.934166]} D: {'rotation matrix': [[0.9997794014417315, -0.01936250651215195, 0.008149128878679036], [0.019327506819120155, 0.9998035065129168, 0.004379447300995329], [-0.008232031850993044, -0.004222057574502129, 0.9999569918430281]], 'translation vector': [0.008428449014058259, -0.001816843944377755, 0.00043274814993932154]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[-0.821677, -0.468788, 0.324168], [-0.569738, 0.691217, -0.444543], [-0.015674, -0.549962, -0.835043]], 'translation vector': [3.090628, 8.002418, 1.936363]} B: {'rotation matrix': [[-0.828255, -0.463511, 0.314882], [-0.560231, 0.696605, -0.4482], [-0.011603, -0.547631, -0.83664]], 'translation vector': [3.092081, 8.003743, 1.933112]} C: {'rotation matrix': [[-0.825245, -0.467159, 0.317384], [-0.564664, 0.693585, -0.44732], [-0.011164, -0.548364, -0.836165]], 'translation vector': [3.09483, 8.004893, 1.934166]} D: {'rotation matrix': [[0.9997794014417315, -0.01936250651215195, 0.008149128878679036], [0.019327506819120155, 0.9998035065129168, 0.004379447300995329], [-0.008232031850993044, -0.004222057574502129, 0.9999569918430281]], 'translation vector': [0.008428449014058259, -0.001816843944377755, 0.00043274814993932154]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_100_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_100_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_100_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_100_3.png" ]
D
threeD_Pose_Estimation
3d image
SCANNET_threed_pose_estimation
A: {'rotation matrix': [[0.141521, 0.444417, -0.884571], [0.989842, -0.075821, 0.12027], [-0.013619, -0.892605, -0.450633]], 'translation vector': [3.547713, 0.933243, 1.481136]} B: {'rotation matrix': [[0.9999998646080918, -0.0007460665530377528, -0.0009402946708239287], [0.0007455507104745661, 1.0000000002230558, -0.0004258129745529856], [0.0009407423454210515, 0.0004259725827619916, 0.9999998211939707]], 'translation vector': [0.0008665006475636616, -0.0026059059125004003, -0.0011105548234366935]} C: {'rotation matrix': [[0.140147, 0.44482, -0.884587], [0.990025, -0.076044, 0.118612], [-0.014506, -0.892386, -0.45104]], 'translation vector': [3.548717, 0.935529, 1.481701]} D: {'rotation matrix': [[0.140907, 0.444584, -0.884585], [0.989916, -0.076415, 0.11928], [-0.014565, -0.892472, -0.450868]], 'translation vector': [3.549046, 0.934745, 1.482359]}
Given a pair of a RGB image and a depth image for scan 0, along with another pair of a RGB image and a depth image for scan 1, please estimate the relative camera pose from scan 0 to scan 1. The output should indicate the rotation matrix and the translation vector.
Your task is to estimate the relative camera pose between two scans. Select from the following choices. A: {'rotation matrix': [[0.141521, 0.444417, -0.884571], [0.989842, -0.075821, 0.12027], [-0.013619, -0.892605, -0.450633]], 'translation vector': [3.547713, 0.933243, 1.481136]} B: {'rotation matrix': [[0.9999998646080918, -0.0007460665530377528, -0.0009402946708239287], [0.0007455507104745661, 1.0000000002230558, -0.0004258129745529856], [0.0009407423454210515, 0.0004259725827619916, 0.9999998211939707]], 'translation vector': [0.0008665006475636616, -0.0026059059125004003, -0.0011105548234366935]} C: {'rotation matrix': [[0.140147, 0.44482, -0.884587], [0.990025, -0.076044, 0.118612], [-0.014506, -0.892386, -0.45104]], 'translation vector': [3.548717, 0.935529, 1.481701]} D: {'rotation matrix': [[0.140907, 0.444584, -0.884585], [0.989916, -0.076415, 0.11928], [-0.014565, -0.892472, -0.450868]], 'translation vector': [3.549046, 0.934745, 1.482359]}
[ "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_101_0.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_101_1.png", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_101_2.jpg", "./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_101_3.png" ]
B