task stringclasses 60 values | visual_input_component stringclasses 21 values | source stringclasses 64 values | options stringlengths 12 4.46k | question stringlengths 17 1.33k | context stringlengths 24 21.8k | input_image_path listlengths 1 62 | output stringclasses 10 values |
|---|---|---|---|---|---|---|---|
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999988361601905, 0.001006375069335518, -0.0012640568426656846], [-0.0010070223030151592, 0.9999994457401622, -0.0002863718291939501], [0.00126333848912293, 0.0002872673648295308, 0.9999986249179557]], 'translation vector': [-2.298300292791211e-05, -0.0003253221346838364, -0.001208803459929797]}
B: {'rotation matrix': [[0.209622, 0.494864, -0.843308], [0.976967, -0.070778, 0.201312], [0.039935, -0.866083, -0.498303]], 'translation vector': [4.529501, 2.292687, 1.525847]}
C: {'rotation matrix': [[0.210084, 0.49423, -0.843565], [0.976909, -0.071791, 0.201231], [0.038894, -0.866362, -0.4979]], 'translation vector': [4.52972, 2.291977, 1.52688]}
D: {'rotation matrix': [[0.207746, 0.495681, -0.843292], [0.977345, -0.069508, 0.199914], [0.040478, -0.865719, -0.498891]], 'translation vector': [4.528935, 2.293617, 1.525752]} | 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': [[0.9999988361601905, 0.001006375069335518, -0.0012640568426656846], [-0.0010070223030151592, 0.9999994457401622, -0.0002863718291939501], [0.00126333848912293, 0.0002872673648295308, 0.9999986249179557]], 'translation vector': [-2.298300292791211e-05, -0.0003253221346838364, -0.001208803459929797]}
B: {'rotation matrix': [[0.209622, 0.494864, -0.843308], [0.976967, -0.070778, 0.201312], [0.039935, -0.866083, -0.498303]], 'translation vector': [4.529501, 2.292687, 1.525847]}
C: {'rotation matrix': [[0.210084, 0.49423, -0.843565], [0.976909, -0.071791, 0.201231], [0.038894, -0.866362, -0.4979]], 'translation vector': [4.52972, 2.291977, 1.52688]}
D: {'rotation matrix': [[0.207746, 0.495681, -0.843292], [0.977345, -0.069508, 0.199914], [0.040478, -0.865719, -0.498891]], 'translation vector': [4.528935, 2.293617, 1.525752]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_102_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_102_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_102_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_102_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.08541, 0.640528, -0.76317], [0.996306, -0.061741, 0.059682], [-0.008891, -0.765449, -0.643436]], 'translation vector': [3.003591, 1.574332, 1.432793]}
B: {'rotation matrix': [[0.08501, 0.641279, -0.762584], [0.996355, -0.060148, 0.06049], [-0.007077, -0.764946, -0.644055]], 'translation vector': [3.00634, 1.575815, 1.433934]}
C: {'rotation matrix': [[0.9999991614836521, 0.0005695811207308883, -0.0015075373347832835], [-0.0005748316229898535, 0.9999942080654551, -0.0033643004544446934], [0.0015050239127193494, 0.003364654292322913, 0.9999927444380246]], 'translation vector': [-0.0005823890138008103, 0.0017300160779236684, -0.0007769099832195536]}
D: {'rotation matrix': [[0.085438, 0.641091, -0.762694], [0.996316, -0.060644, 0.060635], [-0.00738, -0.765065, -0.64391]], 'translation vector': [3.005707, 1.574798, 1.4333]} | 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': [[0.08541, 0.640528, -0.76317], [0.996306, -0.061741, 0.059682], [-0.008891, -0.765449, -0.643436]], 'translation vector': [3.003591, 1.574332, 1.432793]}
B: {'rotation matrix': [[0.08501, 0.641279, -0.762584], [0.996355, -0.060148, 0.06049], [-0.007077, -0.764946, -0.644055]], 'translation vector': [3.00634, 1.575815, 1.433934]}
C: {'rotation matrix': [[0.9999991614836521, 0.0005695811207308883, -0.0015075373347832835], [-0.0005748316229898535, 0.9999942080654551, -0.0033643004544446934], [0.0015050239127193494, 0.003364654292322913, 0.9999927444380246]], 'translation vector': [-0.0005823890138008103, 0.0017300160779236684, -0.0007769099832195536]}
D: {'rotation matrix': [[0.085438, 0.641091, -0.762694], [0.996316, -0.060644, 0.060635], [-0.00738, -0.765065, -0.64391]], 'translation vector': [3.005707, 1.574798, 1.4333]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_103_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_103_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_103_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_103_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999836186953653, 0.00108451635874016, -0.00565701955892193], [-0.0010583782720287828, 0.9999885698645751, 0.004627019650109258], [0.005661574895801672, -0.004620937029738945, 0.9999737330988163]], 'translation vector': [0.0022502124816869973, 0.004079635447382657, -0.0017077678174191036]}
B: {'rotation matrix': [[0.764916, -0.419696, 0.48863], [-0.623144, -0.290098, 0.726316], [-0.163081, -0.860057, -0.483431]], 'translation vector': [2.190224, 2.255941, 1.286466]}
C: {'rotation matrix': [[0.764173, -0.416772, 0.492281], [-0.624792, -0.28869, 0.725461], [-0.160235, -0.861951, -0.481005]], 'translation vector': [2.189569, 2.253508, 1.282023]}
D: {'rotation matrix': [[0.763152, -0.417481, 0.493263], [-0.626561, -0.291187, 0.722933], [-0.158179, -0.860767, -0.483797]], 'translation vector': [2.190887, 2.252149, 1.282769]} | 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': [[0.9999836186953653, 0.00108451635874016, -0.00565701955892193], [-0.0010583782720287828, 0.9999885698645751, 0.004627019650109258], [0.005661574895801672, -0.004620937029738945, 0.9999737330988163]], 'translation vector': [0.0022502124816869973, 0.004079635447382657, -0.0017077678174191036]}
B: {'rotation matrix': [[0.764916, -0.419696, 0.48863], [-0.623144, -0.290098, 0.726316], [-0.163081, -0.860057, -0.483431]], 'translation vector': [2.190224, 2.255941, 1.286466]}
C: {'rotation matrix': [[0.764173, -0.416772, 0.492281], [-0.624792, -0.28869, 0.725461], [-0.160235, -0.861951, -0.481005]], 'translation vector': [2.189569, 2.253508, 1.282023]}
D: {'rotation matrix': [[0.763152, -0.417481, 0.493263], [-0.626561, -0.291187, 0.722933], [-0.158179, -0.860767, -0.483797]], 'translation vector': [2.190887, 2.252149, 1.282769]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_104_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_104_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_104_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_104_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999685089712825, -0.00485492735446149, 0.006197125791337409], [0.004892366141195013, 0.9999701266660436, -0.005981156791582798], [-0.006168136508286792, 0.006011265809070663, 0.9999622632239159]], 'translation vector': [0.00022924877864394233, 0.00019097290261571587, -0.001928325440709866]}
B: {'rotation matrix': [[-0.968997, 0.179836, -0.169422], [0.236776, 0.48002, -0.8447], [-0.070582, -0.858627, -0.507719]], 'translation vector': [3.781446, 2.333063, 1.459816]}
C: {'rotation matrix': [[-0.967651, 0.180929, -0.175829], [0.242263, 0.471818, -0.84776], [-0.070424, -0.862933, -0.500388]], 'translation vector': [3.780886, 2.334988, 1.460004]}
D: {'rotation matrix': [[-0.968244, 0.180308, -0.173186], [0.239986, 0.476144, -0.845987], [-0.070076, -0.860684, -0.504294]], 'translation vector': [3.781386, 2.333968, 1.460791]} | 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': [[0.9999685089712825, -0.00485492735446149, 0.006197125791337409], [0.004892366141195013, 0.9999701266660436, -0.005981156791582798], [-0.006168136508286792, 0.006011265809070663, 0.9999622632239159]], 'translation vector': [0.00022924877864394233, 0.00019097290261571587, -0.001928325440709866]}
B: {'rotation matrix': [[-0.968997, 0.179836, -0.169422], [0.236776, 0.48002, -0.8447], [-0.070582, -0.858627, -0.507719]], 'translation vector': [3.781446, 2.333063, 1.459816]}
C: {'rotation matrix': [[-0.967651, 0.180929, -0.175829], [0.242263, 0.471818, -0.84776], [-0.070424, -0.862933, -0.500388]], 'translation vector': [3.780886, 2.334988, 1.460004]}
D: {'rotation matrix': [[-0.968244, 0.180308, -0.173186], [0.239986, 0.476144, -0.845987], [-0.070076, -0.860684, -0.504294]], 'translation vector': [3.781386, 2.333968, 1.460791]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_105_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_105_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_105_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_105_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.769476, 0.035457, -0.637691], [0.638618, -0.056212, 0.767468], [-0.008634, -0.997789, -0.065897]], 'translation vector': [3.059908, 3.99174, 1.48793]}
B: {'rotation matrix': [[0.768334, 0.034359, -0.639126], [0.639975, -0.056434, 0.766321], [-0.009738, -0.997815, -0.065349]], 'translation vector': [3.063556, 3.993645, 1.487647]}
C: {'rotation matrix': [[0.76637, 0.032495, -0.641577], [0.642284, -0.057724, 0.764291], [-0.012198, -0.997804, -0.065109]], 'translation vector': [3.065239, 3.993527, 1.488269]}
D: {'rotation matrix': [[0.9999994770672102, 0.0010059593388553243, -0.0005629779278299809], [-0.0010051492699491647, 0.9999992963767129, 0.00013663416634814593], [0.0005621045000587302, -0.0001358922037830382, 1.0000001627120574]], 'translation vector': [-0.004005273497495132, -0.008267648490985158, -0.0009698463604679297]} | 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': [[0.769476, 0.035457, -0.637691], [0.638618, -0.056212, 0.767468], [-0.008634, -0.997789, -0.065897]], 'translation vector': [3.059908, 3.99174, 1.48793]}
B: {'rotation matrix': [[0.768334, 0.034359, -0.639126], [0.639975, -0.056434, 0.766321], [-0.009738, -0.997815, -0.065349]], 'translation vector': [3.063556, 3.993645, 1.487647]}
C: {'rotation matrix': [[0.76637, 0.032495, -0.641577], [0.642284, -0.057724, 0.764291], [-0.012198, -0.997804, -0.065109]], 'translation vector': [3.065239, 3.993527, 1.488269]}
D: {'rotation matrix': [[0.9999994770672102, 0.0010059593388553243, -0.0005629779278299809], [-0.0010051492699491647, 0.9999992963767129, 0.00013663416634814593], [0.0005621045000587302, -0.0001358922037830382, 1.0000001627120574]], 'translation vector': [-0.004005273497495132, -0.008267648490985158, -0.0009698463604679297]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_106_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_106_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_106_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_106_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999965024273574, 0.0018995589746770465, -0.002128604659346281], [-0.0018975946490258904, 0.9999971783528935, 0.0010235202394668671], [0.0021305967266473038, -0.00101920750556101, 0.9999966975642395]], 'translation vector': [-0.001221359216795559, -0.0013000622008119134, -0.00023198476015379166]}
B: {'rotation matrix': [[-0.247804, -0.452831, 0.856468], [-0.967446, 0.162565, -0.193963], [-0.051399, -0.876651, -0.478373]], 'translation vector': [1.577581, 1.960365, 1.31447]}
C: {'rotation matrix': [[-0.241822, -0.452397, 0.858405], [-0.968762, 0.162689, -0.18717], [-0.054978, -0.876852, -0.477607]], 'translation vector': [1.575634, 1.958436, 1.314538]}
D: {'rotation matrix': [[-0.251836, -0.455153, 0.854058], [-0.966529, 0.162962, -0.198153], [-0.048989, -0.875374, -0.480959]], 'translation vector': [1.577733, 1.957285, 1.314553]} | 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': [[0.9999965024273574, 0.0018995589746770465, -0.002128604659346281], [-0.0018975946490258904, 0.9999971783528935, 0.0010235202394668671], [0.0021305967266473038, -0.00101920750556101, 0.9999966975642395]], 'translation vector': [-0.001221359216795559, -0.0013000622008119134, -0.00023198476015379166]}
B: {'rotation matrix': [[-0.247804, -0.452831, 0.856468], [-0.967446, 0.162565, -0.193963], [-0.051399, -0.876651, -0.478373]], 'translation vector': [1.577581, 1.960365, 1.31447]}
C: {'rotation matrix': [[-0.241822, -0.452397, 0.858405], [-0.968762, 0.162689, -0.18717], [-0.054978, -0.876852, -0.477607]], 'translation vector': [1.575634, 1.958436, 1.314538]}
D: {'rotation matrix': [[-0.251836, -0.455153, 0.854058], [-0.966529, 0.162962, -0.198153], [-0.048989, -0.875374, -0.480959]], 'translation vector': [1.577733, 1.957285, 1.314553]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_107_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_107_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_107_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_107_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.502725, -0.506922, 0.700212], [-0.864292, 0.279467, -0.418207], [0.016312, -0.815431, -0.578624]], 'translation vector': [4.022235, 5.007849, 1.281956]}
B: {'rotation matrix': [[0.9994658881112836, -0.01787238768104933, 0.027367099286839433], [0.01746068119707397, 0.9997321901556896, 0.015206345300919908], [-0.027631559291770684, -0.01472107419323857, 0.9995094632380824]], 'translation vector': [-0.030548360022831567, -0.0024606871848007472, 0.004630350985881493]}
C: {'rotation matrix': [[-0.511887, -0.50554, 0.694551], [-0.858867, 0.284356, -0.426016], [0.017868, -0.814599, -0.579749]], 'translation vector': [4.034731, 5.018784, 1.285057]}
D: {'rotation matrix': [[-0.524185, -0.50567, 0.685221], [-0.851455, 0.296094, -0.432844], [0.015986, -0.810325, -0.585763]], 'translation vector': [4.046806, 5.029983, 1.286514]} | 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': [[-0.502725, -0.506922, 0.700212], [-0.864292, 0.279467, -0.418207], [0.016312, -0.815431, -0.578624]], 'translation vector': [4.022235, 5.007849, 1.281956]}
B: {'rotation matrix': [[0.9994658881112836, -0.01787238768104933, 0.027367099286839433], [0.01746068119707397, 0.9997321901556896, 0.015206345300919908], [-0.027631559291770684, -0.01472107419323857, 0.9995094632380824]], 'translation vector': [-0.030548360022831567, -0.0024606871848007472, 0.004630350985881493]}
C: {'rotation matrix': [[-0.511887, -0.50554, 0.694551], [-0.858867, 0.284356, -0.426016], [0.017868, -0.814599, -0.579749]], 'translation vector': [4.034731, 5.018784, 1.285057]}
D: {'rotation matrix': [[-0.524185, -0.50567, 0.685221], [-0.851455, 0.296094, -0.432844], [0.015986, -0.810325, -0.585763]], 'translation vector': [4.046806, 5.029983, 1.286514]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_108_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_108_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_108_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_108_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9997511181043846, 0.002627583195842048, -0.02210613011174363], [-0.002639480814720638, 0.9999968737080126, -0.0005594700790184048], [0.022104273186971824, 0.0006179932127646122, 0.9997554616613505]], 'translation vector': [0.008057060510321179, -0.003086615617105104, 0.008815946351156123]}
B: {'rotation matrix': [[-0.793492, -0.269336, 0.545737], [-0.608499, 0.36581, -0.70421], [-0.009967, -0.890865, -0.454158]], 'translation vector': [3.342808, 3.719108, 1.377405]}
C: {'rotation matrix': [[-0.799682, -0.271069, 0.535752], [-0.600405, 0.367946, -0.710021], [-0.004663, -0.889459, -0.456991]], 'translation vector': [3.342098, 3.723592, 1.379504]}
D: {'rotation matrix': [[-0.786909, -0.267427, 0.556108], [-0.616914, 0.361106, -0.699299], [-0.013802, -0.893356, -0.449137]], 'translation vector': [3.343614, 3.714152, 1.377028]} | 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': [[0.9997511181043846, 0.002627583195842048, -0.02210613011174363], [-0.002639480814720638, 0.9999968737080126, -0.0005594700790184048], [0.022104273186971824, 0.0006179932127646122, 0.9997554616613505]], 'translation vector': [0.008057060510321179, -0.003086615617105104, 0.008815946351156123]}
B: {'rotation matrix': [[-0.793492, -0.269336, 0.545737], [-0.608499, 0.36581, -0.70421], [-0.009967, -0.890865, -0.454158]], 'translation vector': [3.342808, 3.719108, 1.377405]}
C: {'rotation matrix': [[-0.799682, -0.271069, 0.535752], [-0.600405, 0.367946, -0.710021], [-0.004663, -0.889459, -0.456991]], 'translation vector': [3.342098, 3.723592, 1.379504]}
D: {'rotation matrix': [[-0.786909, -0.267427, 0.556108], [-0.616914, 0.361106, -0.699299], [-0.013802, -0.893356, -0.449137]], 'translation vector': [3.343614, 3.714152, 1.377028]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_109_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_109_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_109_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_109_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.470058, 0.310455, -0.826234], [0.882195, -0.135697, 0.450908], [0.027869, -0.940853, -0.337668]], 'translation vector': [2.719146, 3.165557, 1.444111]}
B: {'rotation matrix': [[0.468253, 0.310351, -0.827298], [0.883071, -0.132138, 0.45025], [0.030418, -0.941394, -0.335936]], 'translation vector': [2.721684, 3.167619, 1.442076]}
C: {'rotation matrix': [[0.9999808269927472, 0.005970992787416191, 0.00174631158613173], [-0.00597527498498062, 0.9999782630360619, 0.002650362855816552], [-0.0017306339108793102, -0.002661153861931357, 0.9999943916418343]], 'translation vector': [0.00038154468875628567, 0.0036815080791540167, 0.0005855298747257098]}
D: {'rotation matrix': [[0.468431, 0.309409, -0.82755], [0.883026, -0.133283, 0.45], [0.028935, -0.941542, -0.33565]], 'translation vector': [2.722082, 3.167839, 1.441818]} | 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': [[0.470058, 0.310455, -0.826234], [0.882195, -0.135697, 0.450908], [0.027869, -0.940853, -0.337668]], 'translation vector': [2.719146, 3.165557, 1.444111]}
B: {'rotation matrix': [[0.468253, 0.310351, -0.827298], [0.883071, -0.132138, 0.45025], [0.030418, -0.941394, -0.335936]], 'translation vector': [2.721684, 3.167619, 1.442076]}
C: {'rotation matrix': [[0.9999808269927472, 0.005970992787416191, 0.00174631158613173], [-0.00597527498498062, 0.9999782630360619, 0.002650362855816552], [-0.0017306339108793102, -0.002661153861931357, 0.9999943916418343]], 'translation vector': [0.00038154468875628567, 0.0036815080791540167, 0.0005855298747257098]}
D: {'rotation matrix': [[0.468431, 0.309409, -0.82755], [0.883026, -0.133283, 0.45], [0.028935, -0.941542, -0.33565]], 'translation vector': [2.722082, 3.167839, 1.441818]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_110_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_110_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_110_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_110_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.886617, -0.372394, 0.274287], [-0.453667, -0.584855, 0.672407], [-0.089983, -0.720602, -0.687485]], 'translation vector': [2.862491, 2.429976, 1.648643]}
B: {'rotation matrix': [[0.9999609940536269, 0.004336106194237876, -0.007665012330121596], [-0.0043994792450735756, 0.9999564170173506, -0.008231049758408536], [0.007628227917166668, 0.008264723677336768, 0.9999364519647637]], 'translation vector': [0.014388650201931252, -0.01870904449863442, 0.020428177278094317]}
C: {'rotation matrix': [[0.881825, -0.378531, 0.281247], [-0.462696, -0.579299, 0.671062], [-0.091091, -0.721891, -0.685985]], 'translation vector': [2.843046, 2.410197, 1.648909]}
D: {'rotation matrix': [[0.88465, -0.37678, 0.274647], [-0.457061, -0.584385, 0.670514], [-0.092137, -0.718701, -0.689188]], 'translation vector': [2.852998, 2.419565, 1.649377]} | 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': [[0.886617, -0.372394, 0.274287], [-0.453667, -0.584855, 0.672407], [-0.089983, -0.720602, -0.687485]], 'translation vector': [2.862491, 2.429976, 1.648643]}
B: {'rotation matrix': [[0.9999609940536269, 0.004336106194237876, -0.007665012330121596], [-0.0043994792450735756, 0.9999564170173506, -0.008231049758408536], [0.007628227917166668, 0.008264723677336768, 0.9999364519647637]], 'translation vector': [0.014388650201931252, -0.01870904449863442, 0.020428177278094317]}
C: {'rotation matrix': [[0.881825, -0.378531, 0.281247], [-0.462696, -0.579299, 0.671062], [-0.091091, -0.721891, -0.685985]], 'translation vector': [2.843046, 2.410197, 1.648909]}
D: {'rotation matrix': [[0.88465, -0.37678, 0.274647], [-0.457061, -0.584385, 0.670514], [-0.092137, -0.718701, -0.689188]], 'translation vector': [2.852998, 2.419565, 1.649377]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_111_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_111_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_111_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_111_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.937349, 0.183503, -0.296148], [0.348203, 0.521431, -0.779015], [0.011469, -0.833329, -0.552659]], 'translation vector': [1.516432, 1.509609, 1.382559]}
B: {'rotation matrix': [[0.9999980782363276, 0.001503213640840046, -0.0005306957238598916], [-0.001506954921949503, 0.9999783283684359, -0.006294441787430057], [0.0005221180642734458, 0.006294562264384682, 0.9999799919937622]], 'translation vector': [-0.0001973645495118026, -0.004429123982855679, 0.002277103824624316]}
C: {'rotation matrix': [[-0.936868, 0.179689, -0.299985], [0.349254, 0.523335, -0.777266], [0.017327, -0.832966, -0.553053]], 'translation vector': [1.516465, 1.50589, 1.383504]}
D: {'rotation matrix': [[-0.936977, 0.182065, -0.298205], [0.349103, 0.5225, -0.777896], [0.014184, -0.832974, -0.55313]], 'translation vector': [1.516084, 1.508243, 1.382535]} | 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': [[-0.937349, 0.183503, -0.296148], [0.348203, 0.521431, -0.779015], [0.011469, -0.833329, -0.552659]], 'translation vector': [1.516432, 1.509609, 1.382559]}
B: {'rotation matrix': [[0.9999980782363276, 0.001503213640840046, -0.0005306957238598916], [-0.001506954921949503, 0.9999783283684359, -0.006294441787430057], [0.0005221180642734458, 0.006294562264384682, 0.9999799919937622]], 'translation vector': [-0.0001973645495118026, -0.004429123982855679, 0.002277103824624316]}
C: {'rotation matrix': [[-0.936868, 0.179689, -0.299985], [0.349254, 0.523335, -0.777266], [0.017327, -0.832966, -0.553053]], 'translation vector': [1.516465, 1.50589, 1.383504]}
D: {'rotation matrix': [[-0.936977, 0.182065, -0.298205], [0.349103, 0.5225, -0.777896], [0.014184, -0.832974, -0.55313]], 'translation vector': [1.516084, 1.508243, 1.382535]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_112_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_112_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_112_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_112_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.857254, 0.207542, -0.471213], [0.514274, 0.300265, -0.803345], [-0.025239, -0.931003, -0.364137]], 'translation vector': [3.165454, 3.656282, 1.333704]}
B: {'rotation matrix': [[0.99999640966509, -0.0010007660526934368, -0.0025990335284116336], [0.0009919500135136654, 0.9999945413184362, -0.003311856723933156], [0.0026023838793041037, 0.0033091782066769597, 0.999990415293157]], 'translation vector': [0.003805164660490079, -0.0038731744338753593, -0.0029462366598167478]}
C: {'rotation matrix': [[-0.857583, 0.210228, -0.469422], [0.513576, 0.300052, -0.803871], [-0.028145, -0.930469, -0.365287]], 'translation vector': [3.164042, 3.653142, 1.337743]}
D: {'rotation matrix': [[-0.856761, 0.210709, -0.470704], [0.514795, 0.294981, -0.804967], [-0.030765, -0.931981, -0.3612]], 'translation vector': [3.165054, 3.650114, 1.341357]} | 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': [[-0.857254, 0.207542, -0.471213], [0.514274, 0.300265, -0.803345], [-0.025239, -0.931003, -0.364137]], 'translation vector': [3.165454, 3.656282, 1.333704]}
B: {'rotation matrix': [[0.99999640966509, -0.0010007660526934368, -0.0025990335284116336], [0.0009919500135136654, 0.9999945413184362, -0.003311856723933156], [0.0026023838793041037, 0.0033091782066769597, 0.999990415293157]], 'translation vector': [0.003805164660490079, -0.0038731744338753593, -0.0029462366598167478]}
C: {'rotation matrix': [[-0.857583, 0.210228, -0.469422], [0.513576, 0.300052, -0.803871], [-0.028145, -0.930469, -0.365287]], 'translation vector': [3.164042, 3.653142, 1.337743]}
D: {'rotation matrix': [[-0.856761, 0.210709, -0.470704], [0.514795, 0.294981, -0.804967], [-0.030765, -0.931981, -0.3612]], 'translation vector': [3.165054, 3.650114, 1.341357]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_113_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_113_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_113_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_113_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.496753, -0.455066, 0.739021], [-0.867832, 0.250391, -0.429153], [0.010249, -0.854529, -0.519303]], 'translation vector': [1.585927, 4.408765, 1.329075]}
B: {'rotation matrix': [[-0.500222, -0.451271, 0.739008], [-0.865841, 0.250951, -0.432832], [0.009869, -0.856375, -0.51626]], 'translation vector': [1.58204, 4.414393, 1.331803]}
C: {'rotation matrix': [[0.9999646386789894, 0.004658434745366248, 0.0070851516010133645], [-0.004681817359291345, 0.999983580482257, 0.0033767996583214267], [-0.007069472768969729, -0.0034085438936624457, 0.9999685018088521]], 'translation vector': [-1.9089315443032717e-05, 0.003691149021725071, -0.009076217757424399]}
D: {'rotation matrix': [[-0.49386, -0.45517, 0.740893], [-0.869462, 0.246928, -0.427859], [0.011802, -0.855481, -0.5177]], 'translation vector': [1.591466, 4.4048, 1.328646]} | 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': [[-0.496753, -0.455066, 0.739021], [-0.867832, 0.250391, -0.429153], [0.010249, -0.854529, -0.519303]], 'translation vector': [1.585927, 4.408765, 1.329075]}
B: {'rotation matrix': [[-0.500222, -0.451271, 0.739008], [-0.865841, 0.250951, -0.432832], [0.009869, -0.856375, -0.51626]], 'translation vector': [1.58204, 4.414393, 1.331803]}
C: {'rotation matrix': [[0.9999646386789894, 0.004658434745366248, 0.0070851516010133645], [-0.004681817359291345, 0.999983580482257, 0.0033767996583214267], [-0.007069472768969729, -0.0034085438936624457, 0.9999685018088521]], 'translation vector': [-1.9089315443032717e-05, 0.003691149021725071, -0.009076217757424399]}
D: {'rotation matrix': [[-0.49386, -0.45517, 0.740893], [-0.869462, 0.246928, -0.427859], [0.011802, -0.855481, -0.5177]], 'translation vector': [1.591466, 4.4048, 1.328646]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_114_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_114_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_114_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_114_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.216454, 0.211748, -0.953053], [0.970078, -0.156619, 0.185523], [-0.109982, -0.964693, -0.239313]], 'translation vector': [4.876326, 2.835873, 1.673403]}
B: {'rotation matrix': [[0.9999815116666099, 0.003828941338965109, -0.004550071168900241], [-0.0038043597787837257, 0.999978256845473, 0.005451903660299082], [0.004571630830927769, -0.005433064547306739, 0.9999746221671975]], 'translation vector': [-0.0021931397990639923, 0.004370231111501255, 0.000887941045025542]}
C: {'rotation matrix': [[0.223921, 0.203392, -0.953148], [0.967778, -0.16198, 0.192793], [-0.115179, -0.965606, -0.233109]], 'translation vector': [4.877863, 2.835087, 1.676992]}
D: {'rotation matrix': [[0.219557, 0.208101, -0.953147], [0.969026, -0.159743, 0.188338], [-0.113066, -0.964975, -0.236728]], 'translation vector': [4.875911, 2.83788, 1.674953]} | 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': [[0.216454, 0.211748, -0.953053], [0.970078, -0.156619, 0.185523], [-0.109982, -0.964693, -0.239313]], 'translation vector': [4.876326, 2.835873, 1.673403]}
B: {'rotation matrix': [[0.9999815116666099, 0.003828941338965109, -0.004550071168900241], [-0.0038043597787837257, 0.999978256845473, 0.005451903660299082], [0.004571630830927769, -0.005433064547306739, 0.9999746221671975]], 'translation vector': [-0.0021931397990639923, 0.004370231111501255, 0.000887941045025542]}
C: {'rotation matrix': [[0.223921, 0.203392, -0.953148], [0.967778, -0.16198, 0.192793], [-0.115179, -0.965606, -0.233109]], 'translation vector': [4.877863, 2.835087, 1.676992]}
D: {'rotation matrix': [[0.219557, 0.208101, -0.953147], [0.969026, -0.159743, 0.188338], [-0.113066, -0.964975, -0.236728]], 'translation vector': [4.875911, 2.83788, 1.674953]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_115_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_115_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_115_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_115_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999402380460055, 0.006292872204581464, 0.009000301608311233], [-0.006374858865950918, 0.9999377706786996, 0.009079354369281548], [-0.008942504139812743, -0.009135104885608418, 0.9999183041835895]], 'translation vector': [3.939302955568991e-05, -0.002970151993936021, 0.008448821166219922]}
B: {'rotation matrix': [[-0.997375, -0.070877, -0.01485], [-0.014261, 0.393282, -0.919307], [0.070998, -0.916682, -0.393261]], 'translation vector': [7.372805, 2.63008, 1.348598]}
C: {'rotation matrix': [[-0.997269, -0.072413, -0.014556], [-0.015372, 0.396244, -0.918017], [0.072244, -0.915286, -0.396275]], 'translation vector': [7.36901, 2.625689, 1.34671]}
D: {'rotation matrix': [[-0.997198, -0.073599, -0.01342], [-0.016859, 0.39584, -0.918165], [0.072888, -0.915366, -0.395972]], 'translation vector': [7.365971, 2.622898, 1.345074]} | 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': [[0.9999402380460055, 0.006292872204581464, 0.009000301608311233], [-0.006374858865950918, 0.9999377706786996, 0.009079354369281548], [-0.008942504139812743, -0.009135104885608418, 0.9999183041835895]], 'translation vector': [3.939302955568991e-05, -0.002970151993936021, 0.008448821166219922]}
B: {'rotation matrix': [[-0.997375, -0.070877, -0.01485], [-0.014261, 0.393282, -0.919307], [0.070998, -0.916682, -0.393261]], 'translation vector': [7.372805, 2.63008, 1.348598]}
C: {'rotation matrix': [[-0.997269, -0.072413, -0.014556], [-0.015372, 0.396244, -0.918017], [0.072244, -0.915286, -0.396275]], 'translation vector': [7.36901, 2.625689, 1.34671]}
D: {'rotation matrix': [[-0.997198, -0.073599, -0.01342], [-0.016859, 0.39584, -0.918165], [0.072888, -0.915366, -0.395972]], 'translation vector': [7.365971, 2.622898, 1.345074]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_116_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_116_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_116_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_116_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.051446, 0.205786, -0.977244], [0.99734, -0.040014, -0.06093], [-0.051642, -0.977778, -0.20318]], 'translation vector': [3.492872, 2.502008, 1.69891]}
B: {'rotation matrix': [[-0.043348, 0.1967, -0.979505], [0.997776, -0.041176, -0.052425], [-0.050644, -0.979599, -0.194477]], 'translation vector': [3.495688, 2.502278, 1.699202]}
C: {'rotation matrix': [[-0.045349, 0.201463, -0.978446], [0.997609, -0.041995, -0.054884], [-0.052147, -0.978595, -0.199077]], 'translation vector': [3.49477, 2.503383, 1.707673]}
D: {'rotation matrix': [[0.999952584360321, 0.006117610645767056, 0.007552374046773563], [-0.006133995866929935, 0.9999788341295721, 0.0021300038842573614], [-0.007539309696335425, -0.0021763143472021637, 0.9999686644670424]], 'translation vector': [-0.005541149058866601, -0.004329021249491083, -0.004737026405577716]} | 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': [[-0.051446, 0.205786, -0.977244], [0.99734, -0.040014, -0.06093], [-0.051642, -0.977778, -0.20318]], 'translation vector': [3.492872, 2.502008, 1.69891]}
B: {'rotation matrix': [[-0.043348, 0.1967, -0.979505], [0.997776, -0.041176, -0.052425], [-0.050644, -0.979599, -0.194477]], 'translation vector': [3.495688, 2.502278, 1.699202]}
C: {'rotation matrix': [[-0.045349, 0.201463, -0.978446], [0.997609, -0.041995, -0.054884], [-0.052147, -0.978595, -0.199077]], 'translation vector': [3.49477, 2.503383, 1.707673]}
D: {'rotation matrix': [[0.999952584360321, 0.006117610645767056, 0.007552374046773563], [-0.006133995866929935, 0.9999788341295721, 0.0021300038842573614], [-0.007539309696335425, -0.0021763143472021637, 0.9999686644670424]], 'translation vector': [-0.005541149058866601, -0.004329021249491083, -0.004737026405577716]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_117_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_117_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_117_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_117_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.92969, -0.177823, 0.322577], [-0.368073, 0.414955, -0.832066], [0.014105, -0.892296, -0.451231]], 'translation vector': [2.094699, 1.923867, 1.362793]}
B: {'rotation matrix': [[-0.929496, -0.179835, 0.322021], [-0.368436, 0.412208, -0.833271], [0.017112, -0.893165, -0.449403]], 'translation vector': [2.092189, 1.927801, 1.363214]}
C: {'rotation matrix': [[0.9999967402226891, -0.00025435497097484245, -0.0026972206948773017], [0.0002554991423686922, 0.9999998064927808, 0.00039832318899401273], [0.0026965738295479497, -0.00039944612541857925, 0.9999956863286328]], 'translation vector': [0.0007808272698826002, -3.308771117738196e-05, 0.0032529965763865576]}
D: {'rotation matrix': [[-0.929672, -0.179046, 0.321952], [-0.368044, 0.413573, -0.832767], [0.015953, -0.892693, -0.450384]], 'translation vector': [2.09373, 1.925922, 1.362599]} | 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': [[-0.92969, -0.177823, 0.322577], [-0.368073, 0.414955, -0.832066], [0.014105, -0.892296, -0.451231]], 'translation vector': [2.094699, 1.923867, 1.362793]}
B: {'rotation matrix': [[-0.929496, -0.179835, 0.322021], [-0.368436, 0.412208, -0.833271], [0.017112, -0.893165, -0.449403]], 'translation vector': [2.092189, 1.927801, 1.363214]}
C: {'rotation matrix': [[0.9999967402226891, -0.00025435497097484245, -0.0026972206948773017], [0.0002554991423686922, 0.9999998064927808, 0.00039832318899401273], [0.0026965738295479497, -0.00039944612541857925, 0.9999956863286328]], 'translation vector': [0.0007808272698826002, -3.308771117738196e-05, 0.0032529965763865576]}
D: {'rotation matrix': [[-0.929672, -0.179046, 0.321952], [-0.368044, 0.413573, -0.832767], [0.015953, -0.892693, -0.450384]], 'translation vector': [2.09373, 1.925922, 1.362599]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_118_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_118_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_118_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_118_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.462347, -0.272387, 0.843825], [-0.885267, -0.195868, 0.421827], [0.050379, -0.942041, -0.331694]], 'translation vector': [2.976725, 2.047585, 1.44742]}
B: {'rotation matrix': [[0.9999659967455217, 0.000730682433916761, -0.008205012696381919], [-0.0006795411337798277, 0.9999808235064653, 0.006171696278259806], [0.008208518663254718, -0.006164897409722228, 0.9999474019525653]], 'translation vector': [0.003919003542433852, -0.0016103743394202397, 0.004248482748549165]}
C: {'rotation matrix': [[0.463845, -0.2716, 0.843257], [-0.884483, -0.196093, 0.423364], [0.050371, -0.942221, -0.331182]], 'translation vector': [2.976598, 2.048301, 1.445946]}
D: {'rotation matrix': [[0.465329, -0.271694, 0.842408], [-0.883772, -0.195467, 0.425135], [0.049156, -0.942324, -0.331072]], 'translation vector': [2.978186, 2.04869, 1.446578]} | 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': [[0.462347, -0.272387, 0.843825], [-0.885267, -0.195868, 0.421827], [0.050379, -0.942041, -0.331694]], 'translation vector': [2.976725, 2.047585, 1.44742]}
B: {'rotation matrix': [[0.9999659967455217, 0.000730682433916761, -0.008205012696381919], [-0.0006795411337798277, 0.9999808235064653, 0.006171696278259806], [0.008208518663254718, -0.006164897409722228, 0.9999474019525653]], 'translation vector': [0.003919003542433852, -0.0016103743394202397, 0.004248482748549165]}
C: {'rotation matrix': [[0.463845, -0.2716, 0.843257], [-0.884483, -0.196093, 0.423364], [0.050371, -0.942221, -0.331182]], 'translation vector': [2.976598, 2.048301, 1.445946]}
D: {'rotation matrix': [[0.465329, -0.271694, 0.842408], [-0.883772, -0.195467, 0.425135], [0.049156, -0.942324, -0.331072]], 'translation vector': [2.978186, 2.04869, 1.446578]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_119_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_119_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_119_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_119_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.819777, 0.236537, -0.521552], [0.57264, -0.327401, 0.751593], [0.007023, -0.9148, -0.403846]], 'translation vector': [2.353185, 1.22719, 1.374303]}
B: {'rotation matrix': [[0.999987888286007, -0.002291943522874061, -0.004318624647106336], [0.002305286110298337, 0.9999924577563948, 0.0032570259245620907], [0.0043115657326277725, -0.0032678213093349246, 0.9999859589268988]], 'translation vector': [0.0029862992996512183, 0.0027957678410703846, 0.00028412393673649117]}
C: {'rotation matrix': [[0.818568, 0.239176, -0.522246], [0.574347, -0.327388, 0.750296], [0.008476, -0.914118, -0.405359]], 'translation vector': [2.353795, 1.227513, 1.374115]}
D: {'rotation matrix': [[0.821096, 0.234783, -0.520267], [0.570754, -0.327501, 0.752983], [0.006399, -0.915216, -0.402913]], 'translation vector': [2.353373, 1.227232, 1.3746]} | 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': [[0.819777, 0.236537, -0.521552], [0.57264, -0.327401, 0.751593], [0.007023, -0.9148, -0.403846]], 'translation vector': [2.353185, 1.22719, 1.374303]}
B: {'rotation matrix': [[0.999987888286007, -0.002291943522874061, -0.004318624647106336], [0.002305286110298337, 0.9999924577563948, 0.0032570259245620907], [0.0043115657326277725, -0.0032678213093349246, 0.9999859589268988]], 'translation vector': [0.0029862992996512183, 0.0027957678410703846, 0.00028412393673649117]}
C: {'rotation matrix': [[0.818568, 0.239176, -0.522246], [0.574347, -0.327388, 0.750296], [0.008476, -0.914118, -0.405359]], 'translation vector': [2.353795, 1.227513, 1.374115]}
D: {'rotation matrix': [[0.821096, 0.234783, -0.520267], [0.570754, -0.327501, 0.752983], [0.006399, -0.915216, -0.402913]], 'translation vector': [2.353373, 1.227232, 1.3746]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_120_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_120_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_120_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_120_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.416416, 0.454823, -0.787232], [0.907976, 0.163592, -0.38577], [-0.046672, -0.875428, -0.481091]], 'translation vector': [2.42158, 4.677908, 1.279661]}
B: {'rotation matrix': [[-0.425105, 0.447282, -0.786908], [0.904054, 0.167175, -0.393368], [-0.044395, -0.878631, -0.475434]], 'translation vector': [2.418032, 4.676476, 1.278379]}
C: {'rotation matrix': [[-0.405457, 0.458134, -0.791023], [0.912898, 0.15832, -0.376234], [-0.047131, -0.87467, -0.482422]], 'translation vector': [2.427205, 4.676823, 1.279665]}
D: {'rotation matrix': [[0.999724588457419, 0.011399918490649034, -0.02049681987065299], [-0.011547405749944445, 0.9999079075389897, -0.007141934731129424], [0.020413044185954875, 0.00737693223574732, 0.9997642455565067]], 'translation vector': [0.0017021170863906754, -0.0007418791262142621, 0.002807958654513776]} | 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': [[-0.416416, 0.454823, -0.787232], [0.907976, 0.163592, -0.38577], [-0.046672, -0.875428, -0.481091]], 'translation vector': [2.42158, 4.677908, 1.279661]}
B: {'rotation matrix': [[-0.425105, 0.447282, -0.786908], [0.904054, 0.167175, -0.393368], [-0.044395, -0.878631, -0.475434]], 'translation vector': [2.418032, 4.676476, 1.278379]}
C: {'rotation matrix': [[-0.405457, 0.458134, -0.791023], [0.912898, 0.15832, -0.376234], [-0.047131, -0.87467, -0.482422]], 'translation vector': [2.427205, 4.676823, 1.279665]}
D: {'rotation matrix': [[0.999724588457419, 0.011399918490649034, -0.02049681987065299], [-0.011547405749944445, 0.9999079075389897, -0.007141934731129424], [0.020413044185954875, 0.00737693223574732, 0.9997642455565067]], 'translation vector': [0.0017021170863906754, -0.0007418791262142621, 0.002807958654513776]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_121_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_121_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_121_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_121_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999991921613425, -0.0009534576315807749, 0.0007322231548443674], [0.0009539109746141209, 0.9999998849157189, 0.0006356436900991667], [-0.0007323849744554394, -0.0006353709242038023, 0.9999990842009482]], 'translation vector': [-0.0019568440092229133, 0.0040178639573226205, -0.0007055440032766036]}
B: {'rotation matrix': [[-0.677088, 0.408379, -0.612192], [0.735888, 0.380882, -0.559819], [0.004555, -0.829551, -0.558412]], 'translation vector': [3.089066, 2.044868, 1.438859]}
C: {'rotation matrix': [[-0.677557, 0.408197, -0.611794], [0.735465, 0.379263, -0.561472], [0.002839, -0.830382, -0.557187]], 'translation vector': [3.090277, 2.045193, 1.438377]}
D: {'rotation matrix': [[-0.677242, 0.408267, -0.612096], [0.73575, 0.380087, -0.56054], [0.003799, -0.829971, -0.557794]], 'translation vector': [3.089461, 2.045596, 1.437863]} | 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': [[0.9999991921613425, -0.0009534576315807749, 0.0007322231548443674], [0.0009539109746141209, 0.9999998849157189, 0.0006356436900991667], [-0.0007323849744554394, -0.0006353709242038023, 0.9999990842009482]], 'translation vector': [-0.0019568440092229133, 0.0040178639573226205, -0.0007055440032766036]}
B: {'rotation matrix': [[-0.677088, 0.408379, -0.612192], [0.735888, 0.380882, -0.559819], [0.004555, -0.829551, -0.558412]], 'translation vector': [3.089066, 2.044868, 1.438859]}
C: {'rotation matrix': [[-0.677557, 0.408197, -0.611794], [0.735465, 0.379263, -0.561472], [0.002839, -0.830382, -0.557187]], 'translation vector': [3.090277, 2.045193, 1.438377]}
D: {'rotation matrix': [[-0.677242, 0.408267, -0.612096], [0.73575, 0.380087, -0.56054], [0.003799, -0.829971, -0.557794]], 'translation vector': [3.089461, 2.045596, 1.437863]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_122_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_122_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_122_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_122_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999933784388596, -0.0034228660793026973, 0.0010334015378228609], [0.003443417069472685, 0.9997723135838638, -0.0210485719107263], [-0.0009619583367667721, 0.021052364637286505, 0.9997776329131831]], 'translation vector': [0.004991626612900646, -0.0024493216023662445, -0.003027628610638544]}
B: {'rotation matrix': [[-0.068724, 0.196407, -0.978111], [0.997631, 0.016511, -0.06678], [0.003034, -0.980384, -0.197076]], 'translation vector': [6.624384, 2.565858, 1.44421]}
C: {'rotation matrix': [[-0.062271, 0.18592, -0.98059], [0.998056, 0.014281, -0.060673], [0.002724, -0.982461, -0.186448]], 'translation vector': [6.625182, 2.564143, 1.442555]}
D: {'rotation matrix': [[-0.067121, 0.19262, -0.978975], [0.997737, 0.016917, -0.065078], [0.004026, -0.981128, -0.19332]], 'translation vector': [6.625297, 2.569471, 1.443187]} | 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': [[0.9999933784388596, -0.0034228660793026973, 0.0010334015378228609], [0.003443417069472685, 0.9997723135838638, -0.0210485719107263], [-0.0009619583367667721, 0.021052364637286505, 0.9997776329131831]], 'translation vector': [0.004991626612900646, -0.0024493216023662445, -0.003027628610638544]}
B: {'rotation matrix': [[-0.068724, 0.196407, -0.978111], [0.997631, 0.016511, -0.06678], [0.003034, -0.980384, -0.197076]], 'translation vector': [6.624384, 2.565858, 1.44421]}
C: {'rotation matrix': [[-0.062271, 0.18592, -0.98059], [0.998056, 0.014281, -0.060673], [0.002724, -0.982461, -0.186448]], 'translation vector': [6.625182, 2.564143, 1.442555]}
D: {'rotation matrix': [[-0.067121, 0.19262, -0.978975], [0.997737, 0.016917, -0.065078], [0.004026, -0.981128, -0.19332]], 'translation vector': [6.625297, 2.569471, 1.443187]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_123_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_123_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_123_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_123_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9997697997860496, 0.001019787082464491, -0.021429481643640898], [-0.0009730181353209979, 0.9999969701208679, 0.002158925702055335], [0.021432088446976687, -0.002138201439636503, 0.9997675908556951]], 'translation vector': [0.004448630857523561, 0.0024420113720010628, -0.001058932632110654]}
B: {'rotation matrix': [[-0.999487, 0.010341, 0.030333], [-0.019706, 0.548122, -0.836166], [-0.025273, -0.836334, -0.547637]], 'translation vector': [4.843515, 3.430529, 1.401708]}
C: {'rotation matrix': [[-0.998846, 0.024735, 0.04116], [-0.020973, 0.546345, -0.837298], [-0.043199, -0.837195, -0.545196]], 'translation vector': [4.840129, 3.432139, 1.401112]}
D: {'rotation matrix': [[-0.99921, 0.020117, 0.034274], [-0.017632, 0.548494, -0.835969], [-0.035616, -0.835913, -0.547706]], 'translation vector': [4.841137, 3.430736, 1.401886]} | 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': [[0.9997697997860496, 0.001019787082464491, -0.021429481643640898], [-0.0009730181353209979, 0.9999969701208679, 0.002158925702055335], [0.021432088446976687, -0.002138201439636503, 0.9997675908556951]], 'translation vector': [0.004448630857523561, 0.0024420113720010628, -0.001058932632110654]}
B: {'rotation matrix': [[-0.999487, 0.010341, 0.030333], [-0.019706, 0.548122, -0.836166], [-0.025273, -0.836334, -0.547637]], 'translation vector': [4.843515, 3.430529, 1.401708]}
C: {'rotation matrix': [[-0.998846, 0.024735, 0.04116], [-0.020973, 0.546345, -0.837298], [-0.043199, -0.837195, -0.545196]], 'translation vector': [4.840129, 3.432139, 1.401112]}
D: {'rotation matrix': [[-0.99921, 0.020117, 0.034274], [-0.017632, 0.548494, -0.835969], [-0.035616, -0.835913, -0.547706]], 'translation vector': [4.841137, 3.430736, 1.401886]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_124_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_124_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_124_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_124_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.973747, -0.109977, 0.199301], [-0.227471, -0.502961, 0.833839], [0.008537, -0.857284, -0.514773]], 'translation vector': [3.554081, 1.206281, 1.35243]}
B: {'rotation matrix': [[0.974665, -0.108996, 0.195317], [-0.223559, -0.502331, 0.835276], [0.007072, -0.857778, -0.513971]], 'translation vector': [3.555352, 1.206811, 1.353912]}
C: {'rotation matrix': [[0.975504, -0.107044, 0.192183], [-0.219886, -0.500464, 0.837368], [0.006546, -0.859114, -0.511742]], 'translation vector': [3.5544, 1.207723, 1.355687]}
D: {'rotation matrix': [[0.9999906036647181, 0.002816837265478036, -0.0034361334791159484], [-0.0028229898836968203, 0.9999947431038866, -0.0015384023641953812], [0.0034319714995403, 0.0015489580591809052, 0.9999926274107623]], 'translation vector': [0.0002503237708082473, -0.0002760600759463827, -0.00019478740093437086]} | 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': [[0.973747, -0.109977, 0.199301], [-0.227471, -0.502961, 0.833839], [0.008537, -0.857284, -0.514773]], 'translation vector': [3.554081, 1.206281, 1.35243]}
B: {'rotation matrix': [[0.974665, -0.108996, 0.195317], [-0.223559, -0.502331, 0.835276], [0.007072, -0.857778, -0.513971]], 'translation vector': [3.555352, 1.206811, 1.353912]}
C: {'rotation matrix': [[0.975504, -0.107044, 0.192183], [-0.219886, -0.500464, 0.837368], [0.006546, -0.859114, -0.511742]], 'translation vector': [3.5544, 1.207723, 1.355687]}
D: {'rotation matrix': [[0.9999906036647181, 0.002816837265478036, -0.0034361334791159484], [-0.0028229898836968203, 0.9999947431038866, -0.0015384023641953812], [0.0034319714995403, 0.0015489580591809052, 0.9999926274107623]], 'translation vector': [0.0002503237708082473, -0.0002760600759463827, -0.00019478740093437086]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_125_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_125_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_125_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_125_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.153679, 0.256881, -0.954146], [0.987333, 0.001369, -0.158656], [-0.03945, -0.966442, -0.253837]], 'translation vector': [1.842026, 1.203469, 1.473211]}
B: {'rotation matrix': [[-0.151778, 0.257722, -0.954224], [0.987593, 0.000186, -0.157036], [-0.040294, -0.966219, -0.254553]], 'translation vector': [1.842306, 1.202322, 1.472604]}
C: {'rotation matrix': [[-0.149914, 0.257434, -0.954596], [0.987791, -0.002361, -0.155764], [-0.042353, -0.966293, -0.253937]], 'translation vector': [1.843622, 1.201203, 1.472192]}
D: {'rotation matrix': [[0.9999992738268638, -0.00012046241721948631, -0.0012199092118460354], [0.0001219402230910216, 0.9999989013124573, 0.0017389291337165482], [0.0012191992898708535, -0.0017382297355628953, 0.9999985296461054]], 'translation vector': [9.159323589502666e-05, -0.0060291788848427785, 8.443913047839757e-05]} | 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': [[-0.153679, 0.256881, -0.954146], [0.987333, 0.001369, -0.158656], [-0.03945, -0.966442, -0.253837]], 'translation vector': [1.842026, 1.203469, 1.473211]}
B: {'rotation matrix': [[-0.151778, 0.257722, -0.954224], [0.987593, 0.000186, -0.157036], [-0.040294, -0.966219, -0.254553]], 'translation vector': [1.842306, 1.202322, 1.472604]}
C: {'rotation matrix': [[-0.149914, 0.257434, -0.954596], [0.987791, -0.002361, -0.155764], [-0.042353, -0.966293, -0.253937]], 'translation vector': [1.843622, 1.201203, 1.472192]}
D: {'rotation matrix': [[0.9999992738268638, -0.00012046241721948631, -0.0012199092118460354], [0.0001219402230910216, 0.9999989013124573, 0.0017389291337165482], [0.0012191992898708535, -0.0017382297355628953, 0.9999985296461054]], 'translation vector': [9.159323589502666e-05, -0.0060291788848427785, 8.443913047839757e-05]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_126_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_126_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_126_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_126_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.14824, 0.422945, -0.893948], [0.983241, -0.033972, -0.17912], [-0.106127, -0.905518, -0.410821]], 'translation vector': [4.004252, 0.906944, 2.572337]}
B: {'rotation matrix': [[-0.144176, 0.428291, -0.892065], [0.983875, -0.034383, -0.175522], [-0.105847, -0.902987, -0.416427]], 'translation vector': [4.001886, 0.906293, 2.57387]}
C: {'rotation matrix': [[0.9999802090304492, -0.0006608909445885984, -0.006377640026736867], [0.0006622709420172097, 0.9999989071934312, 0.0002893250642296396], [0.006377955510407445, -0.00029429125031086645, 0.9999796120375704]], 'translation vector': [0.0015109144602648002, -0.0040381270140653625, -0.0009682382039999382]}
D: {'rotation matrix': [[-0.139849, 0.432923, -0.890517], [0.98469, -0.03371, -0.171026], [-0.10406, -0.9008, -0.42158]], 'translation vector': [3.996022, 0.9047, 2.579904]} | 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': [[-0.14824, 0.422945, -0.893948], [0.983241, -0.033972, -0.17912], [-0.106127, -0.905518, -0.410821]], 'translation vector': [4.004252, 0.906944, 2.572337]}
B: {'rotation matrix': [[-0.144176, 0.428291, -0.892065], [0.983875, -0.034383, -0.175522], [-0.105847, -0.902987, -0.416427]], 'translation vector': [4.001886, 0.906293, 2.57387]}
C: {'rotation matrix': [[0.9999802090304492, -0.0006608909445885984, -0.006377640026736867], [0.0006622709420172097, 0.9999989071934312, 0.0002893250642296396], [0.006377955510407445, -0.00029429125031086645, 0.9999796120375704]], 'translation vector': [0.0015109144602648002, -0.0040381270140653625, -0.0009682382039999382]}
D: {'rotation matrix': [[-0.139849, 0.432923, -0.890517], [0.98469, -0.03371, -0.171026], [-0.10406, -0.9008, -0.42158]], 'translation vector': [3.996022, 0.9047, 2.579904]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_127_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_127_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_127_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_127_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.95128, 0.171677, -0.256112], [0.307849, -0.482535, 0.819993], [0.017191, -0.858887, -0.511877]], 'translation vector': [2.918653, 3.427386, 1.515216]}
B: {'rotation matrix': [[0.9999949680507799, -0.0030198797325234252, -0.001049278425799119], [0.0030204031206264347, 0.9999953358677364, 0.000916435423205514], [0.0010474297666525848, -0.0009198822713830659, 0.9999990387486941]], 'translation vector': [-0.00019299961249297226, -0.0019013116010877518, -0.0012501965874700538]}
C: {'rotation matrix': [[0.951329, 0.168071, -0.258311], [0.307858, -0.480204, 0.821357], [0.014004, -0.860905, -0.508574]], 'translation vector': [2.920244, 3.426191, 1.515625]}
D: {'rotation matrix': [[0.951137, 0.174865, -0.254481], [0.308106, -0.483514, 0.81932], [0.020225, -0.857693, -0.513765]], 'translation vector': [2.916759, 3.427486, 1.515303]} | 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': [[0.95128, 0.171677, -0.256112], [0.307849, -0.482535, 0.819993], [0.017191, -0.858887, -0.511877]], 'translation vector': [2.918653, 3.427386, 1.515216]}
B: {'rotation matrix': [[0.9999949680507799, -0.0030198797325234252, -0.001049278425799119], [0.0030204031206264347, 0.9999953358677364, 0.000916435423205514], [0.0010474297666525848, -0.0009198822713830659, 0.9999990387486941]], 'translation vector': [-0.00019299961249297226, -0.0019013116010877518, -0.0012501965874700538]}
C: {'rotation matrix': [[0.951329, 0.168071, -0.258311], [0.307858, -0.480204, 0.821357], [0.014004, -0.860905, -0.508574]], 'translation vector': [2.920244, 3.426191, 1.515625]}
D: {'rotation matrix': [[0.951137, 0.174865, -0.254481], [0.308106, -0.483514, 0.81932], [0.020225, -0.857693, -0.513765]], 'translation vector': [2.916759, 3.427486, 1.515303]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_128_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_128_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_128_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_128_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999948635923562, 0.0019820469436732306, 0.002154140600797888], [-0.0019903388630383317, 0.9999924231566063, 0.003542917026556551], [-0.0021468846137928286, -0.0035469945961230523, 0.999992296254944]], 'translation vector': [-5.7007563989186494e-05, -0.0006793783086549987, -0.00012474555531971632]}
B: {'rotation matrix': [[-0.933451, -0.165748, 0.318116], [-0.358704, 0.434072, -0.826385], [-0.001114, -0.885499, -0.464639]], 'translation vector': [1.119556, 2.234202, 1.400117]}
C: {'rotation matrix': [[-0.933995, -0.170592, 0.31393], [-0.357261, 0.435306, -0.826362], [0.004315, -0.883973, -0.467519]], 'translation vector': [1.117768, 2.23249, 1.399859]}
D: {'rotation matrix': [[-0.93341, -0.169242, 0.31639], [-0.358807, 0.435851, -0.825404], [0.001794, -0.883963, -0.467553]], 'translation vector': [1.117643, 2.232584, 1.400741]} | 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': [[0.9999948635923562, 0.0019820469436732306, 0.002154140600797888], [-0.0019903388630383317, 0.9999924231566063, 0.003542917026556551], [-0.0021468846137928286, -0.0035469945961230523, 0.999992296254944]], 'translation vector': [-5.7007563989186494e-05, -0.0006793783086549987, -0.00012474555531971632]}
B: {'rotation matrix': [[-0.933451, -0.165748, 0.318116], [-0.358704, 0.434072, -0.826385], [-0.001114, -0.885499, -0.464639]], 'translation vector': [1.119556, 2.234202, 1.400117]}
C: {'rotation matrix': [[-0.933995, -0.170592, 0.31393], [-0.357261, 0.435306, -0.826362], [0.004315, -0.883973, -0.467519]], 'translation vector': [1.117768, 2.23249, 1.399859]}
D: {'rotation matrix': [[-0.93341, -0.169242, 0.31639], [-0.358807, 0.435851, -0.825404], [0.001794, -0.883963, -0.467553]], 'translation vector': [1.117643, 2.232584, 1.400741]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_129_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_129_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_129_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_129_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.748267, 0.274864, -0.603777], [0.662514, -0.356598, 0.658721], [-0.034247, -0.892909, -0.448932]], 'translation vector': [2.689408, 2.67138, 1.313352]}
B: {'rotation matrix': [[0.746223, 0.273332, -0.606993], [0.664679, -0.356291, 0.656703], [-0.036768, -0.893502, -0.447551]], 'translation vector': [2.678885, 2.679979, 1.310144]}
C: {'rotation matrix': [[0.9999399674236885, 0.0008968793534765223, 0.01089808273108475], [-0.000989300454985631, 0.9999632239345498, 0.008537240164508266], [-0.010889507071785043, -0.008547033142130317, 0.9999033050990314]], 'translation vector': [-0.01197293045142045, -0.02229876967815736, 0.03026515941132618]}
D: {'rotation matrix': [[0.750155, 0.270973, -0.603193], [0.660278, -0.356699, 0.660908], [-0.03607, -0.894058, -0.446497]], 'translation vector': [2.698287, 2.659688, 1.315667]} | 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': [[0.748267, 0.274864, -0.603777], [0.662514, -0.356598, 0.658721], [-0.034247, -0.892909, -0.448932]], 'translation vector': [2.689408, 2.67138, 1.313352]}
B: {'rotation matrix': [[0.746223, 0.273332, -0.606993], [0.664679, -0.356291, 0.656703], [-0.036768, -0.893502, -0.447551]], 'translation vector': [2.678885, 2.679979, 1.310144]}
C: {'rotation matrix': [[0.9999399674236885, 0.0008968793534765223, 0.01089808273108475], [-0.000989300454985631, 0.9999632239345498, 0.008537240164508266], [-0.010889507071785043, -0.008547033142130317, 0.9999033050990314]], 'translation vector': [-0.01197293045142045, -0.02229876967815736, 0.03026515941132618]}
D: {'rotation matrix': [[0.750155, 0.270973, -0.603193], [0.660278, -0.356699, 0.660908], [-0.03607, -0.894058, -0.446497]], 'translation vector': [2.698287, 2.659688, 1.315667]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_130_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_130_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_130_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_130_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.696591, -0.332063, 0.636], [-0.715704, 0.259464, -0.648419], [0.050297, -0.90687, -0.418398]], 'translation vector': [0.055261, 3.785911, 1.510756]}
B: {'rotation matrix': [[0.9999892202506441, -0.00432806217171397, -0.0014665396078038379], [0.0043283836537151305, 0.9999910348386083, -5.023853182741767e-05], [0.0014665058361795998, 4.44487020677531e-05, 0.9999983390207243]], 'translation vector': [0.0011882249140264811, -0.004541217231683825, 0.003677767622445316]}
C: {'rotation matrix': [[-0.698852, -0.328674, 0.635279], [-0.713642, 0.26058, -0.65024], [0.048176, -0.907784, -0.416662]], 'translation vector': [0.047395, 3.788746, 1.502043]}
D: {'rotation matrix': [[-0.698666, -0.330448, 0.634563], [-0.713793, 0.261647, -0.649647], [0.048643, -0.906832, -0.418676]], 'translation vector': [0.050863, 3.788018, 1.507423]} | 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': [[-0.696591, -0.332063, 0.636], [-0.715704, 0.259464, -0.648419], [0.050297, -0.90687, -0.418398]], 'translation vector': [0.055261, 3.785911, 1.510756]}
B: {'rotation matrix': [[0.9999892202506441, -0.00432806217171397, -0.0014665396078038379], [0.0043283836537151305, 0.9999910348386083, -5.023853182741767e-05], [0.0014665058361795998, 4.44487020677531e-05, 0.9999983390207243]], 'translation vector': [0.0011882249140264811, -0.004541217231683825, 0.003677767622445316]}
C: {'rotation matrix': [[-0.698852, -0.328674, 0.635279], [-0.713642, 0.26058, -0.65024], [0.048176, -0.907784, -0.416662]], 'translation vector': [0.047395, 3.788746, 1.502043]}
D: {'rotation matrix': [[-0.698666, -0.330448, 0.634563], [-0.713793, 0.261647, -0.649647], [0.048643, -0.906832, -0.418676]], 'translation vector': [0.050863, 3.788018, 1.507423]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_131_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_131_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_131_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_131_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999994384686345, -0.0006788559243182462, -0.0008560007213187077], [0.0006780059132462143, 0.9999998393114027, -0.000711634963528042], [0.0008572035387077444, 0.0007099766954480035, 0.9999996039685791]], 'translation vector': [0.0021169101928586176, 0.0016932348180918044, -0.0014691902955634717]}
B: {'rotation matrix': [[-0.895004, 0.171136, -0.411923], [0.445772, 0.376296, -0.812213], [0.016006, -0.910557, -0.413074]], 'translation vector': [2.821576, 5.408109, 1.547241]}
C: {'rotation matrix': [[-0.895238, 0.170954, -0.411491], [0.44529, 0.377097, -0.812105], [0.016339, -0.910259, -0.413716]], 'translation vector': [2.819563, 5.407667, 1.547957]}
D: {'rotation matrix': [[-0.895239, 0.171618, -0.411211], [0.445324, 0.376235, -0.812486], [0.015275, -0.910491, -0.413246]], 'translation vector': [2.820169, 5.40833, 1.547624]} | 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': [[0.9999994384686345, -0.0006788559243182462, -0.0008560007213187077], [0.0006780059132462143, 0.9999998393114027, -0.000711634963528042], [0.0008572035387077444, 0.0007099766954480035, 0.9999996039685791]], 'translation vector': [0.0021169101928586176, 0.0016932348180918044, -0.0014691902955634717]}
B: {'rotation matrix': [[-0.895004, 0.171136, -0.411923], [0.445772, 0.376296, -0.812213], [0.016006, -0.910557, -0.413074]], 'translation vector': [2.821576, 5.408109, 1.547241]}
C: {'rotation matrix': [[-0.895238, 0.170954, -0.411491], [0.44529, 0.377097, -0.812105], [0.016339, -0.910259, -0.413716]], 'translation vector': [2.819563, 5.407667, 1.547957]}
D: {'rotation matrix': [[-0.895239, 0.171618, -0.411211], [0.445324, 0.376235, -0.812486], [0.015275, -0.910491, -0.413246]], 'translation vector': [2.820169, 5.40833, 1.547624]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_132_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_132_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_132_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_132_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.637806, -0.366719, 0.67729], [-0.770059, -0.286951, 0.569797], [-0.014606, -0.884972, -0.465415]], 'translation vector': [2.635432, 2.237918, 1.453759]}
B: {'rotation matrix': [[0.639756, -0.365353, 0.676188], [-0.768417, -0.286037, 0.572466], [-0.015738, -0.885833, -0.463738]], 'translation vector': [2.635672, 2.238828, 1.45525]}
C: {'rotation matrix': [[0.999992450941996, 0.003938168732013472, 0.0002619981628988685], [-0.003940060772482587, 0.9999806955317443, 0.004722690751934828], [-0.00024268998302535557, -0.004722987499164323, 0.9999892225354342]], 'translation vector': [-0.005978537327156946, -0.0007775878287423765, 0.0022633181070532693]}
D: {'rotation matrix': [[0.636585, -0.368058, 0.677712], [-0.771071, -0.287285, 0.568258], [-0.014455, -0.884308, -0.46668]], 'translation vector': [2.636608, 2.236841, 1.454577]} | 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': [[0.637806, -0.366719, 0.67729], [-0.770059, -0.286951, 0.569797], [-0.014606, -0.884972, -0.465415]], 'translation vector': [2.635432, 2.237918, 1.453759]}
B: {'rotation matrix': [[0.639756, -0.365353, 0.676188], [-0.768417, -0.286037, 0.572466], [-0.015738, -0.885833, -0.463738]], 'translation vector': [2.635672, 2.238828, 1.45525]}
C: {'rotation matrix': [[0.999992450941996, 0.003938168732013472, 0.0002619981628988685], [-0.003940060772482587, 0.9999806955317443, 0.004722690751934828], [-0.00024268998302535557, -0.004722987499164323, 0.9999892225354342]], 'translation vector': [-0.005978537327156946, -0.0007775878287423765, 0.0022633181070532693]}
D: {'rotation matrix': [[0.636585, -0.368058, 0.677712], [-0.771071, -0.287285, 0.568258], [-0.014455, -0.884308, -0.46668]], 'translation vector': [2.636608, 2.236841, 1.454577]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_133_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_133_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_133_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_133_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.354317, -0.208867, 0.911501], [-0.934632, 0.110757, -0.337929], [-0.030372, -0.971652, -0.234457]], 'translation vector': [0.531753, 4.839624, 1.62588]}
B: {'rotation matrix': [[-0.359065, -0.216471, 0.907862], [-0.932968, 0.109695, -0.342839], [-0.025373, -0.970107, -0.241348]], 'translation vector': [0.533016, 4.840936, 1.625213]}
C: {'rotation matrix': [[0.9999996059479784, -0.0012011060402040321, 0.0006047856645127561], [0.0011984060508814654, 0.9999921678086844, 0.003627178785230534], [-0.000607755557205814, -0.0036253860701085153, 0.999994001644102]], 'translation vector': [-0.0020457167014393818, -0.01042060812880563, 0.003252619468668172]}
D: {'rotation matrix': [[-0.356177, -0.213479, 0.909706], [-0.934025, 0.10958, -0.339984], [-0.027106, -0.970783, -0.238424]], 'translation vector': [0.532497, 4.839391, 1.625248]} | 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': [[-0.354317, -0.208867, 0.911501], [-0.934632, 0.110757, -0.337929], [-0.030372, -0.971652, -0.234457]], 'translation vector': [0.531753, 4.839624, 1.62588]}
B: {'rotation matrix': [[-0.359065, -0.216471, 0.907862], [-0.932968, 0.109695, -0.342839], [-0.025373, -0.970107, -0.241348]], 'translation vector': [0.533016, 4.840936, 1.625213]}
C: {'rotation matrix': [[0.9999996059479784, -0.0012011060402040321, 0.0006047856645127561], [0.0011984060508814654, 0.9999921678086844, 0.003627178785230534], [-0.000607755557205814, -0.0036253860701085153, 0.999994001644102]], 'translation vector': [-0.0020457167014393818, -0.01042060812880563, 0.003252619468668172]}
D: {'rotation matrix': [[-0.356177, -0.213479, 0.909706], [-0.934025, 0.10958, -0.339984], [-0.027106, -0.970783, -0.238424]], 'translation vector': [0.532497, 4.839391, 1.625248]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_134_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_134_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_134_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_134_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999831834333464, -3.507485354961902e-05, -0.005860591935981322], [1.2894070442508321e-05, 0.999992942835117, -0.003855834283817326], [0.00585975547828403, 0.003855906716345711, 0.9999751812718962]], 'translation vector': [-9.176265998767086e-05, -0.003526493044568424, -0.0013563859537040202]}
B: {'rotation matrix': [[-0.77208, 0.081888, -0.630228], [0.634233, 0.036058, -0.772301], [-0.040517, -0.995989, -0.079776]], 'translation vector': [4.355151, 2.275217, 1.510745]}
C: {'rotation matrix': [[-0.769009, 0.085964, -0.633432], [0.638035, 0.042436, -0.768838], [-0.039212, -0.995394, -0.087482]], 'translation vector': [4.353152, 2.272772, 1.50454]}
D: {'rotation matrix': [[-0.770144, 0.083681, -0.632358], [0.636632, 0.03909, -0.770176], [-0.03973, -0.995726, -0.083379]], 'translation vector': [4.354443, 2.273597, 1.508503]} | 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': [[0.9999831834333464, -3.507485354961902e-05, -0.005860591935981322], [1.2894070442508321e-05, 0.999992942835117, -0.003855834283817326], [0.00585975547828403, 0.003855906716345711, 0.9999751812718962]], 'translation vector': [-9.176265998767086e-05, -0.003526493044568424, -0.0013563859537040202]}
B: {'rotation matrix': [[-0.77208, 0.081888, -0.630228], [0.634233, 0.036058, -0.772301], [-0.040517, -0.995989, -0.079776]], 'translation vector': [4.355151, 2.275217, 1.510745]}
C: {'rotation matrix': [[-0.769009, 0.085964, -0.633432], [0.638035, 0.042436, -0.768838], [-0.039212, -0.995394, -0.087482]], 'translation vector': [4.353152, 2.272772, 1.50454]}
D: {'rotation matrix': [[-0.770144, 0.083681, -0.632358], [0.636632, 0.03909, -0.770176], [-0.03973, -0.995726, -0.083379]], 'translation vector': [4.354443, 2.273597, 1.508503]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_135_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_135_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_135_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_135_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.872251, 0.269436, -0.408146], [0.489057, 0.477878, -0.729696], [-0.001562, -0.836084, -0.548599]], 'translation vector': [2.680995, 3.11951, 1.281605]}
B: {'rotation matrix': [[0.9999175427731898, 0.009289450845399635, 0.008882740398963147], [-0.00915148449802066, 0.9998381508008006, -0.015456879997285015], [-0.00902528905222651, 0.015374430101541683, 0.9998409413313208]], 'translation vector': [-0.02453370105938546, 0.014905487027389919, -0.03059606364374634]}
C: {'rotation matrix': [[-0.872521, 0.262383, -0.412143], [0.488544, 0.478168, -0.729849], [0.005573, -0.838159, -0.545398]], 'translation vector': [2.690634, 3.125973, 1.284562]}
D: {'rotation matrix': [[-0.871338, 0.255355, -0.419003], [0.490471, 0.478377, -0.728419], [0.014436, -0.840208, -0.542072]], 'translation vector': [2.702949, 3.129856, 1.287257]} | 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': [[-0.872251, 0.269436, -0.408146], [0.489057, 0.477878, -0.729696], [-0.001562, -0.836084, -0.548599]], 'translation vector': [2.680995, 3.11951, 1.281605]}
B: {'rotation matrix': [[0.9999175427731898, 0.009289450845399635, 0.008882740398963147], [-0.00915148449802066, 0.9998381508008006, -0.015456879997285015], [-0.00902528905222651, 0.015374430101541683, 0.9998409413313208]], 'translation vector': [-0.02453370105938546, 0.014905487027389919, -0.03059606364374634]}
C: {'rotation matrix': [[-0.872521, 0.262383, -0.412143], [0.488544, 0.478168, -0.729849], [0.005573, -0.838159, -0.545398]], 'translation vector': [2.690634, 3.125973, 1.284562]}
D: {'rotation matrix': [[-0.871338, 0.255355, -0.419003], [0.490471, 0.478377, -0.728419], [0.014436, -0.840208, -0.542072]], 'translation vector': [2.702949, 3.129856, 1.287257]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_136_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_136_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_136_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_136_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.333056, -0.473197, 0.815573], [-0.9429, 0.170506, -0.286124], [-0.003667, -0.864299, -0.502965]], 'translation vector': [2.099262, 2.343947, 1.49878]}
B: {'rotation matrix': [[-0.341507, -0.468371, 0.814864], [-0.939879, 0.169312, -0.296582], [0.000944, -0.867158, -0.498033]], 'translation vector': [2.09227, 2.339374, 1.500507]}
C: {'rotation matrix': [[-0.349241, -0.464358, 0.813882], [-0.937028, 0.170072, -0.305049], [0.003234, -0.869165, -0.494512]], 'translation vector': [2.088692, 2.33782, 1.505356]}
D: {'rotation matrix': [[0.9999635418289009, -0.005130634438046651, -0.00688590414124517], [0.00513692191174813, 0.9999857138339602, 0.0010725741392655886], [0.00688015226508057, -0.0011072559806139443, 0.9999748317531684]], 'translation vector': [-0.026001101753266642, -0.0071394396285136, 0.008639096069164354]} | 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': [[-0.333056, -0.473197, 0.815573], [-0.9429, 0.170506, -0.286124], [-0.003667, -0.864299, -0.502965]], 'translation vector': [2.099262, 2.343947, 1.49878]}
B: {'rotation matrix': [[-0.341507, -0.468371, 0.814864], [-0.939879, 0.169312, -0.296582], [0.000944, -0.867158, -0.498033]], 'translation vector': [2.09227, 2.339374, 1.500507]}
C: {'rotation matrix': [[-0.349241, -0.464358, 0.813882], [-0.937028, 0.170072, -0.305049], [0.003234, -0.869165, -0.494512]], 'translation vector': [2.088692, 2.33782, 1.505356]}
D: {'rotation matrix': [[0.9999635418289009, -0.005130634438046651, -0.00688590414124517], [0.00513692191174813, 0.9999857138339602, 0.0010725741392655886], [0.00688015226508057, -0.0011072559806139443, 0.9999748317531684]], 'translation vector': [-0.026001101753266642, -0.0071394396285136, 0.008639096069164354]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_137_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_137_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_137_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_137_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.030402, 0.425954, -0.904234], [0.998503, -0.028211, -0.04686], [-0.045469, -0.904305, -0.424459]], 'translation vector': [2.422483, 1.358004, 3.279846]}
B: {'rotation matrix': [[-0.030422, 0.425378, -0.904504], [0.99853, -0.027681, -0.046602], [-0.044861, -0.904592, -0.42391]], 'translation vector': [2.423117, 1.357937, 3.279462]}
C: {'rotation matrix': [[0.9999413192700902, -0.00031349790801336034, -0.010858677567769605], [0.00020550611921538246, 0.9999497154111819, -0.010006476843209223], [0.010861290904906616, 0.010003092803207396, 0.9998904023572843]], 'translation vector': [-0.0025713849698387747, -0.003845445277962156, -0.00016886354172340745]}
D: {'rotation matrix': [[-0.029484, 0.425058, -0.904686], [0.998566, -0.027942, -0.045671], [-0.044692, -0.904735, -0.423624]], 'translation vector': [2.421348, 1.3572, 3.28135]} | 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': [[-0.030402, 0.425954, -0.904234], [0.998503, -0.028211, -0.04686], [-0.045469, -0.904305, -0.424459]], 'translation vector': [2.422483, 1.358004, 3.279846]}
B: {'rotation matrix': [[-0.030422, 0.425378, -0.904504], [0.99853, -0.027681, -0.046602], [-0.044861, -0.904592, -0.42391]], 'translation vector': [2.423117, 1.357937, 3.279462]}
C: {'rotation matrix': [[0.9999413192700902, -0.00031349790801336034, -0.010858677567769605], [0.00020550611921538246, 0.9999497154111819, -0.010006476843209223], [0.010861290904906616, 0.010003092803207396, 0.9998904023572843]], 'translation vector': [-0.0025713849698387747, -0.003845445277962156, -0.00016886354172340745]}
D: {'rotation matrix': [[-0.029484, 0.425058, -0.904686], [0.998566, -0.027942, -0.045671], [-0.044692, -0.904735, -0.423624]], 'translation vector': [2.421348, 1.3572, 3.28135]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_138_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_138_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_138_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_138_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.765303, 0.126374, -0.631143], [0.606826, -0.468638, 0.641982], [-0.214648, -0.874305, -0.435336]], 'translation vector': [4.259322, 3.776065, 1.503445]}
B: {'rotation matrix': [[0.771053, 0.12608, -0.624165], [0.599963, -0.472273, 0.645757], [-0.213359, -0.872388, -0.439791]], 'translation vector': [4.254354, 3.773882, 1.500145]}
C: {'rotation matrix': [[0.9999284250414853, 0.0013159481143052354, -0.011853419692681406], [-0.0013716672277964584, 0.9999877220001062, -0.004620807232633075], [0.011847871043956123, 0.004636177506016426, 0.9999191533457081]], 'translation vector': [-0.0029675207616195465, 0.002877998549804417, -0.005058945419356364]}
D: {'rotation matrix': [[0.774333, 0.127442, -0.619813], [0.595393, -0.478434, 0.645452], [-0.214281, -0.868826, -0.446345]], 'translation vector': [4.253978, 3.779827, 1.501383]} | 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': [[0.765303, 0.126374, -0.631143], [0.606826, -0.468638, 0.641982], [-0.214648, -0.874305, -0.435336]], 'translation vector': [4.259322, 3.776065, 1.503445]}
B: {'rotation matrix': [[0.771053, 0.12608, -0.624165], [0.599963, -0.472273, 0.645757], [-0.213359, -0.872388, -0.439791]], 'translation vector': [4.254354, 3.773882, 1.500145]}
C: {'rotation matrix': [[0.9999284250414853, 0.0013159481143052354, -0.011853419692681406], [-0.0013716672277964584, 0.9999877220001062, -0.004620807232633075], [0.011847871043956123, 0.004636177506016426, 0.9999191533457081]], 'translation vector': [-0.0029675207616195465, 0.002877998549804417, -0.005058945419356364]}
D: {'rotation matrix': [[0.774333, 0.127442, -0.619813], [0.595393, -0.478434, 0.645452], [-0.214281, -0.868826, -0.446345]], 'translation vector': [4.253978, 3.779827, 1.501383]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_139_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_139_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_139_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_139_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.90788, 0.151333, -0.390964], [0.408575, 0.110464, -0.906016], [-0.093922, -0.982291, -0.162118]], 'translation vector': [8.818443, 3.831761, 1.477683]}
B: {'rotation matrix': [[0.9999985311997388, 0.0014822343891824376, 0.0004132906130215321], [-0.0014816934035833144, 0.9999987577699637, 9.7059989439923e-05], [-0.00041331535706021807, -9.78109674475786e-05, 1.0000005199156523]], 'translation vector': [-0.004405482725633902, -0.00022188509424603264, 0.00016042860388854052]}
C: {'rotation matrix': [[-0.90752, 0.150251, -0.392214], [0.409699, 0.111045, -0.905437], [-0.092489, -0.982392, -0.162333]], 'translation vector': [8.816371, 3.832904, 1.475888]}
D: {'rotation matrix': [[-0.907271, 0.148469, -0.393466], [0.410673, 0.111241, -0.904972], [-0.090591, -0.982641, -0.161898]], 'translation vector': [8.814532, 3.834109, 1.474353]} | 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': [[-0.90788, 0.151333, -0.390964], [0.408575, 0.110464, -0.906016], [-0.093922, -0.982291, -0.162118]], 'translation vector': [8.818443, 3.831761, 1.477683]}
B: {'rotation matrix': [[0.9999985311997388, 0.0014822343891824376, 0.0004132906130215321], [-0.0014816934035833144, 0.9999987577699637, 9.7059989439923e-05], [-0.00041331535706021807, -9.78109674475786e-05, 1.0000005199156523]], 'translation vector': [-0.004405482725633902, -0.00022188509424603264, 0.00016042860388854052]}
C: {'rotation matrix': [[-0.90752, 0.150251, -0.392214], [0.409699, 0.111045, -0.905437], [-0.092489, -0.982392, -0.162333]], 'translation vector': [8.816371, 3.832904, 1.475888]}
D: {'rotation matrix': [[-0.907271, 0.148469, -0.393466], [0.410673, 0.111241, -0.904972], [-0.090591, -0.982641, -0.161898]], 'translation vector': [8.814532, 3.834109, 1.474353]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_140_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_140_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_140_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_140_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.999990277128188, -0.004263613841972057, 0.00022215499723240068], [0.004262324646153357, 0.9999855274813817, 0.003172824698500956], [-0.00023539502566653948, -0.003171844248534696, 0.9999944918809965]], 'translation vector': [0.0008976741232249452, 0.001107833658419377, 0.002287318056557207]}
B: {'rotation matrix': [[0.982661, 0.058297, -0.176007], [0.185241, -0.268064, 0.945425], [0.007934, -0.961636, -0.274215]], 'translation vector': [4.071507, 1.217171, 1.479186]}
C: {'rotation matrix': [[0.982484, 0.05703, -0.177406], [0.186213, -0.264319, 0.946288], [0.007075, -0.962748, -0.270309]], 'translation vector': [4.071419, 1.216069, 1.480649]}
D: {'rotation matrix': [[0.98266, 0.058843, -0.175828], [0.185228, -0.2691, 0.945133], [0.008299, -0.961313, -0.275333]], 'translation vector': [4.071304, 1.217707, 1.478697]} | 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': [[0.999990277128188, -0.004263613841972057, 0.00022215499723240068], [0.004262324646153357, 0.9999855274813817, 0.003172824698500956], [-0.00023539502566653948, -0.003171844248534696, 0.9999944918809965]], 'translation vector': [0.0008976741232249452, 0.001107833658419377, 0.002287318056557207]}
B: {'rotation matrix': [[0.982661, 0.058297, -0.176007], [0.185241, -0.268064, 0.945425], [0.007934, -0.961636, -0.274215]], 'translation vector': [4.071507, 1.217171, 1.479186]}
C: {'rotation matrix': [[0.982484, 0.05703, -0.177406], [0.186213, -0.264319, 0.946288], [0.007075, -0.962748, -0.270309]], 'translation vector': [4.071419, 1.216069, 1.480649]}
D: {'rotation matrix': [[0.98266, 0.058843, -0.175828], [0.185228, -0.2691, 0.945133], [0.008299, -0.961313, -0.275333]], 'translation vector': [4.071304, 1.217707, 1.478697]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_141_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_141_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_141_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_141_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.566945, -0.119787, 0.815], [-0.823733, -0.07511, 0.561981], [-0.006103, -0.989954, -0.141256]], 'translation vector': [0.25398, 0.970235, 1.632712]}
B: {'rotation matrix': [[0.566333, -0.122518, 0.81502], [-0.824133, -0.073956, 0.561548], [-0.008524, -0.989707, -0.142854]], 'translation vector': [0.252647, 0.969528, 1.633147]}
C: {'rotation matrix': [[0.565918, -0.124531, 0.815003], [-0.824401, -0.073416, 0.561226], [-0.010056, -0.989496, -0.144211]], 'translation vector': [0.251636, 0.969331, 1.634009]}
D: {'rotation matrix': [[0.9999988126320164, 0.0003312007428265276, -0.0004969284405179408], [-0.00033114016656371985, 0.9999998966821256, -0.0003458941517538565], [0.0004968245827711156, 0.000346552992150063, 0.9999997733502279]], 'translation vector': [5.9331917010907453e-05, -0.0008045063572443834, -0.0004101833402060384]} | 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': [[0.566945, -0.119787, 0.815], [-0.823733, -0.07511, 0.561981], [-0.006103, -0.989954, -0.141256]], 'translation vector': [0.25398, 0.970235, 1.632712]}
B: {'rotation matrix': [[0.566333, -0.122518, 0.81502], [-0.824133, -0.073956, 0.561548], [-0.008524, -0.989707, -0.142854]], 'translation vector': [0.252647, 0.969528, 1.633147]}
C: {'rotation matrix': [[0.565918, -0.124531, 0.815003], [-0.824401, -0.073416, 0.561226], [-0.010056, -0.989496, -0.144211]], 'translation vector': [0.251636, 0.969331, 1.634009]}
D: {'rotation matrix': [[0.9999988126320164, 0.0003312007428265276, -0.0004969284405179408], [-0.00033114016656371985, 0.9999998966821256, -0.0003458941517538565], [0.0004968245827711156, 0.000346552992150063, 0.9999997733502279]], 'translation vector': [5.9331917010907453e-05, -0.0008045063572443834, -0.0004101833402060384]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_142_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_142_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_142_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_142_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999807090620153, 0.004568922096108109, 0.004345106491864972], [-0.004581791622211755, 0.9999843128892885, 0.0029713844388234126], [-0.00433269576861675, -0.002991018231335416, 0.9999858202835764]], 'translation vector': [-0.011188164884389007, 0.009307427071622687, -0.0007429783939219003]}
B: {'rotation matrix': [[-0.942483, -0.17354, 0.285674], [-0.333358, 0.550552, -0.765353], [-0.024459, -0.816564, -0.576737]], 'translation vector': [2.733535, 1.660706, 1.301168]}
C: {'rotation matrix': [[-0.942594, -0.174193, 0.284909], [-0.333124, 0.550105, -0.765776], [-0.023337, -0.816726, -0.576554]], 'translation vector': [2.730048, 1.657302, 1.301829]}
D: {'rotation matrix': [[-0.942586, -0.174069, 0.285013], [-0.333135, 0.550225, -0.765686], [-0.023539, -0.816672, -0.576622]], 'translation vector': [2.726519, 1.654368, 1.301906]} | 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': [[0.9999807090620153, 0.004568922096108109, 0.004345106491864972], [-0.004581791622211755, 0.9999843128892885, 0.0029713844388234126], [-0.00433269576861675, -0.002991018231335416, 0.9999858202835764]], 'translation vector': [-0.011188164884389007, 0.009307427071622687, -0.0007429783939219003]}
B: {'rotation matrix': [[-0.942483, -0.17354, 0.285674], [-0.333358, 0.550552, -0.765353], [-0.024459, -0.816564, -0.576737]], 'translation vector': [2.733535, 1.660706, 1.301168]}
C: {'rotation matrix': [[-0.942594, -0.174193, 0.284909], [-0.333124, 0.550105, -0.765776], [-0.023337, -0.816726, -0.576554]], 'translation vector': [2.730048, 1.657302, 1.301829]}
D: {'rotation matrix': [[-0.942586, -0.174069, 0.285013], [-0.333135, 0.550225, -0.765686], [-0.023539, -0.816672, -0.576622]], 'translation vector': [2.726519, 1.654368, 1.301906]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_143_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_143_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_143_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_143_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.662528, 0.400848, -0.632754], [0.747812, -0.402283, 0.528154], [-0.042837, -0.823097, -0.566283]], 'translation vector': [1.744816, 2.25794, 1.331918]}
B: {'rotation matrix': [[0.662009, 0.40559, -0.630271], [0.748112, -0.408664, 0.522802], [-0.045526, -0.817613, -0.573966]], 'translation vector': [1.743048, 2.25768, 1.329749]}
C: {'rotation matrix': [[0.6641, 0.398897, -0.632339], [0.746639, -0.397674, 0.533278], [-0.038742, -0.826279, -0.561927]], 'translation vector': [1.744615, 2.258795, 1.335923]}
D: {'rotation matrix': [[0.9999981013423613, 0.0016775919055887754, -0.0009118672263504091], [-0.0016584483846788572, 0.999788802812158, 0.020485068642363036], [0.0009453490386347853, -0.020482492872648857, 0.9997898845593165]], 'translation vector': [0.0006281413363966593, 0.0014761974203534312, 0.005568137578716104]} | 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': [[0.662528, 0.400848, -0.632754], [0.747812, -0.402283, 0.528154], [-0.042837, -0.823097, -0.566283]], 'translation vector': [1.744816, 2.25794, 1.331918]}
B: {'rotation matrix': [[0.662009, 0.40559, -0.630271], [0.748112, -0.408664, 0.522802], [-0.045526, -0.817613, -0.573966]], 'translation vector': [1.743048, 2.25768, 1.329749]}
C: {'rotation matrix': [[0.6641, 0.398897, -0.632339], [0.746639, -0.397674, 0.533278], [-0.038742, -0.826279, -0.561927]], 'translation vector': [1.744615, 2.258795, 1.335923]}
D: {'rotation matrix': [[0.9999981013423613, 0.0016775919055887754, -0.0009118672263504091], [-0.0016584483846788572, 0.999788802812158, 0.020485068642363036], [0.0009453490386347853, -0.020482492872648857, 0.9997898845593165]], 'translation vector': [0.0006281413363966593, 0.0014761974203534312, 0.005568137578716104]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_144_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_144_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_144_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_144_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.44362, -0.475187, 0.759868], [-0.895973, 0.254861, -0.363701], [-0.020835, -0.842166, -0.538816]], 'translation vector': [2.452095, 1.901161, 1.451891]}
B: {'rotation matrix': [[-0.440436, -0.475273, 0.761664], [-0.897497, 0.254555, -0.360142], [-0.02272, -0.84221, -0.538671]], 'translation vector': [2.449051, 1.900731, 1.449924]}
C: {'rotation matrix': [[-0.441002, -0.475612, 0.761125], [-0.897234, 0.254511, -0.360825], [-0.022102, -0.842032, -0.538975]], 'translation vector': [2.451296, 1.899939, 1.450426]}
D: {'rotation matrix': [[0.9999985864023682, -0.0015621221187893434, 0.0006936316269794283], [0.0015661737335896364, 0.9999849325621631, -0.005207380366478063], [-0.0006858389600734047, 0.005207931011548828, 0.9999859575854745]], 'translation vector': [-0.0017105359831024458, -0.002297103154811353, -0.000983146020886283]} | 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': [[-0.44362, -0.475187, 0.759868], [-0.895973, 0.254861, -0.363701], [-0.020835, -0.842166, -0.538816]], 'translation vector': [2.452095, 1.901161, 1.451891]}
B: {'rotation matrix': [[-0.440436, -0.475273, 0.761664], [-0.897497, 0.254555, -0.360142], [-0.02272, -0.84221, -0.538671]], 'translation vector': [2.449051, 1.900731, 1.449924]}
C: {'rotation matrix': [[-0.441002, -0.475612, 0.761125], [-0.897234, 0.254511, -0.360825], [-0.022102, -0.842032, -0.538975]], 'translation vector': [2.451296, 1.899939, 1.450426]}
D: {'rotation matrix': [[0.9999985864023682, -0.0015621221187893434, 0.0006936316269794283], [0.0015661737335896364, 0.9999849325621631, -0.005207380366478063], [-0.0006858389600734047, 0.005207931011548828, 0.9999859575854745]], 'translation vector': [-0.0017105359831024458, -0.002297103154811353, -0.000983146020886283]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_145_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_145_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_145_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_145_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.648777, 0.514326, -0.560854], [0.760441, -0.465898, 0.452404], [-0.028617, -0.720006, -0.693378]], 'translation vector': [1.800914, 1.822078, 1.233863]}
B: {'rotation matrix': [[0.644427, 0.520052, -0.560589], [0.76413, -0.465418, 0.446645], [-0.028629, -0.716192, -0.697315]], 'translation vector': [1.79848, 1.820985, 1.232666]}
C: {'rotation matrix': [[0.9998704626137827, 0.011052401167760776, -0.011708701735332047], [-0.011032627408678441, 0.9999372608185829, 0.0017110617555067353], [0.011728123043277196, -0.001580982237636182, 0.9999298219541505]], 'translation vector': [-0.004951638312360451, 0.0003388210922784518, 0.0025384925972402606]}
D: {'rotation matrix': [[0.639937, 0.524455, -0.56163], [0.767882, -0.464002, 0.441656], [-0.028969, -0.713897, -0.699651]], 'translation vector': [1.797021, 1.819882, 1.231178]} | 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': [[0.648777, 0.514326, -0.560854], [0.760441, -0.465898, 0.452404], [-0.028617, -0.720006, -0.693378]], 'translation vector': [1.800914, 1.822078, 1.233863]}
B: {'rotation matrix': [[0.644427, 0.520052, -0.560589], [0.76413, -0.465418, 0.446645], [-0.028629, -0.716192, -0.697315]], 'translation vector': [1.79848, 1.820985, 1.232666]}
C: {'rotation matrix': [[0.9998704626137827, 0.011052401167760776, -0.011708701735332047], [-0.011032627408678441, 0.9999372608185829, 0.0017110617555067353], [0.011728123043277196, -0.001580982237636182, 0.9999298219541505]], 'translation vector': [-0.004951638312360451, 0.0003388210922784518, 0.0025384925972402606]}
D: {'rotation matrix': [[0.639937, 0.524455, -0.56163], [0.767882, -0.464002, 0.441656], [-0.028969, -0.713897, -0.699651]], 'translation vector': [1.797021, 1.819882, 1.231178]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_146_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_146_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_146_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_146_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.480833, -0.463789, 0.74411], [-0.876135, 0.287476, -0.386968], [-0.034442, -0.838008, -0.54457]], 'translation vector': [3.084943, 2.078791, 1.469333]}
B: {'rotation matrix': [[0.9999951018718091, -0.0022147244398398017, -0.0018850296839706259], [0.002209800973893798, 0.9999949398931387, -0.0022506347742728594], [0.0018898473296588083, 0.0022461573677036097, 0.9999958361862953]], 'translation vector': [0.004387368548260717, 1.4705105160661702e-05, 0.0008301488900060994]}
C: {'rotation matrix': [[-0.476687, -0.464053, 0.746608], [-0.878377, 0.285219, -0.383541], [-0.034963, -0.838633, -0.543574]], 'translation vector': [3.080459, 2.078543, 1.469168]}
D: {'rotation matrix': [[-0.479567, -0.463643, 0.745017], [-0.876821, 0.286706, -0.385985], [-0.034641, -0.838352, -0.544027]], 'translation vector': [3.083795, 2.079285, 1.469908]} | 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': [[-0.480833, -0.463789, 0.74411], [-0.876135, 0.287476, -0.386968], [-0.034442, -0.838008, -0.54457]], 'translation vector': [3.084943, 2.078791, 1.469333]}
B: {'rotation matrix': [[0.9999951018718091, -0.0022147244398398017, -0.0018850296839706259], [0.002209800973893798, 0.9999949398931387, -0.0022506347742728594], [0.0018898473296588083, 0.0022461573677036097, 0.9999958361862953]], 'translation vector': [0.004387368548260717, 1.4705105160661702e-05, 0.0008301488900060994]}
C: {'rotation matrix': [[-0.476687, -0.464053, 0.746608], [-0.878377, 0.285219, -0.383541], [-0.034963, -0.838633, -0.543574]], 'translation vector': [3.080459, 2.078543, 1.469168]}
D: {'rotation matrix': [[-0.479567, -0.463643, 0.745017], [-0.876821, 0.286706, -0.385985], [-0.034641, -0.838352, -0.544027]], 'translation vector': [3.083795, 2.079285, 1.469908]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_147_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_147_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_147_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_147_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.724797, -0.022386, -0.688599], [0.687785, -0.034918, 0.725075], [-0.040276, -0.999139, -0.009911]], 'translation vector': [1.871804, 0.814995, 1.597738]}
B: {'rotation matrix': [[0.729664, -0.019712, -0.683522], [0.682722, -0.035273, 0.729827], [-0.038496, -0.999183, -0.01228]], 'translation vector': [1.870321, 0.812422, 1.590842]}
C: {'rotation matrix': [[0.9999971996131989, 0.0007346987095039795, -0.0017367305867328272], [-0.0007296724426740893, 0.9999944712211791, 0.003354984500413017], [0.0017384108444949038, -0.003353839188726123, 0.9999931577143994]], 'translation vector': [-0.0004548504518708807, 0.001951786856664972, -7.749986575322776e-05]}
D: {'rotation matrix': [[0.728234, -0.022145, -0.684971], [0.684198, -0.033912, 0.728508], [-0.039361, -0.99918, -0.009544]], 'translation vector': [1.869489, 0.812101, 1.591189]} | 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': [[0.724797, -0.022386, -0.688599], [0.687785, -0.034918, 0.725075], [-0.040276, -0.999139, -0.009911]], 'translation vector': [1.871804, 0.814995, 1.597738]}
B: {'rotation matrix': [[0.729664, -0.019712, -0.683522], [0.682722, -0.035273, 0.729827], [-0.038496, -0.999183, -0.01228]], 'translation vector': [1.870321, 0.812422, 1.590842]}
C: {'rotation matrix': [[0.9999971996131989, 0.0007346987095039795, -0.0017367305867328272], [-0.0007296724426740893, 0.9999944712211791, 0.003354984500413017], [0.0017384108444949038, -0.003353839188726123, 0.9999931577143994]], 'translation vector': [-0.0004548504518708807, 0.001951786856664972, -7.749986575322776e-05]}
D: {'rotation matrix': [[0.728234, -0.022145, -0.684971], [0.684198, -0.033912, 0.728508], [-0.039361, -0.99918, -0.009544]], 'translation vector': [1.869489, 0.812101, 1.591189]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_148_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_148_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_148_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_148_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999774991279762, 0.0031690326046340087, -0.005996753212157376], [-0.003090362324076843, 0.9999123878108386, 0.012868971987653289], [0.006038036583570517, -0.012849517542798453, 0.9998986268025651]], 'translation vector': [-0.00016965780714706113, -0.008841569485431133, 0.004505805451807898]}
B: {'rotation matrix': [[0.651481, -0.368876, 0.66295], [-0.758449, -0.337487, 0.557546], [0.018072, -0.866045, -0.49964]], 'translation vector': [2.471969, 4.600353, 1.449958]}
C: {'rotation matrix': [[0.655694, -0.362412, 0.662362], [-0.754768, -0.337631, 0.562433], [0.019802, -0.868713, -0.49492]], 'translation vector': [2.472568, 4.599315, 1.447954]}
D: {'rotation matrix': [[0.660006, -0.356371, 0.661356], [-0.750952, -0.338178, 0.567192], [0.021525, -0.870997, -0.490817]], 'translation vector': [2.470351, 4.598146, 1.447521]} | 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': [[0.9999774991279762, 0.0031690326046340087, -0.005996753212157376], [-0.003090362324076843, 0.9999123878108386, 0.012868971987653289], [0.006038036583570517, -0.012849517542798453, 0.9998986268025651]], 'translation vector': [-0.00016965780714706113, -0.008841569485431133, 0.004505805451807898]}
B: {'rotation matrix': [[0.651481, -0.368876, 0.66295], [-0.758449, -0.337487, 0.557546], [0.018072, -0.866045, -0.49964]], 'translation vector': [2.471969, 4.600353, 1.449958]}
C: {'rotation matrix': [[0.655694, -0.362412, 0.662362], [-0.754768, -0.337631, 0.562433], [0.019802, -0.868713, -0.49492]], 'translation vector': [2.472568, 4.599315, 1.447954]}
D: {'rotation matrix': [[0.660006, -0.356371, 0.661356], [-0.750952, -0.338178, 0.567192], [0.021525, -0.870997, -0.490817]], 'translation vector': [2.470351, 4.598146, 1.447521]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_149_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_149_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_149_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_149_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.550599, -0.608246, 0.571732], [-0.834661, 0.412205, -0.365279], [-0.013491, -0.678325, -0.734639]], 'translation vector': [2.153644, 1.764514, 1.342866]}
B: {'rotation matrix': [[0.9999831845983815, -0.004759897354970956, 0.0032519818043716545], [0.004774936203352942, 0.9999789289359345, -0.004542082720936493], [-0.003229136166379075, 0.004558818034209968, 0.9999846215935988]], 'translation vector': [0.0033377456840164577, 0.0021763424534348985, -0.0009933558524138353]}
C: {'rotation matrix': [[-0.553936, -0.603859, 0.573158], [-0.832399, 0.415212, -0.36703], [-0.016348, -0.680407, -0.732652]], 'translation vector': [2.15044, 1.76409, 1.342895]}
D: {'rotation matrix': [[-0.551929, -0.606401, 0.572409], [-0.833765, 0.413226, -0.366169], [-0.014489, -0.679354, -0.733668]], 'translation vector': [2.152355, 1.764444, 1.342815]} | 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': [[-0.550599, -0.608246, 0.571732], [-0.834661, 0.412205, -0.365279], [-0.013491, -0.678325, -0.734639]], 'translation vector': [2.153644, 1.764514, 1.342866]}
B: {'rotation matrix': [[0.9999831845983815, -0.004759897354970956, 0.0032519818043716545], [0.004774936203352942, 0.9999789289359345, -0.004542082720936493], [-0.003229136166379075, 0.004558818034209968, 0.9999846215935988]], 'translation vector': [0.0033377456840164577, 0.0021763424534348985, -0.0009933558524138353]}
C: {'rotation matrix': [[-0.553936, -0.603859, 0.573158], [-0.832399, 0.415212, -0.36703], [-0.016348, -0.680407, -0.732652]], 'translation vector': [2.15044, 1.76409, 1.342895]}
D: {'rotation matrix': [[-0.551929, -0.606401, 0.572409], [-0.833765, 0.413226, -0.366169], [-0.014489, -0.679354, -0.733668]], 'translation vector': [2.152355, 1.764444, 1.342815]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_150_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_150_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_150_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_150_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.254539, -0.436075, 0.863162], [-0.966632, 0.141348, -0.213642], [-0.028842, -0.88874, -0.457503]], 'translation vector': [1.735428, 0.748356, 1.43337]}
B: {'rotation matrix': [[-0.254681, -0.434936, 0.863695], [-0.966604, 0.140846, -0.2141], [-0.028528, -0.889378, -0.456282]], 'translation vector': [1.735372, 0.748905, 1.433089]}
C: {'rotation matrix': [[1.0000001555675329, -0.0009323657310693132, 0.0004792288755131117], [0.0009313044295569888, 0.9999972868981549, 0.0021526068874492825], [-0.0004812492477208415, -0.0021517811624316304, 0.9999974478268276]], 'translation vector': [0.0025109364715583116, 0.0011773606935274739, 0.0008952278670837366]}
D: {'rotation matrix': [[-0.254466, -0.434667, 0.863893], [-0.966638, 0.141384, -0.213593], [-0.029299, -0.889424, -0.456143]], 'translation vector': [1.735598, 0.749181, 1.433436]} | 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': [[-0.254539, -0.436075, 0.863162], [-0.966632, 0.141348, -0.213642], [-0.028842, -0.88874, -0.457503]], 'translation vector': [1.735428, 0.748356, 1.43337]}
B: {'rotation matrix': [[-0.254681, -0.434936, 0.863695], [-0.966604, 0.140846, -0.2141], [-0.028528, -0.889378, -0.456282]], 'translation vector': [1.735372, 0.748905, 1.433089]}
C: {'rotation matrix': [[1.0000001555675329, -0.0009323657310693132, 0.0004792288755131117], [0.0009313044295569888, 0.9999972868981549, 0.0021526068874492825], [-0.0004812492477208415, -0.0021517811624316304, 0.9999974478268276]], 'translation vector': [0.0025109364715583116, 0.0011773606935274739, 0.0008952278670837366]}
D: {'rotation matrix': [[-0.254466, -0.434667, 0.863893], [-0.966638, 0.141384, -0.213593], [-0.029299, -0.889424, -0.456143]], 'translation vector': [1.735598, 0.749181, 1.433436]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_151_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_151_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_151_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_151_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.874972, 0.120483, -0.468943], [0.467945, 0.459094, -0.755156], [0.124305, -0.88018, -0.458074]], 'translation vector': [3.924764, 3.210204, 1.74232]}
B: {'rotation matrix': [[-0.872887, 0.124749, -0.471706], [0.47258, 0.456684, -0.75373], [0.121394, -0.880839, -0.457587]], 'translation vector': [3.924155, 3.192614, 1.742181]}
C: {'rotation matrix': [[-0.873832, 0.122242, -0.470612], [0.470279, 0.458348, -0.754158], [0.123514, -0.880326, -0.458007]], 'translation vector': [3.924731, 3.201921, 1.742944]}
D: {'rotation matrix': [[0.9999981203399105, -2.162890380847432e-05, -0.0011856852248069943], [2.6074892574446623e-05, 0.9999907421564089, 0.004166234818762547], [0.0011853825032994, -0.0041669736288708105, 0.9999895516522684]], 'translation vector': [0.0031018447373007962, -0.004160693298826068, -0.00448172332630925]} | 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': [[-0.874972, 0.120483, -0.468943], [0.467945, 0.459094, -0.755156], [0.124305, -0.88018, -0.458074]], 'translation vector': [3.924764, 3.210204, 1.74232]}
B: {'rotation matrix': [[-0.872887, 0.124749, -0.471706], [0.47258, 0.456684, -0.75373], [0.121394, -0.880839, -0.457587]], 'translation vector': [3.924155, 3.192614, 1.742181]}
C: {'rotation matrix': [[-0.873832, 0.122242, -0.470612], [0.470279, 0.458348, -0.754158], [0.123514, -0.880326, -0.458007]], 'translation vector': [3.924731, 3.201921, 1.742944]}
D: {'rotation matrix': [[0.9999981203399105, -2.162890380847432e-05, -0.0011856852248069943], [2.6074892574446623e-05, 0.9999907421564089, 0.004166234818762547], [0.0011853825032994, -0.0041669736288708105, 0.9999895516522684]], 'translation vector': [0.0031018447373007962, -0.004160693298826068, -0.00448172332630925]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_152_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_152_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_152_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_152_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.910706, 0.180669, -0.371448], [0.412445, 0.446604, -0.793999], [0.022439, -0.876301, -0.481241]], 'translation vector': [3.200821, 1.957629, 1.277707]}
B: {'rotation matrix': [[-0.909073, 0.181004, -0.375266], [0.415983, 0.444783, -0.793175], [0.023344, -0.877158, -0.479635]], 'translation vector': [3.199567, 1.957217, 1.278564]}
C: {'rotation matrix': [[-0.912991, 0.180032, -0.36611], [0.407432, 0.448869, -0.795309], [0.021154, -0.875275, -0.483163]], 'translation vector': [3.201129, 1.957814, 1.275703]}
D: {'rotation matrix': [[0.9998091200876347, 0.0024899817556151226, -0.01932364538042797], [-0.0024534091295022355, 0.9999947392396931, 0.0019198938596762963], [0.019328984816227378, -0.0018724870057808746, 0.9998116886101109]], 'translation vector': [-0.0018727616018998638, 0.007005445282938005, 8.97167203275373e-05]} | 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': [[-0.910706, 0.180669, -0.371448], [0.412445, 0.446604, -0.793999], [0.022439, -0.876301, -0.481241]], 'translation vector': [3.200821, 1.957629, 1.277707]}
B: {'rotation matrix': [[-0.909073, 0.181004, -0.375266], [0.415983, 0.444783, -0.793175], [0.023344, -0.877158, -0.479635]], 'translation vector': [3.199567, 1.957217, 1.278564]}
C: {'rotation matrix': [[-0.912991, 0.180032, -0.36611], [0.407432, 0.448869, -0.795309], [0.021154, -0.875275, -0.483163]], 'translation vector': [3.201129, 1.957814, 1.275703]}
D: {'rotation matrix': [[0.9998091200876347, 0.0024899817556151226, -0.01932364538042797], [-0.0024534091295022355, 0.9999947392396931, 0.0019198938596762963], [0.019328984816227378, -0.0018724870057808746, 0.9998116886101109]], 'translation vector': [-0.0018727616018998638, 0.007005445282938005, 8.97167203275373e-05]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_153_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_153_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_153_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_153_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999837026106017, -0.005604330268430811, -0.00017160014562389917], [0.005604883614299803, 0.9999826757832918, 0.0019021058633347495], [0.00016097085173832394, -0.0019036155522551726, 0.9999985288928479]], 'translation vector': [-0.0002532483433466126, 0.009030133518173555, 0.0039788864378584865]}
B: {'rotation matrix': [[-0.221399, -0.409647, 0.88497], [-0.971033, 0.176243, -0.161347], [-0.089875, -0.895057, -0.436801]], 'translation vector': [2.157726, 10.114248, 1.730212]}
C: {'rotation matrix': [[-0.233773, -0.418838, 0.877454], [-0.967259, 0.191883, -0.166106], [-0.098797, -0.887556, -0.449982]], 'translation vector': [2.163177, 10.11361, 1.729991]}
D: {'rotation matrix': [[-0.208812, -0.406957, 0.88926], [-0.974382, 0.164243, -0.153636], [-0.083532, -0.898561, -0.430827]], 'translation vector': [2.154821, 10.118629, 1.726458]} | 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': [[0.9999837026106017, -0.005604330268430811, -0.00017160014562389917], [0.005604883614299803, 0.9999826757832918, 0.0019021058633347495], [0.00016097085173832394, -0.0019036155522551726, 0.9999985288928479]], 'translation vector': [-0.0002532483433466126, 0.009030133518173555, 0.0039788864378584865]}
B: {'rotation matrix': [[-0.221399, -0.409647, 0.88497], [-0.971033, 0.176243, -0.161347], [-0.089875, -0.895057, -0.436801]], 'translation vector': [2.157726, 10.114248, 1.730212]}
C: {'rotation matrix': [[-0.233773, -0.418838, 0.877454], [-0.967259, 0.191883, -0.166106], [-0.098797, -0.887556, -0.449982]], 'translation vector': [2.163177, 10.11361, 1.729991]}
D: {'rotation matrix': [[-0.208812, -0.406957, 0.88926], [-0.974382, 0.164243, -0.153636], [-0.083532, -0.898561, -0.430827]], 'translation vector': [2.154821, 10.118629, 1.726458]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_154_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_154_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_154_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_154_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.864148, -0.19236, 0.465022], [-0.502138, -0.268523, 0.822042], [-0.033259, -0.943871, -0.328635]], 'translation vector': [3.016374, 2.015361, 1.429191]}
B: {'rotation matrix': [[0.864117, -0.192314, 0.465099], [-0.502115, -0.266283, 0.822784], [-0.034385, -0.944515, -0.326663]], 'translation vector': [3.015528, 2.015384, 1.428328]}
C: {'rotation matrix': [[0.864639, -0.19262, 0.464001], [-0.501175, -0.266422, 0.823312], [-0.034966, -0.944414, -0.326895]], 'translation vector': [3.015996, 2.015925, 1.430969]}
D: {'rotation matrix': [[0.9999953542146168, 0.0030947830980374525, -0.0008131951628852412], [-0.0030994452771746766, 0.999974002426472, -0.006530521364187943], [0.00079388588123918, 0.0065324457136649635, 0.999978487244639]], 'translation vector': [-0.004468736350602409, -0.006227529584318603, -8.95755650023311e-05]} | 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': [[0.864148, -0.19236, 0.465022], [-0.502138, -0.268523, 0.822042], [-0.033259, -0.943871, -0.328635]], 'translation vector': [3.016374, 2.015361, 1.429191]}
B: {'rotation matrix': [[0.864117, -0.192314, 0.465099], [-0.502115, -0.266283, 0.822784], [-0.034385, -0.944515, -0.326663]], 'translation vector': [3.015528, 2.015384, 1.428328]}
C: {'rotation matrix': [[0.864639, -0.19262, 0.464001], [-0.501175, -0.266422, 0.823312], [-0.034966, -0.944414, -0.326895]], 'translation vector': [3.015996, 2.015925, 1.430969]}
D: {'rotation matrix': [[0.9999953542146168, 0.0030947830980374525, -0.0008131951628852412], [-0.0030994452771746766, 0.999974002426472, -0.006530521364187943], [0.00079388588123918, 0.0065324457136649635, 0.999978487244639]], 'translation vector': [-0.004468736350602409, -0.006227529584318603, -8.95755650023311e-05]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_155_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_155_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_155_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_155_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[1.0000001305586184, 4.504585202989606e-05, -0.0008677063367108602], [-4.562855519759043e-05, 0.9999983740715708, -0.001562168642633918], [0.0008668198225227341, 0.0015626467626293078, 0.9999978423516577]], 'translation vector': [0.004048003920170018, -0.000314296777893075, -0.001713133752151652]}
B: {'rotation matrix': [[0.932237, 0.077212, -0.353515], [0.361617, -0.233791, 0.902538], [-0.012962, -0.969216, -0.24587]], 'translation vector': [5.874094, 3.546493, 1.351525]}
C: {'rotation matrix': [[0.932237, 0.075134, -0.353962], [0.361548, -0.233262, 0.902703], [-0.014743, -0.969507, -0.24462]], 'translation vector': [5.877609, 3.546074, 1.353866]}
D: {'rotation matrix': [[0.932245, 0.073757, -0.354232], [0.36147, -0.233417, 0.902694], [-0.016104, -0.969576, -0.244262]], 'translation vector': [5.878981, 3.545327, 1.355029]} | 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': [[1.0000001305586184, 4.504585202989606e-05, -0.0008677063367108602], [-4.562855519759043e-05, 0.9999983740715708, -0.001562168642633918], [0.0008668198225227341, 0.0015626467626293078, 0.9999978423516577]], 'translation vector': [0.004048003920170018, -0.000314296777893075, -0.001713133752151652]}
B: {'rotation matrix': [[0.932237, 0.077212, -0.353515], [0.361617, -0.233791, 0.902538], [-0.012962, -0.969216, -0.24587]], 'translation vector': [5.874094, 3.546493, 1.351525]}
C: {'rotation matrix': [[0.932237, 0.075134, -0.353962], [0.361548, -0.233262, 0.902703], [-0.014743, -0.969507, -0.24462]], 'translation vector': [5.877609, 3.546074, 1.353866]}
D: {'rotation matrix': [[0.932245, 0.073757, -0.354232], [0.36147, -0.233417, 0.902694], [-0.016104, -0.969576, -0.244262]], 'translation vector': [5.878981, 3.545327, 1.355029]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_156_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_156_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_156_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_156_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.967201, -0.070709, 0.243972], [-0.252115, 0.384385, -0.88808], [-0.030984, -0.920461, -0.389605]], 'translation vector': [2.768098, 4.614564, 1.418844]}
B: {'rotation matrix': [[-0.968215, -0.068836, 0.240461], [-0.248279, 0.380909, -0.890655], [-0.030285, -0.922047, -0.385893]], 'translation vector': [2.770223, 4.618487, 1.418033]}
C: {'rotation matrix': [[0.9999417292568685, -0.00016387346525461165, 0.010781387930699021], [0.00016087662233447972, 0.9999998236818622, 0.00023678654461243325], [-0.010781286291867453, -0.000235115727098794, 0.9999413646146618]], 'translation vector': [-0.004146218083109776, -0.009777600200150782, -9.031272009885072e-05]}
D: {'rotation matrix': [[-0.966004, -0.071389, 0.248475], [-0.25638, 0.388148, -0.885218], [-0.03325, -0.918828, -0.393256]], 'translation vector': [2.766369, 4.610029, 1.423364]} | 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': [[-0.967201, -0.070709, 0.243972], [-0.252115, 0.384385, -0.88808], [-0.030984, -0.920461, -0.389605]], 'translation vector': [2.768098, 4.614564, 1.418844]}
B: {'rotation matrix': [[-0.968215, -0.068836, 0.240461], [-0.248279, 0.380909, -0.890655], [-0.030285, -0.922047, -0.385893]], 'translation vector': [2.770223, 4.618487, 1.418033]}
C: {'rotation matrix': [[0.9999417292568685, -0.00016387346525461165, 0.010781387930699021], [0.00016087662233447972, 0.9999998236818622, 0.00023678654461243325], [-0.010781286291867453, -0.000235115727098794, 0.9999413646146618]], 'translation vector': [-0.004146218083109776, -0.009777600200150782, -9.031272009885072e-05]}
D: {'rotation matrix': [[-0.966004, -0.071389, 0.248475], [-0.25638, 0.388148, -0.885218], [-0.03325, -0.918828, -0.393256]], 'translation vector': [2.766369, 4.610029, 1.423364]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_157_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_157_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_157_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_157_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.819175, -0.184232, 0.543149], [-0.572951, -0.305906, 0.760361], [0.02607, -0.934066, -0.356147]], 'translation vector': [4.417876, 1.783865, 1.2754]}
B: {'rotation matrix': [[0.815086, -0.186535, 0.548488], [-0.578729, -0.305625, 0.756086], [0.026595, -0.933701, -0.357064]], 'translation vector': [4.412413, 1.788676, 1.273151]}
C: {'rotation matrix': [[0.9999460053456457, -0.005013531268923329, 0.00905468563745482], [0.0050087072013681256, 0.9999874429708866, 0.000635311021125049], [-0.009056848323318739, -0.0005890721337560823, 0.9999585496849335]], 'translation vector': [-0.01186208886847595, 0.011040583723211927, 0.005770402802990571]}
D: {'rotation matrix': [[0.823616, -0.181983, 0.537158], [-0.566609, -0.305313, 0.765336], [0.024723, -0.934701, -0.354574]], 'translation vector': [4.422497, 1.777795, 1.277376]} | 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': [[0.819175, -0.184232, 0.543149], [-0.572951, -0.305906, 0.760361], [0.02607, -0.934066, -0.356147]], 'translation vector': [4.417876, 1.783865, 1.2754]}
B: {'rotation matrix': [[0.815086, -0.186535, 0.548488], [-0.578729, -0.305625, 0.756086], [0.026595, -0.933701, -0.357064]], 'translation vector': [4.412413, 1.788676, 1.273151]}
C: {'rotation matrix': [[0.9999460053456457, -0.005013531268923329, 0.00905468563745482], [0.0050087072013681256, 0.9999874429708866, 0.000635311021125049], [-0.009056848323318739, -0.0005890721337560823, 0.9999585496849335]], 'translation vector': [-0.01186208886847595, 0.011040583723211927, 0.005770402802990571]}
D: {'rotation matrix': [[0.823616, -0.181983, 0.537158], [-0.566609, -0.305313, 0.765336], [0.024723, -0.934701, -0.354574]], 'translation vector': [4.422497, 1.777795, 1.277376]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_158_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_158_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_158_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_158_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9994834257163207, -0.009826144818556364, 0.03061241068052498], [0.009193271124449974, 0.9997423555682264, 0.020759381716764332], [-0.0308087787211077, -0.020466954157546582, 0.999315737926551]], 'translation vector': [-0.012172691673165703, -0.014778681947341665, 0.009780168112213383]}
B: {'rotation matrix': [[0.091644, -0.414787, 0.905292], [-0.995361, -0.064895, 0.071028], [0.029288, -0.907601, -0.418811]], 'translation vector': [1.315562, 0.832314, 1.493138]}
C: {'rotation matrix': [[0.099917, -0.418908, 0.902515], [-0.994362, -0.074403, 0.07555], [0.035502, -0.904975, -0.42398]], 'translation vector': [1.316564, 0.827844, 1.497329]}
D: {'rotation matrix': [[0.095483, -0.419292, 0.902816], [-0.994923, -0.069178, 0.073096], [0.031806, -0.905212, -0.423769]], 'translation vector': [1.317067, 0.829593, 1.4954]} | 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': [[0.9994834257163207, -0.009826144818556364, 0.03061241068052498], [0.009193271124449974, 0.9997423555682264, 0.020759381716764332], [-0.0308087787211077, -0.020466954157546582, 0.999315737926551]], 'translation vector': [-0.012172691673165703, -0.014778681947341665, 0.009780168112213383]}
B: {'rotation matrix': [[0.091644, -0.414787, 0.905292], [-0.995361, -0.064895, 0.071028], [0.029288, -0.907601, -0.418811]], 'translation vector': [1.315562, 0.832314, 1.493138]}
C: {'rotation matrix': [[0.099917, -0.418908, 0.902515], [-0.994362, -0.074403, 0.07555], [0.035502, -0.904975, -0.42398]], 'translation vector': [1.316564, 0.827844, 1.497329]}
D: {'rotation matrix': [[0.095483, -0.419292, 0.902816], [-0.994923, -0.069178, 0.073096], [0.031806, -0.905212, -0.423769]], 'translation vector': [1.317067, 0.829593, 1.4954]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_159_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_159_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_159_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_159_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.529968, 0.414216, -0.739972], [0.844868, 0.182762, -0.502789], [-0.073025, -0.891641, -0.446816]], 'translation vector': [5.418643, 4.410617, 1.386009]}
B: {'rotation matrix': [[-0.531013, 0.418177, -0.736989], [0.843374, 0.176517, -0.507507], [-0.082137, -0.89105, -0.446413]], 'translation vector': [5.416763, 4.405288, 1.382813]}
C: {'rotation matrix': [[0.9999262982512661, -0.011126048765088865, -0.004724929479929227], [0.011121653443920318, 0.9999373200698624, -0.0008601073344245507], [0.00473500376540592, 0.0008076436796648745, 0.9999882661936769]], 'translation vector': [-0.020480989578110398, -0.004401497485728045, 0.008145336008434256]}
D: {'rotation matrix': [[-0.533157, 0.409147, -0.740501], [0.84318, 0.185365, -0.504666], [-0.06922, -0.893442, -0.443813]], 'translation vector': [5.417671, 4.419961, 1.384383]} | 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': [[-0.529968, 0.414216, -0.739972], [0.844868, 0.182762, -0.502789], [-0.073025, -0.891641, -0.446816]], 'translation vector': [5.418643, 4.410617, 1.386009]}
B: {'rotation matrix': [[-0.531013, 0.418177, -0.736989], [0.843374, 0.176517, -0.507507], [-0.082137, -0.89105, -0.446413]], 'translation vector': [5.416763, 4.405288, 1.382813]}
C: {'rotation matrix': [[0.9999262982512661, -0.011126048765088865, -0.004724929479929227], [0.011121653443920318, 0.9999373200698624, -0.0008601073344245507], [0.00473500376540592, 0.0008076436796648745, 0.9999882661936769]], 'translation vector': [-0.020480989578110398, -0.004401497485728045, 0.008145336008434256]}
D: {'rotation matrix': [[-0.533157, 0.409147, -0.740501], [0.84318, 0.185365, -0.504666], [-0.06922, -0.893442, -0.443813]], 'translation vector': [5.417671, 4.419961, 1.384383]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_160_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_160_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_160_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_160_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.848714, 0.230926, -0.475771], [0.528497, 0.337392, -0.77901], [-0.019373, -0.912601, -0.408393]], 'translation vector': [1.792868, 5.329395, 1.618046]}
B: {'rotation matrix': [[-0.84982, 0.23191, -0.473312], [0.526645, 0.337444, -0.780241], [-0.021229, -0.912332, -0.408901]], 'translation vector': [1.792819, 5.327111, 1.618396]}
C: {'rotation matrix': [[-0.847697, 0.231565, -0.477271], [0.530179, 0.339488, -0.776955], [-0.017888, -0.911661, -0.410554]], 'translation vector': [1.79081, 5.325803, 1.623639]}
D: {'rotation matrix': [[0.9999931647889151, 0.002636603414451914, -0.0022507832348392875], [-0.002639482011584797, 0.9999963226575643, -0.0013481976836917885], [0.002247569136725343, 0.001353829445398431, 0.9999964854536705]], 'translation vector': [-0.00651758527214108, -0.0013521488456044173, 0.0015986017122768814]} | 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': [[-0.848714, 0.230926, -0.475771], [0.528497, 0.337392, -0.77901], [-0.019373, -0.912601, -0.408393]], 'translation vector': [1.792868, 5.329395, 1.618046]}
B: {'rotation matrix': [[-0.84982, 0.23191, -0.473312], [0.526645, 0.337444, -0.780241], [-0.021229, -0.912332, -0.408901]], 'translation vector': [1.792819, 5.327111, 1.618396]}
C: {'rotation matrix': [[-0.847697, 0.231565, -0.477271], [0.530179, 0.339488, -0.776955], [-0.017888, -0.911661, -0.410554]], 'translation vector': [1.79081, 5.325803, 1.623639]}
D: {'rotation matrix': [[0.9999931647889151, 0.002636603414451914, -0.0022507832348392875], [-0.002639482011584797, 0.9999963226575643, -0.0013481976836917885], [0.002247569136725343, 0.001353829445398431, 0.9999964854536705]], 'translation vector': [-0.00651758527214108, -0.0013521488456044173, 0.0015986017122768814]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_161_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_161_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_161_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_161_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999401570739126, -0.0046057655246039214, 0.009916971929525087], [0.004585227566153826, 0.9999870493451988, 0.0021285393012493415], [-0.009927494824793211, -0.0020825415412263123, 0.9999492671696912]], 'translation vector': [-0.008397334377028054, -0.00983275627665292, -0.005241897912080518]}
B: {'rotation matrix': [[0.979087, -0.093288, 0.180791], [-0.203431, -0.440264, 0.874519], [-0.001987, -0.893009, -0.450035]], 'translation vector': [1.973386, 0.601511, 1.693802]}
C: {'rotation matrix': [[0.980067, -0.092864, 0.175631], [-0.198651, -0.445785, 0.872819], [-0.002761, -0.89031, -0.455347]], 'translation vector': [1.967233, 0.628282, 1.699375]}
D: {'rotation matrix': [[0.978621, -0.096572, 0.18159], [-0.205599, -0.435758, 0.876267], [-0.005494, -0.894868, -0.446298]], 'translation vector': [1.993303, 0.583546, 1.694907]} | 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': [[0.9999401570739126, -0.0046057655246039214, 0.009916971929525087], [0.004585227566153826, 0.9999870493451988, 0.0021285393012493415], [-0.009927494824793211, -0.0020825415412263123, 0.9999492671696912]], 'translation vector': [-0.008397334377028054, -0.00983275627665292, -0.005241897912080518]}
B: {'rotation matrix': [[0.979087, -0.093288, 0.180791], [-0.203431, -0.440264, 0.874519], [-0.001987, -0.893009, -0.450035]], 'translation vector': [1.973386, 0.601511, 1.693802]}
C: {'rotation matrix': [[0.980067, -0.092864, 0.175631], [-0.198651, -0.445785, 0.872819], [-0.002761, -0.89031, -0.455347]], 'translation vector': [1.967233, 0.628282, 1.699375]}
D: {'rotation matrix': [[0.978621, -0.096572, 0.18159], [-0.205599, -0.435758, 0.876267], [-0.005494, -0.894868, -0.446298]], 'translation vector': [1.993303, 0.583546, 1.694907]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_162_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_162_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_162_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_162_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.170548, -0.038579, 0.984594], [-0.984686, -0.02999, -0.171739], [0.036154, -0.998805, -0.032873]], 'translation vector': [3.062037, 2.44503, 1.503093]}
B: {'rotation matrix': [[-0.179914, -0.049674, 0.982427], [-0.983099, -0.025325, -0.181318], [0.033887, -0.998444, -0.044279]], 'translation vector': [3.062168, 2.448737, 1.498158]}
C: {'rotation matrix': [[-0.175595, -0.045495, 0.983411], [-0.983814, -0.028148, -0.176969], [0.035732, -0.998568, -0.039815]], 'translation vector': [3.062089, 2.446902, 1.500845]}
D: {'rotation matrix': [[0.9999851894661843, 0.0005818244206442844, -0.005337253553840107], [-0.0006352685106689393, 0.9999500541572905, -0.009997050540678364], [0.005330302626435351, 0.010000486202961777, 0.9999353803458123]], 'translation vector': [0.013561096331675682, -0.004517035589624685, -0.0041143791607543]} | 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': [[-0.170548, -0.038579, 0.984594], [-0.984686, -0.02999, -0.171739], [0.036154, -0.998805, -0.032873]], 'translation vector': [3.062037, 2.44503, 1.503093]}
B: {'rotation matrix': [[-0.179914, -0.049674, 0.982427], [-0.983099, -0.025325, -0.181318], [0.033887, -0.998444, -0.044279]], 'translation vector': [3.062168, 2.448737, 1.498158]}
C: {'rotation matrix': [[-0.175595, -0.045495, 0.983411], [-0.983814, -0.028148, -0.176969], [0.035732, -0.998568, -0.039815]], 'translation vector': [3.062089, 2.446902, 1.500845]}
D: {'rotation matrix': [[0.9999851894661843, 0.0005818244206442844, -0.005337253553840107], [-0.0006352685106689393, 0.9999500541572905, -0.009997050540678364], [0.005330302626435351, 0.010000486202961777, 0.9999353803458123]], 'translation vector': [0.013561096331675682, -0.004517035589624685, -0.0041143791607543]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_163_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_163_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_163_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_163_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.879731, -0.18442, 0.43825], [-0.471339, -0.216982, 0.854844], [-0.062558, -0.958597, -0.27781]], 'translation vector': [1.012821, 1.289106, 1.470609]}
B: {'rotation matrix': [[0.877414, -0.186393, 0.442044], [-0.476234, -0.227312, 0.84943], [-0.057846, -0.955818, -0.288213]], 'translation vector': [1.033287, 1.302455, 1.466311]}
C: {'rotation matrix': [[0.999991817168325, 0.002932358485082305, -0.002640226065149888], [-0.0029080462382595554, 0.9999549882789169, 0.009034252562416854], [0.0026665546966547606, -0.009026772459937056, 0.9999556430330881]], 'translation vector': [0.005120345387922942, -0.0015772155749180783, 0.009569803755594242]}
D: {'rotation matrix': [[0.878466, -0.185862, 0.440175], [-0.473882, -0.221089, 0.852382], [-0.061107, -0.957379, -0.282296]], 'translation vector': [1.023458, 1.295782, 1.469602]} | 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': [[0.879731, -0.18442, 0.43825], [-0.471339, -0.216982, 0.854844], [-0.062558, -0.958597, -0.27781]], 'translation vector': [1.012821, 1.289106, 1.470609]}
B: {'rotation matrix': [[0.877414, -0.186393, 0.442044], [-0.476234, -0.227312, 0.84943], [-0.057846, -0.955818, -0.288213]], 'translation vector': [1.033287, 1.302455, 1.466311]}
C: {'rotation matrix': [[0.999991817168325, 0.002932358485082305, -0.002640226065149888], [-0.0029080462382595554, 0.9999549882789169, 0.009034252562416854], [0.0026665546966547606, -0.009026772459937056, 0.9999556430330881]], 'translation vector': [0.005120345387922942, -0.0015772155749180783, 0.009569803755594242]}
D: {'rotation matrix': [[0.878466, -0.185862, 0.440175], [-0.473882, -0.221089, 0.852382], [-0.061107, -0.957379, -0.282296]], 'translation vector': [1.023458, 1.295782, 1.469602]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_164_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_164_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_164_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_164_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.306256, 0.214312, -0.927512], [0.951867, -0.081783, 0.295401], [-0.012547, -0.973336, -0.229043]], 'translation vector': [3.740017, 1.664374, 1.453227]}
B: {'rotation matrix': [[0.304194, 0.215718, -0.927864], [0.952563, -0.078625, 0.294012], [-0.009529, -0.973285, -0.229402]], 'translation vector': [3.747529, 1.6658, 1.453625]}
C: {'rotation matrix': [[0.9998537516460376, 0.013008935130727867, -0.011104836010819949], [-0.013009085999586367, 0.9999155647701683, 0.00015274967336381323], [0.011105421497037882, -8.408899546142835e-06, 0.9999381123179228]], 'translation vector': [0.00936290533716333, 0.003069967953460928, -0.010760020039624951]}
D: {'rotation matrix': [[0.309341, 0.212762, -0.926844], [0.950827, -0.084926, 0.297851], [-0.015342, -0.973406, -0.228571]], 'translation vector': [3.731516, 1.660707, 1.454311]} | 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': [[0.306256, 0.214312, -0.927512], [0.951867, -0.081783, 0.295401], [-0.012547, -0.973336, -0.229043]], 'translation vector': [3.740017, 1.664374, 1.453227]}
B: {'rotation matrix': [[0.304194, 0.215718, -0.927864], [0.952563, -0.078625, 0.294012], [-0.009529, -0.973285, -0.229402]], 'translation vector': [3.747529, 1.6658, 1.453625]}
C: {'rotation matrix': [[0.9998537516460376, 0.013008935130727867, -0.011104836010819949], [-0.013009085999586367, 0.9999155647701683, 0.00015274967336381323], [0.011105421497037882, -8.408899546142835e-06, 0.9999381123179228]], 'translation vector': [0.00936290533716333, 0.003069967953460928, -0.010760020039624951]}
D: {'rotation matrix': [[0.309341, 0.212762, -0.926844], [0.950827, -0.084926, 0.297851], [-0.015342, -0.973406, -0.228571]], 'translation vector': [3.731516, 1.660707, 1.454311]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_165_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_165_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_165_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_165_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.226506, -0.721874, 0.653906], [-0.969583, -0.103174, 0.221955], [-0.092757, -0.68429, -0.723287]], 'translation vector': [2.104302, 2.429349, 1.38499]}
B: {'rotation matrix': [[0.223513, -0.721637, 0.655197], [-0.970242, -0.100499, 0.220298], [-0.093129, -0.684938, -0.722625]], 'translation vector': [2.105446, 2.427759, 1.384995]}
C: {'rotation matrix': [[0.22885, -0.719341, 0.655878], [-0.96905, -0.104271, 0.223761], [-0.092571, -0.686787, -0.72094]], 'translation vector': [2.102429, 2.429695, 1.385047]}
D: {'rotation matrix': [[0.9999909282503874, 0.0026675007233110163, 0.003038726855301391], [-0.0026681297586413737, 0.999996473984971, 2.7861207662840692e-05], [-0.0030386998838646344, -3.5943923369286046e-05, 0.9999953589686927]], 'translation vector': [0.002364456746013932, -0.0010737235666011813, -0.00037719790048196256]} | 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': [[0.226506, -0.721874, 0.653906], [-0.969583, -0.103174, 0.221955], [-0.092757, -0.68429, -0.723287]], 'translation vector': [2.104302, 2.429349, 1.38499]}
B: {'rotation matrix': [[0.223513, -0.721637, 0.655197], [-0.970242, -0.100499, 0.220298], [-0.093129, -0.684938, -0.722625]], 'translation vector': [2.105446, 2.427759, 1.384995]}
C: {'rotation matrix': [[0.22885, -0.719341, 0.655878], [-0.96905, -0.104271, 0.223761], [-0.092571, -0.686787, -0.72094]], 'translation vector': [2.102429, 2.429695, 1.385047]}
D: {'rotation matrix': [[0.9999909282503874, 0.0026675007233110163, 0.003038726855301391], [-0.0026681297586413737, 0.999996473984971, 2.7861207662840692e-05], [-0.0030386998838646344, -3.5943923369286046e-05, 0.9999953589686927]], 'translation vector': [0.002364456746013932, -0.0010737235666011813, -0.00037719790048196256]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_166_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_166_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_166_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_166_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.711418, -0.467017, 0.525147], [-0.700604, 0.529926, -0.477841], [-0.055129, -0.707865, -0.704193]], 'translation vector': [2.529564, 4.393072, 1.526695]}
B: {'rotation matrix': [[0.9999966648975326, -0.0024113488419032422, -0.0008172418163523504], [0.0024114327512952905, 0.9999969977952643, 0.0006432367723817748], [0.0008165042296219522, -0.0006466099152102373, 0.9999990767691678]], 'translation vector': [-0.006437670952323948, -0.005367763877482813, 0.00013241538331776326]}
C: {'rotation matrix': [[-0.711906, -0.467075, 0.524433], [-0.700166, 0.529878, -0.478536], [-0.054374, -0.707863, -0.704254]], 'translation vector': [2.530244, 4.39346, 1.526741]}
D: {'rotation matrix': [[-0.711605, -0.467107, 0.524814], [-0.700478, 0.529425, -0.47858], [-0.054301, -0.708181, -0.70394]], 'translation vector': [2.529967, 4.393585, 1.525543]} | 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': [[-0.711418, -0.467017, 0.525147], [-0.700604, 0.529926, -0.477841], [-0.055129, -0.707865, -0.704193]], 'translation vector': [2.529564, 4.393072, 1.526695]}
B: {'rotation matrix': [[0.9999966648975326, -0.0024113488419032422, -0.0008172418163523504], [0.0024114327512952905, 0.9999969977952643, 0.0006432367723817748], [0.0008165042296219522, -0.0006466099152102373, 0.9999990767691678]], 'translation vector': [-0.006437670952323948, -0.005367763877482813, 0.00013241538331776326]}
C: {'rotation matrix': [[-0.711906, -0.467075, 0.524433], [-0.700166, 0.529878, -0.478536], [-0.054374, -0.707863, -0.704254]], 'translation vector': [2.530244, 4.39346, 1.526741]}
D: {'rotation matrix': [[-0.711605, -0.467107, 0.524814], [-0.700478, 0.529425, -0.47858], [-0.054301, -0.708181, -0.70394]], 'translation vector': [2.529967, 4.393585, 1.525543]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_167_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_167_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_167_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_167_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.61412, -0.406634, 0.676392], [-0.788751, 0.286898, -0.543656], [0.027014, -0.867374, -0.496922]], 'translation vector': [1.884445, 2.364432, 1.389567]}
B: {'rotation matrix': [[0.9999800934681147, 0.006249341845585854, -0.0009789493583592457], [-0.006247228158252656, 0.9999797870897016, 0.0016201321535261565], [0.0009895210241494333, -0.0016143397944822075, 0.9999982198013821]], 'translation vector': [-0.0069672096971418185, 0.0007707556249330061, 0.0022308491982188094]}
C: {'rotation matrix': [[-0.614991, -0.407345, 0.675171], [-0.788025, 0.286731, -0.544795], [0.028327, -0.867096, -0.497335]], 'translation vector': [1.885989, 2.365962, 1.389016]}
D: {'rotation matrix': [[-0.615135, -0.40626, 0.675693], [-0.787872, 0.284761, -0.546048], [0.029426, -0.868253, -0.495248]], 'translation vector': [1.88807, 2.366622, 1.388041]} | 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': [[-0.61412, -0.406634, 0.676392], [-0.788751, 0.286898, -0.543656], [0.027014, -0.867374, -0.496922]], 'translation vector': [1.884445, 2.364432, 1.389567]}
B: {'rotation matrix': [[0.9999800934681147, 0.006249341845585854, -0.0009789493583592457], [-0.006247228158252656, 0.9999797870897016, 0.0016201321535261565], [0.0009895210241494333, -0.0016143397944822075, 0.9999982198013821]], 'translation vector': [-0.0069672096971418185, 0.0007707556249330061, 0.0022308491982188094]}
C: {'rotation matrix': [[-0.614991, -0.407345, 0.675171], [-0.788025, 0.286731, -0.544795], [0.028327, -0.867096, -0.497335]], 'translation vector': [1.885989, 2.365962, 1.389016]}
D: {'rotation matrix': [[-0.615135, -0.40626, 0.675693], [-0.787872, 0.284761, -0.546048], [0.029426, -0.868253, -0.495248]], 'translation vector': [1.88807, 2.366622, 1.388041]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_168_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_168_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_168_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_168_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999912398243648, -0.003460941321399837, -0.0022122658857095193], [0.003455741372162686, 0.9999910905464573, -0.0022383864983849893], [0.0022193515549835062, 0.0022307044509074837, 0.999995073124285]], 'translation vector': [-0.001957679288641462, -0.0024920290268601875, -0.000907578453192226]}
B: {'rotation matrix': [[0.67484, -0.325973, 0.662067], [-0.73754, -0.328352, 0.590102], [0.025034, -0.886525, -0.462003]], 'translation vector': [2.869569, 2.417867, 1.545271]}
C: {'rotation matrix': [[0.67798, -0.325694, 0.658989], [-0.734824, -0.323965, 0.595886], [0.019413, -0.88824, -0.45897]], 'translation vector': [2.868894, 2.415756, 1.54509]}
D: {'rotation matrix': [[0.682626, -0.324357, 0.654839], [-0.73069, -0.316101, 0.605122], [0.010719, -0.891556, -0.452783]], 'translation vector': [2.86653, 2.411599, 1.544608]} | 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': [[0.9999912398243648, -0.003460941321399837, -0.0022122658857095193], [0.003455741372162686, 0.9999910905464573, -0.0022383864983849893], [0.0022193515549835062, 0.0022307044509074837, 0.999995073124285]], 'translation vector': [-0.001957679288641462, -0.0024920290268601875, -0.000907578453192226]}
B: {'rotation matrix': [[0.67484, -0.325973, 0.662067], [-0.73754, -0.328352, 0.590102], [0.025034, -0.886525, -0.462003]], 'translation vector': [2.869569, 2.417867, 1.545271]}
C: {'rotation matrix': [[0.67798, -0.325694, 0.658989], [-0.734824, -0.323965, 0.595886], [0.019413, -0.88824, -0.45897]], 'translation vector': [2.868894, 2.415756, 1.54509]}
D: {'rotation matrix': [[0.682626, -0.324357, 0.654839], [-0.73069, -0.316101, 0.605122], [0.010719, -0.891556, -0.452783]], 'translation vector': [2.86653, 2.411599, 1.544608]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_169_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_169_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_169_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_169_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.999502, 0.00746, 0.030678], [-0.028996, 0.167572, -0.985433], [-0.012492, -0.985832, -0.167272]], 'translation vector': [6.682728, 5.426456, 1.759702]}
B: {'rotation matrix': [[-0.999516, 0.005588, 0.030613], [-0.029207, 0.171126, -0.984816], [-0.010741, -0.985233, -0.17088]], 'translation vector': [6.687027, 5.423337, 1.762554]}
C: {'rotation matrix': [[-0.999427, 0.005452, 0.0334], [-0.031967, 0.171859, -0.984603], [-0.011109, -0.985106, -0.171586]], 'translation vector': [6.682628, 5.424977, 1.756356]}
D: {'rotation matrix': [[0.9999959031714618, 0.0006283915085459037, 0.0029514431388234703], [-0.0006213832896176772, 0.9999971711296258, -0.0021323447476004893], [-0.0029538525457832297, 0.002130012321803009, 0.9999931612377413]], 'translation vector': [-0.006207505850969852, 0.015496225089857818, -0.006213786764486251]} | 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': [[-0.999502, 0.00746, 0.030678], [-0.028996, 0.167572, -0.985433], [-0.012492, -0.985832, -0.167272]], 'translation vector': [6.682728, 5.426456, 1.759702]}
B: {'rotation matrix': [[-0.999516, 0.005588, 0.030613], [-0.029207, 0.171126, -0.984816], [-0.010741, -0.985233, -0.17088]], 'translation vector': [6.687027, 5.423337, 1.762554]}
C: {'rotation matrix': [[-0.999427, 0.005452, 0.0334], [-0.031967, 0.171859, -0.984603], [-0.011109, -0.985106, -0.171586]], 'translation vector': [6.682628, 5.424977, 1.756356]}
D: {'rotation matrix': [[0.9999959031714618, 0.0006283915085459037, 0.0029514431388234703], [-0.0006213832896176772, 0.9999971711296258, -0.0021323447476004893], [-0.0029538525457832297, 0.002130012321803009, 0.9999931612377413]], 'translation vector': [-0.006207505850969852, 0.015496225089857818, -0.006213786764486251]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_170_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_170_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_170_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_170_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.106477, -0.473799, 0.874173], [-0.992913, 0.097339, -0.068183], [-0.052786, -0.875237, -0.480805]], 'translation vector': [4.553204, 3.149855, 1.246823]}
B: {'rotation matrix': [[-0.115243, -0.46998, 0.875122], [-0.991961, 0.100818, -0.076485], [-0.052282, -0.876901, -0.47782]], 'translation vector': [4.553743, 3.152171, 1.246409]}
C: {'rotation matrix': [[0.999828950585133, 0.0011190525701963586, -0.018454829607259946], [-0.001416468295998283, 0.9998678811169985, -0.016145155593255522], [0.018434708990961175, 0.016168544891222898, 0.9996994385524549]], 'translation vector': [0.002077144261483088, 0.01271199054625649, -0.0002353155159546816]}
D: {'rotation matrix': [[-0.120252, -0.468652, 0.87516], [-0.991418, 0.102239, -0.081478], [-0.051291, -0.877447, -0.476924]], 'translation vector': [4.555783, 3.154248, 1.246329]} | 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': [[-0.106477, -0.473799, 0.874173], [-0.992913, 0.097339, -0.068183], [-0.052786, -0.875237, -0.480805]], 'translation vector': [4.553204, 3.149855, 1.246823]}
B: {'rotation matrix': [[-0.115243, -0.46998, 0.875122], [-0.991961, 0.100818, -0.076485], [-0.052282, -0.876901, -0.47782]], 'translation vector': [4.553743, 3.152171, 1.246409]}
C: {'rotation matrix': [[0.999828950585133, 0.0011190525701963586, -0.018454829607259946], [-0.001416468295998283, 0.9998678811169985, -0.016145155593255522], [0.018434708990961175, 0.016168544891222898, 0.9996994385524549]], 'translation vector': [0.002077144261483088, 0.01271199054625649, -0.0002353155159546816]}
D: {'rotation matrix': [[-0.120252, -0.468652, 0.87516], [-0.991418, 0.102239, -0.081478], [-0.051291, -0.877447, -0.476924]], 'translation vector': [4.555783, 3.154248, 1.246329]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_171_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_171_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_171_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_171_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.927045, 0.223636, -0.300956], [0.364198, 0.346229, -0.864573], [-0.08915, -0.911105, -0.402418]], 'translation vector': [7.648557, 2.747808, 1.440051]}
B: {'rotation matrix': [[0.9999939386175598, 0.0009488285827030999, 0.0032872470438982896], [-0.0009337892397183689, 0.9999879134504162, -0.004824212466184848], [-0.0032917475553783573, 0.004820430801235839, 0.9999833362205853]], 'translation vector': [-0.000493455857793812, -0.002698981007177137, 0.0012657934234763246]}
C: {'rotation matrix': [[-0.9261, 0.223085, -0.304257], [0.366658, 0.34218, -0.865144], [-0.08889, -0.912768, -0.398689]], 'translation vector': [7.650569, 2.747621, 1.441708]}
D: {'rotation matrix': [[-0.927432, 0.22366, -0.299744], [0.363522, 0.350792, -0.863016], [-0.087874, -0.909352, -0.406641]], 'translation vector': [7.650677, 2.747929, 1.439487]} | 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': [[-0.927045, 0.223636, -0.300956], [0.364198, 0.346229, -0.864573], [-0.08915, -0.911105, -0.402418]], 'translation vector': [7.648557, 2.747808, 1.440051]}
B: {'rotation matrix': [[0.9999939386175598, 0.0009488285827030999, 0.0032872470438982896], [-0.0009337892397183689, 0.9999879134504162, -0.004824212466184848], [-0.0032917475553783573, 0.004820430801235839, 0.9999833362205853]], 'translation vector': [-0.000493455857793812, -0.002698981007177137, 0.0012657934234763246]}
C: {'rotation matrix': [[-0.9261, 0.223085, -0.304257], [0.366658, 0.34218, -0.865144], [-0.08889, -0.912768, -0.398689]], 'translation vector': [7.650569, 2.747621, 1.441708]}
D: {'rotation matrix': [[-0.927432, 0.22366, -0.299744], [0.363522, 0.350792, -0.863016], [-0.087874, -0.909352, -0.406641]], 'translation vector': [7.650677, 2.747929, 1.439487]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_172_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_172_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_172_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_172_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.598936, 0.355502, -0.717562], [0.800003, -0.305531, 0.516379], [-0.035664, -0.883329, -0.467396]], 'translation vector': [5.964795, 1.444893, 1.32602]}
B: {'rotation matrix': [[0.600188, 0.357296, -0.715622], [0.799089, -0.307102, 0.516861], [-0.035096, -0.882059, -0.46983]], 'translation vector': [5.950611, 1.450679, 1.325211]}
C: {'rotation matrix': [[0.9999898156973296, -0.003952939496578174, 0.0024431521094752146], [0.003942856258073881, 0.9999843026055344, 0.004096575088743528], [-0.0024598279169757275, -0.004085831486072852, 0.9999883270401599]], 'translation vector': [-0.0051631563465806, -0.010227260523923531, 0.01366119668418353]}
D: {'rotation matrix': [[0.593595, 0.358896, -0.720305], [0.803944, -0.304849, 0.510628], [-0.036322, -0.882191, -0.469489]], 'translation vector': [5.978991, 1.441471, 1.326102]} | 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': [[0.598936, 0.355502, -0.717562], [0.800003, -0.305531, 0.516379], [-0.035664, -0.883329, -0.467396]], 'translation vector': [5.964795, 1.444893, 1.32602]}
B: {'rotation matrix': [[0.600188, 0.357296, -0.715622], [0.799089, -0.307102, 0.516861], [-0.035096, -0.882059, -0.46983]], 'translation vector': [5.950611, 1.450679, 1.325211]}
C: {'rotation matrix': [[0.9999898156973296, -0.003952939496578174, 0.0024431521094752146], [0.003942856258073881, 0.9999843026055344, 0.004096575088743528], [-0.0024598279169757275, -0.004085831486072852, 0.9999883270401599]], 'translation vector': [-0.0051631563465806, -0.010227260523923531, 0.01366119668418353]}
D: {'rotation matrix': [[0.593595, 0.358896, -0.720305], [0.803944, -0.304849, 0.510628], [-0.036322, -0.882191, -0.469489]], 'translation vector': [5.978991, 1.441471, 1.326102]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_173_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_173_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_173_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_173_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.983068, 0.048576, -0.176687], [0.181735, -0.381917, 0.906152], [-0.023462, -0.922919, -0.384278]], 'translation vector': [2.212073, 3.484547, 1.465708]}
B: {'rotation matrix': [[0.982686, 0.047982, -0.178958], [0.183606, -0.38172, 0.905858], [-0.024847, -0.923032, -0.38392]], 'translation vector': [2.212621, 3.48432, 1.466163]}
C: {'rotation matrix': [[0.983078, 0.050132, -0.176192], [0.181887, -0.381466, 0.906312], [-0.021776, -0.923023, -0.384129]], 'translation vector': [2.213536, 3.486831, 1.465259]}
D: {'rotation matrix': [[0.9999889301916728, 0.0015926412893515843, 0.004480728220099604], [-0.001621568987345314, 0.9999775972099906, 0.006504872079739442], [-0.004470952780905997, -0.0065123882198827605, 0.9999681868018854]], 'translation vector': [-0.002104900488902217, -0.0034679151915213424, 0.0012659901948626207]} | 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': [[0.983068, 0.048576, -0.176687], [0.181735, -0.381917, 0.906152], [-0.023462, -0.922919, -0.384278]], 'translation vector': [2.212073, 3.484547, 1.465708]}
B: {'rotation matrix': [[0.982686, 0.047982, -0.178958], [0.183606, -0.38172, 0.905858], [-0.024847, -0.923032, -0.38392]], 'translation vector': [2.212621, 3.48432, 1.466163]}
C: {'rotation matrix': [[0.983078, 0.050132, -0.176192], [0.181887, -0.381466, 0.906312], [-0.021776, -0.923023, -0.384129]], 'translation vector': [2.213536, 3.486831, 1.465259]}
D: {'rotation matrix': [[0.9999889301916728, 0.0015926412893515843, 0.004480728220099604], [-0.001621568987345314, 0.9999775972099906, 0.006504872079739442], [-0.004470952780905997, -0.0065123882198827605, 0.9999681868018854]], 'translation vector': [-0.002104900488902217, -0.0034679151915213424, 0.0012659901948626207]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_174_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_174_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_174_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_174_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999643490106183, 0.005007713450141965, -0.006820932250517381], [-0.004994218544548531, 0.9999851347119364, 0.0020857596614642536], [0.0068306095153302035, -0.0020519868188517945, 0.9999742349784666]], 'translation vector': [-0.002699516524657053, 0.0005464771955957654, -0.0009563459127281959]}
B: {'rotation matrix': [[0.549558, 0.430394, -0.716064], [0.833614, -0.2256, 0.504176], [0.05545, -0.873994, -0.482762]], 'translation vector': [3.109701, 1.26111, 1.347453]}
C: {'rotation matrix': [[0.545357, 0.429527, -0.719787], [0.836166, -0.218941, 0.502882], [0.05841, -0.876111, -0.478557]], 'translation vector': [3.10956, 1.258833, 1.347276]}
D: {'rotation matrix': [[0.548441, 0.430496, -0.716859], [0.834301, -0.22414, 0.503689], [0.056159, -0.874319, -0.482091]], 'translation vector': [3.109132, 1.259955, 1.347698]} | 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': [[0.9999643490106183, 0.005007713450141965, -0.006820932250517381], [-0.004994218544548531, 0.9999851347119364, 0.0020857596614642536], [0.0068306095153302035, -0.0020519868188517945, 0.9999742349784666]], 'translation vector': [-0.002699516524657053, 0.0005464771955957654, -0.0009563459127281959]}
B: {'rotation matrix': [[0.549558, 0.430394, -0.716064], [0.833614, -0.2256, 0.504176], [0.05545, -0.873994, -0.482762]], 'translation vector': [3.109701, 1.26111, 1.347453]}
C: {'rotation matrix': [[0.545357, 0.429527, -0.719787], [0.836166, -0.218941, 0.502882], [0.05841, -0.876111, -0.478557]], 'translation vector': [3.10956, 1.258833, 1.347276]}
D: {'rotation matrix': [[0.548441, 0.430496, -0.716859], [0.834301, -0.22414, 0.503689], [0.056159, -0.874319, -0.482091]], 'translation vector': [3.109132, 1.259955, 1.347698]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_175_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_175_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_175_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_175_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.9999664473886144, -4.097872539031611e-05, -0.00815329503789991], [4.450303663576986e-05, 1.0000000556925084, 0.0005279321342564721], [0.008153564277134814, -0.0005283064017830043, 0.99996718864845]], 'translation vector': [0.0006960777394775519, 0.0030013724924222718, -0.001027289568414247]}
B: {'rotation matrix': [[-0.825443, 0.242757, -0.509621], [0.56437, 0.373207, -0.736345], [0.011442, -0.895425, -0.445066]], 'translation vector': [4.848658, 2.610627, 1.449985]}
C: {'rotation matrix': [[-0.825701, 0.242217, -0.50946], [0.563992, 0.37286, -0.73681], [0.01149, -0.895716, -0.444479]], 'translation vector': [4.848603, 2.611202, 1.449781]}
D: {'rotation matrix': [[-0.825281, 0.242861, -0.509834], [0.5646, 0.373686, -0.735925], [0.011791, -0.895197, -0.445515]], 'translation vector': [4.848519, 2.6109, 1.44995]} | 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': [[0.9999664473886144, -4.097872539031611e-05, -0.00815329503789991], [4.450303663576986e-05, 1.0000000556925084, 0.0005279321342564721], [0.008153564277134814, -0.0005283064017830043, 0.99996718864845]], 'translation vector': [0.0006960777394775519, 0.0030013724924222718, -0.001027289568414247]}
B: {'rotation matrix': [[-0.825443, 0.242757, -0.509621], [0.56437, 0.373207, -0.736345], [0.011442, -0.895425, -0.445066]], 'translation vector': [4.848658, 2.610627, 1.449985]}
C: {'rotation matrix': [[-0.825701, 0.242217, -0.50946], [0.563992, 0.37286, -0.73681], [0.01149, -0.895716, -0.444479]], 'translation vector': [4.848603, 2.611202, 1.449781]}
D: {'rotation matrix': [[-0.825281, 0.242861, -0.509834], [0.5646, 0.373686, -0.735925], [0.011791, -0.895197, -0.445515]], 'translation vector': [4.848519, 2.6109, 1.44995]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_176_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_176_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_176_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_176_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.820406, -0.123018, 0.558391], [-0.564425, -0.330389, 0.756484], [0.091425, -0.935794, -0.340487]], 'translation vector': [1.795617, 2.461673, 1.379824]}
B: {'rotation matrix': [[0.820181, -0.122779, 0.558774], [-0.564668, -0.330702, 0.756166], [0.091946, -0.935714, -0.340565]], 'translation vector': [1.795446, 2.463577, 1.379349]}
C: {'rotation matrix': [[0.9999965570678159, 0.002414373935934805, -0.0013910970690502594], [-0.0024092149366839086, 0.9999893972371463, 0.004094256181755705], [0.0014001974871553952, -0.0040912377586492955, 0.9999902946910975]], 'translation vector': [0.0015616232476808878, 0.0015124074702654866, -0.0024993421767338653]}
D: {'rotation matrix': [[0.81953, -0.122236, 0.559847], [-0.565374, -0.331709, 0.755196], [0.093395, -0.935429, -0.340955]], 'translation vector': [1.794011, 2.466618, 1.378419]} | 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': [[0.820406, -0.123018, 0.558391], [-0.564425, -0.330389, 0.756484], [0.091425, -0.935794, -0.340487]], 'translation vector': [1.795617, 2.461673, 1.379824]}
B: {'rotation matrix': [[0.820181, -0.122779, 0.558774], [-0.564668, -0.330702, 0.756166], [0.091946, -0.935714, -0.340565]], 'translation vector': [1.795446, 2.463577, 1.379349]}
C: {'rotation matrix': [[0.9999965570678159, 0.002414373935934805, -0.0013910970690502594], [-0.0024092149366839086, 0.9999893972371463, 0.004094256181755705], [0.0014001974871553952, -0.0040912377586492955, 0.9999902946910975]], 'translation vector': [0.0015616232476808878, 0.0015124074702654866, -0.0024993421767338653]}
D: {'rotation matrix': [[0.81953, -0.122236, 0.559847], [-0.565374, -0.331709, 0.755196], [0.093395, -0.935429, -0.340955]], 'translation vector': [1.794011, 2.466618, 1.378419]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_177_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_177_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_177_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_177_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.802386, 0.058378, -0.593943], [0.596799, 0.07378, -0.798992], [-0.002822, -0.995564, -0.09404]], 'translation vector': [2.583445, 4.00863, 1.432702]}
B: {'rotation matrix': [[-0.80243, 0.05764, -0.593956], [0.596739, 0.072442, -0.799159], [-0.003036, -0.995706, -0.092526]], 'translation vector': [2.583423, 4.00901, 1.432499]}
C: {'rotation matrix': [[-0.802147, 0.057229, -0.594377], [0.597116, 0.07095, -0.799012], [-0.003555, -0.995837, -0.091085]], 'translation vector': [2.584156, 4.008181, 1.433043]}
D: {'rotation matrix': [[0.9999994783035012, 0.00041051927851740725, -0.0005862593604151125], [-0.00040931866521127987, 0.9999994989245719, 0.001478878293238192], [0.0005866244600769685, -0.00147872503352613, 0.9999988017009569]], 'translation vector': [0.00041364848275698973, -0.004321265289284559, -0.00018345117394513721]} | 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': [[-0.802386, 0.058378, -0.593943], [0.596799, 0.07378, -0.798992], [-0.002822, -0.995564, -0.09404]], 'translation vector': [2.583445, 4.00863, 1.432702]}
B: {'rotation matrix': [[-0.80243, 0.05764, -0.593956], [0.596739, 0.072442, -0.799159], [-0.003036, -0.995706, -0.092526]], 'translation vector': [2.583423, 4.00901, 1.432499]}
C: {'rotation matrix': [[-0.802147, 0.057229, -0.594377], [0.597116, 0.07095, -0.799012], [-0.003555, -0.995837, -0.091085]], 'translation vector': [2.584156, 4.008181, 1.433043]}
D: {'rotation matrix': [[0.9999994783035012, 0.00041051927851740725, -0.0005862593604151125], [-0.00040931866521127987, 0.9999994989245719, 0.001478878293238192], [0.0005866244600769685, -0.00147872503352613, 0.9999988017009569]], 'translation vector': [0.00041364848275698973, -0.004321265289284559, -0.00018345117394513721]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_178_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_178_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_178_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_178_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.992585, -0.064418, 0.103079], [-0.120896, -0.435169, 0.892195], [-0.012617, -0.898041, -0.43973]], 'translation vector': [3.286474, 2.568909, 1.509796]}
B: {'rotation matrix': [[0.992385, -0.067834, 0.102811], [-0.122233, -0.439432, 0.889921], [-0.015188, -0.895711, -0.444377]], 'translation vector': [3.289696, 2.56831, 1.509591]}
C: {'rotation matrix': [[0.9999807964258803, 0.0038860910275422844, -0.004806691946462499], [-0.003909951367268014, 0.9999796651555257, -0.005033098084012006], [0.004787399082777756, 0.005051536745205018, 0.999976147031262]], 'translation vector': [-0.001554233624264434, -0.002644430194159053, -0.0006288644424583545]}
D: {'rotation matrix': [[0.992758, -0.062357, 0.102681], [-0.119576, -0.430727, 0.894525], [-0.011552, -0.900325, -0.435064]], 'translation vector': [3.283188, 2.568117, 1.510042]} | 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': [[0.992585, -0.064418, 0.103079], [-0.120896, -0.435169, 0.892195], [-0.012617, -0.898041, -0.43973]], 'translation vector': [3.286474, 2.568909, 1.509796]}
B: {'rotation matrix': [[0.992385, -0.067834, 0.102811], [-0.122233, -0.439432, 0.889921], [-0.015188, -0.895711, -0.444377]], 'translation vector': [3.289696, 2.56831, 1.509591]}
C: {'rotation matrix': [[0.9999807964258803, 0.0038860910275422844, -0.004806691946462499], [-0.003909951367268014, 0.9999796651555257, -0.005033098084012006], [0.004787399082777756, 0.005051536745205018, 0.999976147031262]], 'translation vector': [-0.001554233624264434, -0.002644430194159053, -0.0006288644424583545]}
D: {'rotation matrix': [[0.992758, -0.062357, 0.102681], [-0.119576, -0.430727, 0.894525], [-0.011552, -0.900325, -0.435064]], 'translation vector': [3.283188, 2.568117, 1.510042]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_179_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_179_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_179_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_179_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.422089, -0.487348, 0.764417], [-0.906483, 0.237506, -0.349114], [-0.011414, -0.840287, -0.542021]], 'translation vector': [1.410195, 1.210537, 1.389714]}
B: {'rotation matrix': [[-0.429509, -0.487246, 0.760337], [-0.903019, 0.239935, -0.356353], [-0.0088, -0.839656, -0.543047]], 'translation vector': [1.408282, 1.210133, 1.390728]}
C: {'rotation matrix': [[0.9999401042348363, 0.0004722608940826321, -0.010894896595028812], [-0.0004891614331012371, 0.9999986952391333, -0.0015551949611865112], [0.010893168247730851, 0.0015589513371194136, 0.9999394642924967]], 'translation vector': [-0.002554071705175298, -0.000426511698759402, -0.0005788025297613075]}
D: {'rotation matrix': [[-0.426247, -0.487547, 0.761978], [-0.904552, 0.238954, -0.353109], [-0.00992, -0.839761, -0.542865]], 'translation vector': [1.409365, 1.209862, 1.390977]} | 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': [[-0.422089, -0.487348, 0.764417], [-0.906483, 0.237506, -0.349114], [-0.011414, -0.840287, -0.542021]], 'translation vector': [1.410195, 1.210537, 1.389714]}
B: {'rotation matrix': [[-0.429509, -0.487246, 0.760337], [-0.903019, 0.239935, -0.356353], [-0.0088, -0.839656, -0.543047]], 'translation vector': [1.408282, 1.210133, 1.390728]}
C: {'rotation matrix': [[0.9999401042348363, 0.0004722608940826321, -0.010894896595028812], [-0.0004891614331012371, 0.9999986952391333, -0.0015551949611865112], [0.010893168247730851, 0.0015589513371194136, 0.9999394642924967]], 'translation vector': [-0.002554071705175298, -0.000426511698759402, -0.0005788025297613075]}
D: {'rotation matrix': [[-0.426247, -0.487547, 0.761978], [-0.904552, 0.238954, -0.353109], [-0.00992, -0.839761, -0.542865]], 'translation vector': [1.409365, 1.209862, 1.390977]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_180_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_180_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_180_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_180_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.471816, -0.325425, 0.819444], [-0.872235, -0.30807, 0.379868], [0.128827, -0.893975, -0.429199]], 'translation vector': [4.769558, 1.138603, 1.289356]}
B: {'rotation matrix': [[0.9997418114978017, 0.011895326282976197, -0.019384512225947795], [-0.0117477819809795, 0.9999024052361882, 0.007665229365566708], [0.019474149960248398, -0.007435647706830853, 0.99978314162453]], 'translation vector': [0.0024302909823366026, 0.0025910713671302155, 0.004134808496160325]}
C: {'rotation matrix': [[0.463265, -0.315518, 0.828151], [-0.87672, -0.299624, 0.376281], [0.129411, -0.900374, -0.415426]], 'translation vector': [4.764074, 1.139958, 1.290116]}
D: {'rotation matrix': [[0.466198, -0.319071, 0.825139], [-0.875193, -0.302567, 0.377479], [0.129217, -0.898136, -0.420304]], 'translation vector': [4.766454, 1.138272, 1.288707]} | 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': [[0.471816, -0.325425, 0.819444], [-0.872235, -0.30807, 0.379868], [0.128827, -0.893975, -0.429199]], 'translation vector': [4.769558, 1.138603, 1.289356]}
B: {'rotation matrix': [[0.9997418114978017, 0.011895326282976197, -0.019384512225947795], [-0.0117477819809795, 0.9999024052361882, 0.007665229365566708], [0.019474149960248398, -0.007435647706830853, 0.99978314162453]], 'translation vector': [0.0024302909823366026, 0.0025910713671302155, 0.004134808496160325]}
C: {'rotation matrix': [[0.463265, -0.315518, 0.828151], [-0.87672, -0.299624, 0.376281], [0.129411, -0.900374, -0.415426]], 'translation vector': [4.764074, 1.139958, 1.290116]}
D: {'rotation matrix': [[0.466198, -0.319071, 0.825139], [-0.875193, -0.302567, 0.377479], [0.129217, -0.898136, -0.420304]], 'translation vector': [4.766454, 1.138272, 1.288707]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_181_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_181_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_181_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_181_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.782202, 0.158811, -0.602444], [0.623011, 0.192986, -0.758033], [-0.004121, -0.968264, -0.249895]], 'translation vector': [5.112607, 3.166242, 1.386639]}
B: {'rotation matrix': [[-0.778966, 0.157543, -0.606954], [0.627051, 0.189047, -0.75569], [-0.00431, -0.969248, -0.246049]], 'translation vector': [5.115294, 3.157473, 1.383296]}
C: {'rotation matrix': [[-0.779462, 0.157557, -0.606313], [0.62644, 0.190695, -0.755783], [-0.003458, -0.968923, -0.247339]], 'translation vector': [5.116126, 3.162086, 1.384797]}
D: {'rotation matrix': [[0.9999744617727225, -0.0001956738250342968, -0.007090775323277213], [0.00023566199396404743, 0.9999840487337286, 0.005570125228072977], [0.007090207625955035, -0.005572126334409686, 0.9999593181215198]], 'translation vector': [0.001060093909475146, -0.0011413036070948707, -0.0054511706559239315]} | 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': [[-0.782202, 0.158811, -0.602444], [0.623011, 0.192986, -0.758033], [-0.004121, -0.968264, -0.249895]], 'translation vector': [5.112607, 3.166242, 1.386639]}
B: {'rotation matrix': [[-0.778966, 0.157543, -0.606954], [0.627051, 0.189047, -0.75569], [-0.00431, -0.969248, -0.246049]], 'translation vector': [5.115294, 3.157473, 1.383296]}
C: {'rotation matrix': [[-0.779462, 0.157557, -0.606313], [0.62644, 0.190695, -0.755783], [-0.003458, -0.968923, -0.247339]], 'translation vector': [5.116126, 3.162086, 1.384797]}
D: {'rotation matrix': [[0.9999744617727225, -0.0001956738250342968, -0.007090775323277213], [0.00023566199396404743, 0.9999840487337286, 0.005570125228072977], [0.007090207625955035, -0.005572126334409686, 0.9999593181215198]], 'translation vector': [0.001060093909475146, -0.0011413036070948707, -0.0054511706559239315]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_182_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_182_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_182_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_182_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.883351, 0.250777, -0.395983], [0.468408, -0.502792, 0.726495], [-0.016909, -0.827231, -0.561607]], 'translation vector': [3.460753, 1.393703, 1.261616]}
B: {'rotation matrix': [[0.9999974556820361, 0.0020951454008892073, 0.0005388626757519509], [-0.0020947728022776887, 0.9999969776383335, -0.0008772711173625334], [-0.0005408474142489815, 0.0008761512281933679, 0.9999997549182328]], 'translation vector': [0.002023718546634523, -0.000327483901387704, 0.000534647049254211]}
C: {'rotation matrix': [[0.882846, 0.250522, -0.397268], [0.469328, -0.502506, 0.726099], [-0.017726, -0.827482, -0.561212]], 'translation vector': [3.46034, 1.393395, 1.261018]}
D: {'rotation matrix': [[0.883505, 0.250774, -0.395641], [0.468134, -0.50232, 0.726998], [-0.016426, -0.827519, -0.561198]], 'translation vector': [3.461493, 1.393772, 1.262191]} | 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': [[0.883351, 0.250777, -0.395983], [0.468408, -0.502792, 0.726495], [-0.016909, -0.827231, -0.561607]], 'translation vector': [3.460753, 1.393703, 1.261616]}
B: {'rotation matrix': [[0.9999974556820361, 0.0020951454008892073, 0.0005388626757519509], [-0.0020947728022776887, 0.9999969776383335, -0.0008772711173625334], [-0.0005408474142489815, 0.0008761512281933679, 0.9999997549182328]], 'translation vector': [0.002023718546634523, -0.000327483901387704, 0.000534647049254211]}
C: {'rotation matrix': [[0.882846, 0.250522, -0.397268], [0.469328, -0.502506, 0.726099], [-0.017726, -0.827482, -0.561212]], 'translation vector': [3.46034, 1.393395, 1.261018]}
D: {'rotation matrix': [[0.883505, 0.250774, -0.395641], [0.468134, -0.50232, 0.726998], [-0.016426, -0.827519, -0.561198]], 'translation vector': [3.461493, 1.393772, 1.262191]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_183_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_183_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_183_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_183_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.082095, -0.690035, 0.719105], [-0.996618, 0.054259, -0.061711], [0.003565, -0.72174, -0.692155]], 'translation vector': [1.142854, 0.964299, 1.384999]}
B: {'rotation matrix': [[-0.082522, -0.690473, 0.718636], [-0.99657, 0.052619, -0.063881], [0.006294, -0.721442, -0.692446]], 'translation vector': [1.142415, 0.962891, 1.383926]}
C: {'rotation matrix': [[-0.081714, -0.689876, 0.719301], [-0.996653, 0.054911, -0.060558], [0.00228, -0.721842, -0.692054]], 'translation vector': [1.143872, 0.96595, 1.386324]}
D: {'rotation matrix': [[0.9999981813065101, -0.0008741599533984917, -0.0018370380112936338], [0.0008726557083801512, 0.9999996139578026, -0.0006456924823724538], [0.0018388517886205992, 0.0006438367932182827, 0.999997821691748]], 'translation vector': [-0.0006029244698710912, 0.002574260386327465, 0.00012150794273751986]} | 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': [[-0.082095, -0.690035, 0.719105], [-0.996618, 0.054259, -0.061711], [0.003565, -0.72174, -0.692155]], 'translation vector': [1.142854, 0.964299, 1.384999]}
B: {'rotation matrix': [[-0.082522, -0.690473, 0.718636], [-0.99657, 0.052619, -0.063881], [0.006294, -0.721442, -0.692446]], 'translation vector': [1.142415, 0.962891, 1.383926]}
C: {'rotation matrix': [[-0.081714, -0.689876, 0.719301], [-0.996653, 0.054911, -0.060558], [0.00228, -0.721842, -0.692054]], 'translation vector': [1.143872, 0.96595, 1.386324]}
D: {'rotation matrix': [[0.9999981813065101, -0.0008741599533984917, -0.0018370380112936338], [0.0008726557083801512, 0.9999996139578026, -0.0006456924823724538], [0.0018388517886205992, 0.0006438367932182827, 0.999997821691748]], 'translation vector': [-0.0006029244698710912, 0.002574260386327465, 0.00012150794273751986]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_184_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_184_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_184_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_184_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.885696, -0.241091, 0.396758], [-0.463478, 0.409419, -0.785852], [0.027022, -0.879915, -0.474362]], 'translation vector': [3.284311, 2.742399, 1.352773]}
B: {'rotation matrix': [[-0.887326, -0.240072, 0.393723], [-0.460299, 0.409476, -0.787689], [0.027883, -0.880168, -0.473844]], 'translation vector': [3.284908, 2.737404, 1.354156]}
C: {'rotation matrix': [[0.9999731444122048, 0.0012103447086951903, -0.007132060128435475], [-0.0011432251198222655, 0.9999548360017081, 0.009399220003853712], [0.007143404275372449, -0.009390869439370925, 0.9999297253861809]], 'translation vector': [-0.004051670502601468, 0.003985677205533222, -0.007748124103307941]}
D: {'rotation matrix': [[-0.88833, -0.238233, 0.392575], [-0.45841, 0.409739, -0.788653], [0.02703, -0.880545, -0.473192]], 'translation vector': [3.286612, 2.733624, 1.354709]} | 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': [[-0.885696, -0.241091, 0.396758], [-0.463478, 0.409419, -0.785852], [0.027022, -0.879915, -0.474362]], 'translation vector': [3.284311, 2.742399, 1.352773]}
B: {'rotation matrix': [[-0.887326, -0.240072, 0.393723], [-0.460299, 0.409476, -0.787689], [0.027883, -0.880168, -0.473844]], 'translation vector': [3.284908, 2.737404, 1.354156]}
C: {'rotation matrix': [[0.9999731444122048, 0.0012103447086951903, -0.007132060128435475], [-0.0011432251198222655, 0.9999548360017081, 0.009399220003853712], [0.007143404275372449, -0.009390869439370925, 0.9999297253861809]], 'translation vector': [-0.004051670502601468, 0.003985677205533222, -0.007748124103307941]}
D: {'rotation matrix': [[-0.88833, -0.238233, 0.392575], [-0.45841, 0.409739, -0.788653], [0.02703, -0.880545, -0.473192]], 'translation vector': [3.286612, 2.733624, 1.354709]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_185_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_185_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_185_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_185_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.929629, 0.142082, -0.340003], [0.367757, 0.416138, -0.831615], [0.023331, -0.898132, -0.439106]], 'translation vector': [3.895597, 4.105544, 1.337128]}
B: {'rotation matrix': [[0.9999978567692223, -0.002080974608083212, 0.0006913520673930054], [0.0020836393175395, 0.9999892180319079, -0.004134789557599625], [-0.0006820179303371059, 0.00413702467971305, 0.9999915554185601]], 'translation vector': [0.0017503586952924977, 0.001995171524919126, -0.0003721348284200232]}
C: {'rotation matrix': [[-0.930698, 0.142163, -0.337032], [0.365142, 0.415816, -0.832928], [0.021732, -0.898269, -0.438909]], 'translation vector': [3.896934, 4.102128, 1.337288]}
D: {'rotation matrix': [[-0.927672, 0.142632, -0.34508], [0.372556, 0.415512, -0.82979], [0.02503, -0.898335, -0.438597]], 'translation vector': [3.896674, 4.103256, 1.336071]} | 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': [[-0.929629, 0.142082, -0.340003], [0.367757, 0.416138, -0.831615], [0.023331, -0.898132, -0.439106]], 'translation vector': [3.895597, 4.105544, 1.337128]}
B: {'rotation matrix': [[0.9999978567692223, -0.002080974608083212, 0.0006913520673930054], [0.0020836393175395, 0.9999892180319079, -0.004134789557599625], [-0.0006820179303371059, 0.00413702467971305, 0.9999915554185601]], 'translation vector': [0.0017503586952924977, 0.001995171524919126, -0.0003721348284200232]}
C: {'rotation matrix': [[-0.930698, 0.142163, -0.337032], [0.365142, 0.415816, -0.832928], [0.021732, -0.898269, -0.438909]], 'translation vector': [3.896934, 4.102128, 1.337288]}
D: {'rotation matrix': [[-0.927672, 0.142632, -0.34508], [0.372556, 0.415512, -0.82979], [0.02503, -0.898335, -0.438597]], 'translation vector': [3.896674, 4.103256, 1.336071]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_186_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_186_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_186_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_186_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.97654, 0.035326, -0.212419], [0.213134, -0.299258, 0.930064], [-0.030712, -0.953518, -0.299767]], 'translation vector': [2.83562, 1.415562, 1.663413]}
B: {'rotation matrix': [[0.976528, 0.035613, -0.212425], [0.213211, -0.299739, 0.929891], [-0.030556, -0.953356, -0.300296]], 'translation vector': [2.836028, 1.415543, 1.663749]}
C: {'rotation matrix': [[0.976477, 0.035047, -0.212752], [0.213359, -0.299571, 0.929912], [-0.031143, -0.95343, -0.300002]], 'translation vector': [2.836339, 1.415174, 1.663386]}
D: {'rotation matrix': [[0.9999989734089719, -0.00043750334983729943, -0.0007413258006153675], [0.00043629581692446537, 0.9999991219954293, -0.0014728840089735186], [0.0007417507454709163, 0.0014731899576831099, 0.9999977641755871]], 'translation vector': [0.0005969954680278278, -0.001266102560834259, -0.001081742192190538]} | 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': [[0.97654, 0.035326, -0.212419], [0.213134, -0.299258, 0.930064], [-0.030712, -0.953518, -0.299767]], 'translation vector': [2.83562, 1.415562, 1.663413]}
B: {'rotation matrix': [[0.976528, 0.035613, -0.212425], [0.213211, -0.299739, 0.929891], [-0.030556, -0.953356, -0.300296]], 'translation vector': [2.836028, 1.415543, 1.663749]}
C: {'rotation matrix': [[0.976477, 0.035047, -0.212752], [0.213359, -0.299571, 0.929912], [-0.031143, -0.95343, -0.300002]], 'translation vector': [2.836339, 1.415174, 1.663386]}
D: {'rotation matrix': [[0.9999989734089719, -0.00043750334983729943, -0.0007413258006153675], [0.00043629581692446537, 0.9999991219954293, -0.0014728840089735186], [0.0007417507454709163, 0.0014731899576831099, 0.9999977641755871]], 'translation vector': [0.0005969954680278278, -0.001266102560834259, -0.001081742192190538]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_187_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_187_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_187_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_187_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.693693, -0.417889, 0.586651], [-0.719234, -0.35819, 0.595318], [-0.038645, -0.834907, -0.549033]], 'translation vector': [2.468094, 0.650908, 1.47083]}
B: {'rotation matrix': [[0.694995, -0.417186, 0.58561], [-0.71783, -0.35584, 0.598413], [-0.041266, -0.836262, -0.546775]], 'translation vector': [2.468435, 0.652249, 1.472357]}
C: {'rotation matrix': [[0.692825, -0.417185, 0.588176], [-0.720192, -0.359253, 0.593516], [-0.036302, -0.834802, -0.549352]], 'translation vector': [2.467356, 0.649437, 1.470088]}
D: {'rotation matrix': [[0.9999933308482389, -0.003211931119773083, -0.0013319651843937527], [0.003213068050675667, 0.999995289918959, 0.0008982640947086999], [0.0013289957939952358, -0.000903126250102818, 0.9999984333444373]], 'translation vector': [0.0004300736920825887, -0.0014825221206589134, 0.0006853212942847797]} | 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': [[0.693693, -0.417889, 0.586651], [-0.719234, -0.35819, 0.595318], [-0.038645, -0.834907, -0.549033]], 'translation vector': [2.468094, 0.650908, 1.47083]}
B: {'rotation matrix': [[0.694995, -0.417186, 0.58561], [-0.71783, -0.35584, 0.598413], [-0.041266, -0.836262, -0.546775]], 'translation vector': [2.468435, 0.652249, 1.472357]}
C: {'rotation matrix': [[0.692825, -0.417185, 0.588176], [-0.720192, -0.359253, 0.593516], [-0.036302, -0.834802, -0.549352]], 'translation vector': [2.467356, 0.649437, 1.470088]}
D: {'rotation matrix': [[0.9999933308482389, -0.003211931119773083, -0.0013319651843937527], [0.003213068050675667, 0.999995289918959, 0.0008982640947086999], [0.0013289957939952358, -0.000903126250102818, 0.9999984333444373]], 'translation vector': [0.0004300736920825887, -0.0014825221206589134, 0.0006853212942847797]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_188_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_188_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_188_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_188_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.999996219803918, 0.0022950861591112606, 0.0016527156635626785], [-0.002306966520835195, 0.9999706555795355, 0.007290423829373102], [-0.0016351749151619617, -0.007294378220159148, 0.9999718191472952]], 'translation vector': [-0.0006106128955529755, 0.003113758643644493, 0.0009225265168792962]}
B: {'rotation matrix': [[-0.815808, -0.262316, 0.51541], [-0.578233, 0.385672, -0.71896], [-0.010185, -0.884561, -0.466314]], 'translation vector': [2.767913, 1.370181, 1.363789]}
C: {'rotation matrix': [[-0.81395, -0.261884, 0.518557], [-0.58082, 0.384609, -0.717443], [-0.011555, -0.885151, -0.46516]], 'translation vector': [2.76859, 1.370986, 1.364432]}
D: {'rotation matrix': [[-0.813152, -0.262698, 0.519397], [-0.581967, 0.382082, -0.717863], [-0.009871, -0.886004, -0.463573]], 'translation vector': [2.770085, 1.372341, 1.364365]} | 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': [[0.999996219803918, 0.0022950861591112606, 0.0016527156635626785], [-0.002306966520835195, 0.9999706555795355, 0.007290423829373102], [-0.0016351749151619617, -0.007294378220159148, 0.9999718191472952]], 'translation vector': [-0.0006106128955529755, 0.003113758643644493, 0.0009225265168792962]}
B: {'rotation matrix': [[-0.815808, -0.262316, 0.51541], [-0.578233, 0.385672, -0.71896], [-0.010185, -0.884561, -0.466314]], 'translation vector': [2.767913, 1.370181, 1.363789]}
C: {'rotation matrix': [[-0.81395, -0.261884, 0.518557], [-0.58082, 0.384609, -0.717443], [-0.011555, -0.885151, -0.46516]], 'translation vector': [2.76859, 1.370986, 1.364432]}
D: {'rotation matrix': [[-0.813152, -0.262698, 0.519397], [-0.581967, 0.382082, -0.717863], [-0.009871, -0.886004, -0.463573]], 'translation vector': [2.770085, 1.372341, 1.364365]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_189_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_189_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_189_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_189_3.png"
] | A |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.928393, -0.117955, 0.352381], [-0.371416, -0.324296, 0.86999], [0.011656, -0.938573, -0.344885]], 'translation vector': [5.42922, 4.041657, 1.370122]}
B: {'rotation matrix': [[0.9999934814259427, -0.0026531579456658904, 0.00224130267955375], [0.0026602242897140562, 0.9999913138748001, -0.003078123639036722], [-0.0022329200630453808, 0.0030851593249457813, 0.9999929388785541]], 'translation vector': [0.005873456268956634, 0.01508492723074184, 0.0010277199164683282]}
C: {'rotation matrix': [[0.928402, -0.120953, 0.351341], [-0.37149, -0.322693, 0.870554], [0.008079, -0.938743, -0.344522]], 'translation vector': [5.430759, 4.038916, 1.364124]}
D: {'rotation matrix': [[0.929388, -0.122542, 0.348169], [-0.369059, -0.323333, 0.87135], [0.005798, -0.938317, -0.345726]], 'translation vector': [5.437048, 4.036695, 1.363649]} | 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': [[0.928393, -0.117955, 0.352381], [-0.371416, -0.324296, 0.86999], [0.011656, -0.938573, -0.344885]], 'translation vector': [5.42922, 4.041657, 1.370122]}
B: {'rotation matrix': [[0.9999934814259427, -0.0026531579456658904, 0.00224130267955375], [0.0026602242897140562, 0.9999913138748001, -0.003078123639036722], [-0.0022329200630453808, 0.0030851593249457813, 0.9999929388785541]], 'translation vector': [0.005873456268956634, 0.01508492723074184, 0.0010277199164683282]}
C: {'rotation matrix': [[0.928402, -0.120953, 0.351341], [-0.37149, -0.322693, 0.870554], [0.008079, -0.938743, -0.344522]], 'translation vector': [5.430759, 4.038916, 1.364124]}
D: {'rotation matrix': [[0.929388, -0.122542, 0.348169], [-0.369059, -0.323333, 0.87135], [0.005798, -0.938317, -0.345726]], 'translation vector': [5.437048, 4.036695, 1.363649]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_190_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_190_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_190_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_190_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.953183, -0.088424, 0.289177], [-0.302167, 0.24151, -0.922154], [0.011701, -0.966361, -0.256923]], 'translation vector': [1.211269, 4.890959, 1.556685]}
B: {'rotation matrix': [[-0.956401, -0.093459, 0.276701], [-0.291436, 0.243606, -0.925052], [0.019048, -0.965361, -0.260222]], 'translation vector': [1.215449, 4.887503, 1.555227]}
C: {'rotation matrix': [[-0.955218, -0.090693, 0.281661], [-0.295515, 0.243707, -0.92373], [0.015133, -0.965599, -0.259595]], 'translation vector': [1.213553, 4.889249, 1.555428]}
D: {'rotation matrix': [[0.9999952251812577, 0.0022961074705375706, -0.0021161445756707063], [-0.002289678755021547, 0.9999926232978033, 0.0030864959240033065], [0.002122435340409546, -0.003080853599724993, 0.9999927920546235]], 'translation vector': [-0.0038335858537008605, -0.001641279240269633, 0.007141792646779166]} | 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': [[-0.953183, -0.088424, 0.289177], [-0.302167, 0.24151, -0.922154], [0.011701, -0.966361, -0.256923]], 'translation vector': [1.211269, 4.890959, 1.556685]}
B: {'rotation matrix': [[-0.956401, -0.093459, 0.276701], [-0.291436, 0.243606, -0.925052], [0.019048, -0.965361, -0.260222]], 'translation vector': [1.215449, 4.887503, 1.555227]}
C: {'rotation matrix': [[-0.955218, -0.090693, 0.281661], [-0.295515, 0.243707, -0.92373], [0.015133, -0.965599, -0.259595]], 'translation vector': [1.213553, 4.889249, 1.555428]}
D: {'rotation matrix': [[0.9999952251812577, 0.0022961074705375706, -0.0021161445756707063], [-0.002289678755021547, 0.9999926232978033, 0.0030864959240033065], [0.002122435340409546, -0.003080853599724993, 0.9999927920546235]], 'translation vector': [-0.0038335858537008605, -0.001641279240269633, 0.007141792646779166]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_191_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_191_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_191_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_191_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.984658, -0.071177, 0.15932], [-0.173691, -0.312158, 0.934018], [-0.016748, -0.94736, -0.319732]], 'translation vector': [3.953827, 2.817107, 1.554211]}
B: {'rotation matrix': [[0.984585, -0.072332, 0.159251], [-0.17407, -0.316233, 0.932575], [-0.017095, -0.94592, -0.323949]], 'translation vector': [3.956161, 2.818039, 1.553922]}
C: {'rotation matrix': [[1.000000390586898, -0.00015899006682454229, -7.860499707006931e-05], [0.0001592053293816045, 0.9999988073723325, -0.001691416563679354], [7.911078695652774e-05, 0.0016920717225864005, 0.999998246065904]], 'translation vector': [-0.0031188610741375022, -0.006275319353865605, -0.0020119857094367255]}
D: {'rotation matrix': [[0.985021, -0.07075, 0.157254], [-0.171705, -0.318523, 0.932234], [-0.015866, -0.945271, -0.325899]], 'translation vector': [3.958103, 2.817717, 1.548612]} | 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': [[0.984658, -0.071177, 0.15932], [-0.173691, -0.312158, 0.934018], [-0.016748, -0.94736, -0.319732]], 'translation vector': [3.953827, 2.817107, 1.554211]}
B: {'rotation matrix': [[0.984585, -0.072332, 0.159251], [-0.17407, -0.316233, 0.932575], [-0.017095, -0.94592, -0.323949]], 'translation vector': [3.956161, 2.818039, 1.553922]}
C: {'rotation matrix': [[1.000000390586898, -0.00015899006682454229, -7.860499707006931e-05], [0.0001592053293816045, 0.9999988073723325, -0.001691416563679354], [7.911078695652774e-05, 0.0016920717225864005, 0.999998246065904]], 'translation vector': [-0.0031188610741375022, -0.006275319353865605, -0.0020119857094367255]}
D: {'rotation matrix': [[0.985021, -0.07075, 0.157254], [-0.171705, -0.318523, 0.932234], [-0.015866, -0.945271, -0.325899]], 'translation vector': [3.958103, 2.817717, 1.548612]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_192_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_192_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_192_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_192_3.png"
] | C |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.324348, -0.501243, 0.802218], [-0.945427, 0.143915, -0.292328], [0.031076, -0.853255, -0.520567]], 'translation vector': [-0.28287, 2.921737, 1.307859]}
B: {'rotation matrix': [[0.9998206713039935, 0.01088419825826216, -0.015474672154137172], [-0.010778287023678227, 0.999918107104106, 0.00690122311170722], [0.015548906823126927, -0.006732006329303681, 0.9998567482634122]], 'translation vector': [-0.0009142965758486277, -0.0021867567072129113, 0.0020065217081752795]}
C: {'rotation matrix': [[-0.336594, -0.496252, 0.800274], [-0.941144, 0.149432, -0.30318], [0.030867, -0.855222, -0.517342]], 'translation vector': [-0.283556, 2.919329, 1.307566]}
D: {'rotation matrix': [[-0.33061, -0.49822, 0.801544], [-0.943277, 0.147056, -0.297664], [0.03043, -0.854489, -0.518578]], 'translation vector': [-0.283976, 2.918767, 1.308425]} | 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': [[-0.324348, -0.501243, 0.802218], [-0.945427, 0.143915, -0.292328], [0.031076, -0.853255, -0.520567]], 'translation vector': [-0.28287, 2.921737, 1.307859]}
B: {'rotation matrix': [[0.9998206713039935, 0.01088419825826216, -0.015474672154137172], [-0.010778287023678227, 0.999918107104106, 0.00690122311170722], [0.015548906823126927, -0.006732006329303681, 0.9998567482634122]], 'translation vector': [-0.0009142965758486277, -0.0021867567072129113, 0.0020065217081752795]}
C: {'rotation matrix': [[-0.336594, -0.496252, 0.800274], [-0.941144, 0.149432, -0.30318], [0.030867, -0.855222, -0.517342]], 'translation vector': [-0.283556, 2.919329, 1.307566]}
D: {'rotation matrix': [[-0.33061, -0.49822, 0.801544], [-0.943277, 0.147056, -0.297664], [0.03043, -0.854489, -0.518578]], 'translation vector': [-0.283976, 2.918767, 1.308425]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_193_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_193_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_193_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_193_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.988022, -0.009517, -0.154018], [0.15411, 0.009774, 0.988005], [-0.007897, -0.999907, 0.011124]], 'translation vector': [3.954252, 2.675021, 1.588509]}
B: {'rotation matrix': [[0.9999405001439704, 0.001517544746561925, 0.010769614189192206], [-0.0015446990948080185, 0.9999954653771669, 0.0025653888781814608], [-0.01076601396546154, -0.002581837929747806, 0.999938856444669]], 'translation vector': [-0.04482632526707597, 0.009643399205063075, 0.00020168741742709884]}
C: {'rotation matrix': [[0.989616, -0.01086, -0.14333], [0.143408, 0.0068, 0.98964], [-0.009773, -0.999918, 0.008287]], 'translation vector': [3.942101, 2.673398, 1.591243]}
D: {'rotation matrix': [[0.990689, -0.012911, -0.13553], [0.135653, 0.009179, 0.990714], [-0.011547, -0.999875, 0.010845]], 'translation vector': [3.935715, 2.670411, 1.599032]} | 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': [[0.988022, -0.009517, -0.154018], [0.15411, 0.009774, 0.988005], [-0.007897, -0.999907, 0.011124]], 'translation vector': [3.954252, 2.675021, 1.588509]}
B: {'rotation matrix': [[0.9999405001439704, 0.001517544746561925, 0.010769614189192206], [-0.0015446990948080185, 0.9999954653771669, 0.0025653888781814608], [-0.01076601396546154, -0.002581837929747806, 0.999938856444669]], 'translation vector': [-0.04482632526707597, 0.009643399205063075, 0.00020168741742709884]}
C: {'rotation matrix': [[0.989616, -0.01086, -0.14333], [0.143408, 0.0068, 0.98964], [-0.009773, -0.999918, 0.008287]], 'translation vector': [3.942101, 2.673398, 1.591243]}
D: {'rotation matrix': [[0.990689, -0.012911, -0.13553], [0.135653, 0.009179, 0.990714], [-0.011547, -0.999875, 0.010845]], 'translation vector': [3.935715, 2.670411, 1.599032]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_194_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_194_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_194_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_194_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.986946, -0.051965, 0.152438], [-0.150832, 0.630041, -0.761774], [-0.056457, -0.774822, -0.629654]], 'translation vector': [2.054614, 1.600808, 1.269291]}
B: {'rotation matrix': [[-0.986874, -0.051472, 0.153072], [-0.151005, 0.630133, -0.761663], [-0.057252, -0.774779, -0.629634]], 'translation vector': [2.054307, 1.600529, 1.268919]}
C: {'rotation matrix': [[-0.98698, -0.05266, 0.151977], [-0.150937, 0.629701, -0.762033], [-0.055572, -0.77505, -0.629451]], 'translation vector': [2.055977, 1.600957, 1.269368]}
D: {'rotation matrix': [[0.9999963800999353, -0.00021451754451556594, -0.002594557385802436], [0.0002238699679127643, 0.9999932861643056, 0.0035784816404103737], [0.002594523779822574, -0.003578355478331594, 0.9999903397449379]], 'translation vector': [-0.000729278960620583, -0.000294753198244152, 0.0006269109678853635]} | 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': [[-0.986946, -0.051965, 0.152438], [-0.150832, 0.630041, -0.761774], [-0.056457, -0.774822, -0.629654]], 'translation vector': [2.054614, 1.600808, 1.269291]}
B: {'rotation matrix': [[-0.986874, -0.051472, 0.153072], [-0.151005, 0.630133, -0.761663], [-0.057252, -0.774779, -0.629634]], 'translation vector': [2.054307, 1.600529, 1.268919]}
C: {'rotation matrix': [[-0.98698, -0.05266, 0.151977], [-0.150937, 0.629701, -0.762033], [-0.055572, -0.77505, -0.629451]], 'translation vector': [2.055977, 1.600957, 1.269368]}
D: {'rotation matrix': [[0.9999963800999353, -0.00021451754451556594, -0.002594557385802436], [0.0002238699679127643, 0.9999932861643056, 0.0035784816404103737], [0.002594523779822574, -0.003578355478331594, 0.9999903397449379]], 'translation vector': [-0.000729278960620583, -0.000294753198244152, 0.0006269109678853635]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_195_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_195_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_195_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_195_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.68897, 0.400817, -0.603877], [0.724521, 0.403569, -0.55875], [0.01975, -0.822483, -0.568447]], 'translation vector': [2.703838, 2.593028, 1.451995]}
B: {'rotation matrix': [[0.9999867433099353, 0.0013037371773630478, -0.00505037420137311], [-0.0013327082277047075, 0.9999835004529126, -0.005699178965962697], [0.005042267928314986, 0.005705137184663826, 0.9999709125049986]], 'translation vector': [-0.003533739342698565, -0.0004956556588801009, 0.0008851453202214365]}
C: {'rotation matrix': [[-0.687775, 0.405276, -0.60226], [0.725687, 0.405077, -0.55614], [0.018572, -0.819551, -0.572706]], 'translation vector': [2.702493, 2.593958, 1.452821]}
D: {'rotation matrix': [[-0.6898, 0.39893, -0.604178], [0.723736, 0.402474, -0.560554], [0.019544, -0.823935, -0.566347]], 'translation vector': [2.703783, 2.591564, 1.452902]} | 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': [[-0.68897, 0.400817, -0.603877], [0.724521, 0.403569, -0.55875], [0.01975, -0.822483, -0.568447]], 'translation vector': [2.703838, 2.593028, 1.451995]}
B: {'rotation matrix': [[0.9999867433099353, 0.0013037371773630478, -0.00505037420137311], [-0.0013327082277047075, 0.9999835004529126, -0.005699178965962697], [0.005042267928314986, 0.005705137184663826, 0.9999709125049986]], 'translation vector': [-0.003533739342698565, -0.0004956556588801009, 0.0008851453202214365]}
C: {'rotation matrix': [[-0.687775, 0.405276, -0.60226], [0.725687, 0.405077, -0.55614], [0.018572, -0.819551, -0.572706]], 'translation vector': [2.702493, 2.593958, 1.452821]}
D: {'rotation matrix': [[-0.6898, 0.39893, -0.604178], [0.723736, 0.402474, -0.560554], [0.019544, -0.823935, -0.566347]], 'translation vector': [2.703783, 2.591564, 1.452902]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_196_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_196_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_196_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_196_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[0.956857, -0.169845, 0.235747], [-0.290511, -0.544648, 0.786741], [-0.005224, -0.821286, -0.570492]], 'translation vector': [1.276382, 2.833935, 1.317457]}
B: {'rotation matrix': [[0.9999970754093099, -0.00022106845961624886, 0.002343703924443124], [0.0002217235397933884, 1.000000114885585, -0.0003702254651105004], [-0.0023436320323324275, 0.00037212161436898277, 0.9999969566117395]], 'translation vector': [-0.0012761111666008684, -0.00028494477773222116, -0.0002961069063054378]}
C: {'rotation matrix': [[0.956588, -0.169724, 0.236925], [-0.291413, -0.54533, 0.785935], [-0.00419, -0.820859, -0.571116]], 'translation vector': [1.27605, 2.834144, 1.316524]}
D: {'rotation matrix': [[0.956511, -0.169195, 0.237615], [-0.291683, -0.546399, 0.785092], [-0.003001, -0.820257, -0.571988]], 'translation vector': [1.276076, 2.834318, 1.31658]} | 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': [[0.956857, -0.169845, 0.235747], [-0.290511, -0.544648, 0.786741], [-0.005224, -0.821286, -0.570492]], 'translation vector': [1.276382, 2.833935, 1.317457]}
B: {'rotation matrix': [[0.9999970754093099, -0.00022106845961624886, 0.002343703924443124], [0.0002217235397933884, 1.000000114885585, -0.0003702254651105004], [-0.0023436320323324275, 0.00037212161436898277, 0.9999969566117395]], 'translation vector': [-0.0012761111666008684, -0.00028494477773222116, -0.0002961069063054378]}
C: {'rotation matrix': [[0.956588, -0.169724, 0.236925], [-0.291413, -0.54533, 0.785935], [-0.00419, -0.820859, -0.571116]], 'translation vector': [1.27605, 2.834144, 1.316524]}
D: {'rotation matrix': [[0.956511, -0.169195, 0.237615], [-0.291683, -0.546399, 0.785092], [-0.003001, -0.820257, -0.571988]], 'translation vector': [1.276076, 2.834318, 1.31658]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_197_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_197_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_197_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_197_3.png"
] | B |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.13245, -0.562539, 0.816092], [-0.991146, 0.067404, -0.114398], [0.009346, -0.824018, -0.566486]], 'translation vector': [2.413971, 4.448666, 1.362137]}
B: {'rotation matrix': [[-0.128485, -0.560739, 0.817963], [-0.991659, 0.064113, -0.111818], [0.010258, -0.825507, -0.564299]], 'translation vector': [2.417159, 4.443525, 1.361777]}
C: {'rotation matrix': [[-0.132037, -0.563719, 0.815345], [-0.991214, 0.068574, -0.113106], [0.007848, -0.823115, -0.567821]], 'translation vector': [2.411706, 4.446467, 1.360844]}
D: {'rotation matrix': [[0.9999987411869987, 0.0004418575380488951, 0.0016406984025160954], [-0.0004493688554351619, 0.9999862647190665, 0.005219826446688158], [-0.0016383092715178728, -0.005221150249650812, 0.9999852785117939]], 'translation vector': [-0.005409867262581081, 0.0012422036096766398, -0.002713386665627704]} | 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': [[-0.13245, -0.562539, 0.816092], [-0.991146, 0.067404, -0.114398], [0.009346, -0.824018, -0.566486]], 'translation vector': [2.413971, 4.448666, 1.362137]}
B: {'rotation matrix': [[-0.128485, -0.560739, 0.817963], [-0.991659, 0.064113, -0.111818], [0.010258, -0.825507, -0.564299]], 'translation vector': [2.417159, 4.443525, 1.361777]}
C: {'rotation matrix': [[-0.132037, -0.563719, 0.815345], [-0.991214, 0.068574, -0.113106], [0.007848, -0.823115, -0.567821]], 'translation vector': [2.411706, 4.446467, 1.360844]}
D: {'rotation matrix': [[0.9999987411869987, 0.0004418575380488951, 0.0016406984025160954], [-0.0004493688554351619, 0.9999862647190665, 0.005219826446688158], [-0.0016383092715178728, -0.005221150249650812, 0.9999852785117939]], 'translation vector': [-0.005409867262581081, 0.0012422036096766398, -0.002713386665627704]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_198_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_198_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_198_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_198_3.png"
] | D |
threeD_Pose_Estimation | 3d image | SCANNET_threed_pose_estimation | A: {'rotation matrix': [[-0.394987, 0.317496, -0.862079], [0.912593, 0.027696, -0.407931], [-0.10564, -0.947855, -0.300685]], 'translation vector': [4.882912, 2.963368, 1.402415]}
B: {'rotation matrix': [[-0.393743, 0.318728, -0.862194], [0.912946, 0.026185, -0.40724], [-0.107222, -0.947484, -0.301292]], 'translation vector': [4.884082, 2.960136, 1.407949]}
C: {'rotation matrix': [[-0.393984, 0.318317, -0.862236], [0.913424, 0.031343, -0.405802], [-0.102149, -0.947466, -0.303106]], 'translation vector': [4.883262, 2.96182, 1.402411]}
D: {'rotation matrix': [[0.9999866432276233, 0.002858711999338773, -0.0043010740025884895], [-0.0027980802651053054, 0.9998995896653632, 0.013894745582855106], [0.004339725514880082, -0.013881253175420062, 0.9998943009326048]], 'translation vector': [-0.001200424251745491, -0.0035619824296807545, 0.0012814893270478578]} | 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': [[-0.394987, 0.317496, -0.862079], [0.912593, 0.027696, -0.407931], [-0.10564, -0.947855, -0.300685]], 'translation vector': [4.882912, 2.963368, 1.402415]}
B: {'rotation matrix': [[-0.393743, 0.318728, -0.862194], [0.912946, 0.026185, -0.40724], [-0.107222, -0.947484, -0.301292]], 'translation vector': [4.884082, 2.960136, 1.407949]}
C: {'rotation matrix': [[-0.393984, 0.318317, -0.862236], [0.913424, 0.031343, -0.405802], [-0.102149, -0.947466, -0.303106]], 'translation vector': [4.883262, 2.96182, 1.402411]}
D: {'rotation matrix': [[0.9999866432276233, 0.002858711999338773, -0.0043010740025884895], [-0.0027980802651053054, 0.9998995896653632, 0.013894745582855106], [0.004339725514880082, -0.013881253175420062, 0.9998943009326048]], 'translation vector': [-0.001200424251745491, -0.0035619824296807545, 0.0012814893270478578]} | [
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_199_0.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_199_1.png",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_199_2.jpg",
"./3D-spatial/threeD_Pose_Estimation/threeD_Pose_Estimation_199_3.png"
] | D |
threeD_Scene_Reconstruction | 3d image | SCANNET_threed_scene_reconstruction | A: The 5th image
B: The 6th image
C: The 7th image
D: The 8th image | Given a pair of RGB and depth images with the corresponding camera pose, i.e., rotation matrix: [[0.424269, -0.366439, 0.828081], [-0.894198, -0.025281, 0.446957], [-0.142848, -0.930098, -0.338395]] and translation vector: [2.638367, 6.760901, 1.41712], and another pair of RGB and depth images with the corresponding camera pose, i.e., rotation matrix: [[0.432512, -0.37625, 0.819371], [-0.890339, -0.034872, 0.45396], [-0.14223, -0.925862, -0.350073]] and translation vector: [2.640049, 6.763855, 1.420073], please estimate the RGB image for the query camera pose, i.e., rotation matrix: [[0.438239, -0.392392, 0.808687], [-0.889665, -0.061011, 0.452519], [-0.128226, -0.917772, -0.375835]] and translation vector: [2.630422, 6.772062, 1.413381]. The provided camera poses represent the the transformation from the camera coordinate system to the world coordinate system. | Your task is to reconstruct the 3D geometry of a scene. This is tested through the image retrieval for a specific camera pose. The input images are the first 4 images
Select from the following choices.
A: The 5th image
B: The 6th image
C: The 7th image
D: The 8th image | [
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_0.jpg",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_1.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_2.jpg",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_3.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_4.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_5.jpg",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_6.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_0_7.png"
] | B |
threeD_Scene_Reconstruction | 3d image | SCANNET_threed_scene_reconstruction | A: The 5th image
B: The 6th image
C: The 7th image
D: The 8th image | Given a pair of RGB and depth images with the corresponding camera pose, i.e., rotation matrix: [[-0.156961, 0.257294, -0.953501], [0.986843, 0.002956, -0.161652], [-0.038773, -0.966329, -0.254373]] and translation vector: [1.838324, 1.205476, 1.480452], and another pair of RGB and depth images with the corresponding camera pose, i.e., rotation matrix: [[-0.155829, 0.255617, -0.954137], [0.987039, 0.002796, -0.160453], [-0.038347, -0.966774, -0.252739]] and translation vector: [1.83996, 1.205416, 1.474648], please estimate the RGB image for the query camera pose, i.e., rotation matrix: [[-0.143517, 0.25546, -0.956108], [0.988424, -0.011031, -0.151315], [-0.049202, -0.966757, -0.25092]] and translation vector: [1.851541, 1.18465, 1.4701]. The provided camera poses represent the the transformation from the camera coordinate system to the world coordinate system. | Your task is to reconstruct the 3D geometry of a scene. This is tested through the image retrieval for a specific camera pose. The input images are the first 4 images
Select from the following choices.
A: The 5th image
B: The 6th image
C: The 7th image
D: The 8th image | [
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_0.jpg",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_1.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_2.jpg",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_3.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_4.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_5.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_6.png",
"./3D-spatial/threeD_Scene_Reconstruction/threeD_Scene_Reconstruction_1_7.jpg"
] | D |