So actually the file ./assets/scannet_test_pairs_with_gt.txt consists of image pairs with ground truth values. Can someone help me figure out what those ground truth values correspond to? I mean the format of the .txt file.

Hello! Have you figured this out yet, please? I would like to know how the relative extrinsic parameters in ./assets/scannet_test_pairs_with_gt.txt are obtained. If I know the camera pose extrinsics of two images, how is the relative pose extrinsics T_0to1 between these two poses. Does anyone have any idea about it?

Hi @Shuhul24 @zhangsngood have you by chance figured it out?