What's the meaning of R and t in megadepth_pairs.ov0.35_imrat1.5.pair500.excl_test.npy when computing F matrix?

[HUSTNO1WXY]

Notice that there are R and t as inputs when computing F matrix which is used to generate geometric loss, but from my knowledge each image will have a R matrix and t matrix which are extracted from absolute pose. R and t here are elements from relative pose?

[GrumpyZhou]

@HUSTNO1WXY yes, it is the relative pose between the two images in a pair.