How to calculate COLMAP's AUC metrics in Table 18?

[air158]

Hi,

I'm a beginner in SfM and trying to reproduce the AUC metrics for COLMAP shown in Table 18 of your paper's appendix. I see the AUC values are measured at thresholds of 1°/3°/5° for relative pose errors across all image pairs.

Could you please help explain:

1. How to extract the relative pose errors between image pairs from COLMAP's output?
2. What's the specific formula used to calculate the AUC values from these errors?

Any guidance or sample code would be greatly appreciated as I'm learning to evaluate SfM results.

Thank you for your time!

[B1ueber2y]

The common practice is to compute relative pose error on exhaustive pairs and report auc on top of it. An example of how to compute the relative pose errors is here: https://github.com/cvg/limap/blob/main/limap/util/evaluation.py#L57. Thanks a lot!