How to use predictive covariance to reproduce Table 10 results in the paper?

[Bearick]

@Parskatt Hi, thank you for your great work!
After reading your paper and the code, I have a question about predictive covariance. In the paper (Table 10)"We use the predicted covariance to weight the residuals in the model refinement." , and the AUC@1 score boosts. How can I reproduce similar results on hypersim? Can you please release a Bencmarking script to compare with “estimate_pose_cv2_ransac” ?
Thanks a lot.

[Parskatt]

Hi, check out the two_view_covariance branch of poselib for the implementation.

For Hypersim we used a threshold of 16pixels and 5 whitened distance respectively.

I'll try to upload a repro as soon as possible.

[Bearick]

Thank you for your timely reply! I'll try digging into poselib.