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Yeah I just figured it out right before seeing this. Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, removed the negative z points and far away points the result looks as expected.

Yeah I just figured it out right before seeing this. Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, removed the negative z points and far away points the result looks as expected.expected. Thanks for your help.

Yeah I just figured it out right before seeing this. Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, removed the negative z points and far away points then after rescaling by 10x the result looks as expected. Thanks for your help.

Yeah I just figured it out right before seeing this. Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, removed the negative z points and far away points then after rescaling by 10x the result looks as expected. Thanks for your help.

Yeah I just figured it out right before seeing this. Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, removed the negative z points and far away points then after rescaling by 10x the result looks as expected. Thanks for your help.

Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, removed the negative z points and the far away points then after (cv::norm(p - origin) > 200 ) things improved. After rescaling by 10x the result looks as expected. Thanks for your help.

Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, the negative z points and the far away points then (cv::norm(p (cv::norm(point - origin) > 200 ) things improved. After rescaling by 10x the result looks as expected. Thanks for your help.

Filtering made all the difference. Once I removed all the points marked by the mask from recoverPose, the negative z points and the far away points then (cv::norm(point - origin) > 200 ) then things improved. After rescaling by 10x the result looks as expected. Thanks for your help.