OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Fri, 11 Oct 2019 15:57:59 -0500Covariance of estimated R and T from iterative solvePnP()http://answers.opencv.org/question/219611/covariance-of-estimated-r-and-t-from-iterative-solvepnp/Hi all,
I am using solvePnP with the iterative flag to estimate R and T (rvec, tvec more correctly) from a known correspondence of image corners and respective world points. I was wondering if it is possible to get the uncertainty (covariance) associated with this estimation?
I have been doing some research on this topic over the past few days and I came across the function projectPoints() in openCV which returns the jacobian of image points wrt intrinsic and extrinsic parameters. Can I just use this jacobian to get an estimate of covariance? Something like covariance = (J.transpose() * J).inverse()
Any help or explanation ?
Thanks.Fri, 11 Oct 2019 15:57:59 -0500http://answers.opencv.org/question/219611/covariance-of-estimated-r-and-t-from-iterative-solvepnp/