OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Wed, 06 Dec 2017 20:23:32 -0600How to compute the covariance of an inter-camera relative pose measurement?http://answers.opencv.org/question/179919/how-to-compute-the-covariance-of-an-inter-camera-relative-pose-measurement/If I'm doing pose estimation using a single camera using 3D-2D correspondences (E.g. PNP algorithm), I have read that reprojecting the points can give me an estimate of the Jacobian (cv::projectPoints), which can then be used to compute an estimate of the covariance of the pose.
But if I have two cameras, and I am performing relative pose estimation between the cameras using the fundamental/essential matrix (cv::findEssentialMat) and subsequent decomposition of the matrix, how can I compute the covariance of the relative pose between the cameras?saihvWed, 06 Dec 2017 20:23:32 -0600http://answers.opencv.org/question/179919/