Covariance of estimated R and T from iterative solvePnP()

asked 2019-10-11 15:57:59 -0500

subodh gravatar image

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.

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