Inliers with large error after solvePnPRansac

asked 2014-02-03 12:16:29 -0600


I use solvePnPRansac to estimate the pose of an textured object in my scene. One of the parameters is the maximal reprojectionError. As solvePnPRansac does not return an error, I use projectPoints to project my 3d points again into the image. And here is my problem: some of the 3d-2d pairs have a reprojection error that is larger then the maximal error I gave to solvePnPRansac.

Has someone else seen this effect?

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How dou you compute your corresponding 3d-2d points? With a homography or epipolar geometry?

JohannesZ gravatar imageJohannesZ ( 2014-02-04 02:00:52 -0600 )edit