lmeds in solvePnPRansac

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Hi there,

I am having some troubles having a stable solution with iterative solvePnPRansac with SIFT features. Iterative solvePnPRansac uses a Levemberg-Marquardt (LM) minimization step to refine an initial estimate. I have been told results could get better using Least Median of Squares (LMedS) in the LM step because it will remove the outliers RANSAC missed.

Is there a way to add LMedS to solvePnPRansac which doesn't imply recoding the solvePnP function ?

Best regards,

Guido