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Inliers with large error after solvePnPRansac


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?