Unsuccessful optimization when running UPnPRANSAC

[younesidsouguou]

Hello,

When I pick at least 5 points in both lidar and camera of plane object I get the result but with "unsuccessful" flag. What might cause this ?

Thanks.

[heethesh]

You may try other solver methods as shown here (accordingly update the minimum number of points in this assert statement based on the method). Try increasing reprojectionError or iterationsCount. Make sure you have the correct camera calibration data published on the camera_info topic, else the re-projection error might be high.