Ask about orientation data

[a1445605672]

First of all, I congratulate you on winning the honor of cvpr2022 best student paper. I am very confused about generating the probability density, whether the peak of the probability density is the coordinates of the object, I made some annotations in the figure below.

[Lakonik]

Hi! The PnP solver is meant to find the optimal pose with highest probability density. Although in practice the solution might fall into a local optimum, e.g., a smaller peak, depending on the initial pose.