Pose estimation error is too high

[saikishor]

I have followed your guidelines and I have also done the intrinsic calibration of both RGB and IR, but still I have got a huge error in the pose estimation. With 39 image pairs, I have obtained pose estimation error of 2.41704. I hope this is pretty high.

I would also like to know, whether the IR projector of the ASUS Xtion in pepper should be closed for this experimentation as similar to intrinsic calibration or can it be used?. can I enable depth_registration during the experiment. Please kindly let me know.

Thank you,