Reprojection Error

Reprojection error is the difference between observed feature points and the reprojected feature points (from 3D to 2D) in the image plane.

So basically, assuming you have 3 measurements

  • the point in 3D
  • is the observed point in the image coordinate system.
  • the point measured in image coordinate system
  • is the Calibration Matrix

You have your measurement, so is the projection error