large angle error

[SonOfCoding]

Hi, I use 4 points of the bounding box instead of 8 corners of the bounding box, however, the result of angle error is quite large, can you please help me? thank you.

Mean corner error is 3.517548
Acc using 5 px 2D Projection = 38.19%
Acc using 0.0206 vx 3D Transformation = 11.62%
Acc using 5 cm 5 degree metric = 10.38%
Translation error: 1.006226, angle error: 86.523460

this is the RT_gt
[[-0.91614909 0.0401858 -0.39881818 -0.00622895]
[-0.35522173 0.37957597 0.85424798 0.01674163]
[ 0.18571044 0.92428739 -0.33347331 -0.00494086]]
this is the Rt_pr
[[-0.18261105 -0.97553928 -0.12237779 -0.09470953]
[ 0.43204533 0.0321874 -0.90127732 -0.03472728]
[ 0.88317045 -0.21745595 0.41559941 1.18669785]]

[banannakn]

I got the same problem with 8 corners. I think there might be a bug in the code