Green points are good points, where reconstructed 3D marker positions get consistently re-projected back to appropriate 2D views.
Red points are misdetections. They exhibit large 2D re-projection errors. This usually happens when marker 2D position was incorrectly detected in one or more views.
Blue is 3D marker position corresponding to current frame.
Larger yellow points represent ground.
Eight orange points show debug information for eight-point algorithm (
http://en.wikipedia.org/wiki/Eight-point_algorithm).
