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If you have trouble placing the 3-D planar corners on the right spots to obtain a 3- D pyramid, even though they are clearly correct, or if you place them OK but the middles of the drawn sides of the planar tracker don't follow actual edges of the plane in the image (bowed in or out), these are signs that there is lens distortion in your images.
Planar tracking is incompatible with lens distortion (and other image deformations such as rolling shutter). Distortion should be removed via the image preprocessor, or you should do a 3-D solve, which is able to calculate it, so it can then be removed using the image preprocessor or some exporters, such as After Effects 3D.
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