diff --git a/py_workspace/aruco/pose_math.py b/py_workspace/aruco/pose_math.py
index a1408f7..1da5dad 100644
--- a/py_workspace/aruco/pose_math.py
+++ b/py_workspace/aruco/pose_math.py
@@ -32,9 +32,13 @@ def compose_transforms(T1, T2):
     return T1 @ T2
 
 
-def compute_reprojection_error(obj_pts, img_pts, rvec, tvec, K):
-    projected_pts, _ = cv2.projectPoints(obj_pts, rvec, tvec, K, None)
+def compute_reprojection_error(obj_pts, img_pts, rvec, tvec, K, dist=None):
+    projected_pts, _ = cv2.projectPoints(obj_pts, rvec, tvec, K, dist)
     projected_pts = projected_pts.squeeze()
     img_pts = img_pts.squeeze()
+    if projected_pts.ndim == 1:
+        projected_pts = projected_pts.reshape(1, -1)
+    if img_pts.ndim == 1:
+        img_pts = img_pts.reshape(1, -1)
     error = np.linalg.norm(img_pts - projected_pts, axis=1)
     return float(np.mean(error))