diff --git a/pytorch3d/ops/__init__.py b/pytorch3d/ops/__init__.py
index dfbcec21..7cbaf389 100644
--- a/pytorch3d/ops/__init__.py
+++ b/pytorch3d/ops/__init__.py
@@ -6,6 +6,7 @@ from .graph_conv import GraphConv
 from .knn import knn_gather, knn_points
 from .mesh_face_areas_normals import mesh_face_areas_normals
 from .packed_to_padded import packed_to_padded, padded_to_packed
+from .perspective_n_points import efficient_pnp
 from .points_alignment import corresponding_points_alignment, iterative_closest_point
 from .points_normals import (
     estimate_pointcloud_local_coord_frames,
diff --git a/pytorch3d/ops/perspective_n_points.py b/pytorch3d/ops/perspective_n_points.py
index fd5ed686..34b99861 100644
--- a/pytorch3d/ops/perspective_n_points.py
+++ b/pytorch3d/ops/perspective_n_points.py
@@ -34,11 +34,10 @@ def _define_control_points(x, weight, storage_opts=None):
     """
     storage_opts = storage_opts or {}
     x_mean = oputil.wmean(x, weight)
-    x_std = oputil.wmean((x - x_mean) ** 2, weight) ** 0.5
     c_world = F.pad(torch.eye(3, **storage_opts), (0, 0, 0, 1), value=0.0).expand_as(
         x[:, :4, :]
     )
-    return c_world * x_std + x_mean
+    return c_world + x_mean
 
 
 def _compute_alphas(x, c_world):