Hello,
I have an estimate of camera internal calibration done using calibratecamera, and an estimated trajectory computed using solvepnp. The issue is that it's not accurate enough for my purpose, so I would like to refine it with bundle adjustment.
My camera is 1:1 aspect ratio and the principal point is definitely off the center.
What would you recommend? Seems like I have the options - ceres solver. I will need to write my own conversion code from/to OpenCV - cvsba: already integrated with OpenCV - others?