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* Points are estimated with median 3d point of triangulations.
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* Bundle adjustment is performed on initial points and poses.
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If existing extrinsic calibration is used as starting point and camera intrinsic parameters are fixed, a low number of images is often sufficient for good calibration. If existing calibration is not used or intrinsic parameters are not fixed, larger number of images is usually necessary for acceptable calibration accuracy.
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### Options
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* *Cauchy loss*. Use Cauchy loss in bundle adjustment instead of squared loss (default: no).
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* *Freeze all intrinsic parameters*. Intrinsic parameters are not optimized during bundle adjustment and stay fixed. Subset of intrinsic parameters may also be selected with *fix focal length/principal point/distortion coefficients* options. Intrinsic parameters should be optimized only if there is larger number of input images.
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