title: How to use opencv bundle adjustment
body: <p>I have calculated 5 camera matrices (<code>c1, ... c5</code>), camera matrices are calculated by placing a 3D object at 5 different positions and for each position I have calculated camera matrix (and camera is constant). Camera matrix is calculated using SVD method.</p>
  
  <p>Now I want to use bundle adjustment in <code>opencv</code> to get one optimal camera matrix. 
  I found the documentation <a href="http://docs.opencv.org/2.4/modules/stitching/doc/motion_estimation.html?highlight=bundleadjust#detail::BundleAdjusterBase%20:%20public%20detail::Estimator" rel="noreferrer">here</a></p>
  
  <p>But documentation is not clear and also I was not able to find any sample code. 
  Can anybody explain how can I use opencv bundle adjustment to get the <code>optimal camera matrix</code> ?</p>