BUNDLE_PROJECTIVE performs the projective bundle adjustment. Input: Po - projection matrices (3x4xm) Xp - 3d points (4xn) in homogeneous form x - image points (3xnxm) in homogeneous form Options: 'fix_structure' - keep structure parameters fixed 'fix_motion' - keep motion parameters fixed 'visibility', visible - set the visibility map (visible: nxm) 'verbose' - display verbose information Output: Pp_ - projection matrices (3x4xm) Xp_ - 3d points (4xn) in homogeneous form error_ - errors for iterations (1x#iter)