Allow refining principal point during bundle adjustment #203
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The current interface does not allow optimizing the principal point during bundle adjustment, since the call to
pycolmap.incremental_mappingis done using this overload instead of this one, andba_refine_principal_pointis set to False by default in COLMAP. As a consequence, the principal point remains fixed to its initial estimate, i.e., the center of the image.This change allows optionally refining the principal point, which in my setup produced much better pose estimates. Opening this PR in case you think this could be desirable for other people.