I am a grad student in CS and am trying to implement bundle adjustment as part of my Computer Vision course. We are trying to implement Visual Odometry using a Zed camera(Stereo) and we are coding in OpenCV(Python). Can any of you give me some pointers regarding how to implement it? We are currently trying the PySBA package but they have used 49 cameras and being new to the topic we are totally confused about the parameters. Can any of you give some suggestions?