camera calibration - Techniques for stitching aerial shots in opencv (or other) -

i'm trying use opencv stitcher class put aerial imagery. problem have though stitcher class setup rotating camera , have translating , rotating camera.

is there way deal rotating , translating camera (any advice or papers etc far not found on google)? in bundle adjustment area gives me nan's.

in order stitch images need have homography. in order homography either have

1. rotate camera stationary or 2. take pictures of planar scene 

since take aerial shots different positions go point number 2. have fly high height of objects small in relation flying height, can have approximation planar scene. recomended take nadir shots, i.e. shots taken towards centre of earth.

if use stitcher class set warper ''planewarper'' aerial shots. surf featuresfinder these parameters works fine, @ least me:

stitcher stitcher = stitcher::createdefault(false); stitcher.setwarper(new planewarper()); stitcher.setfeaturesfinder(new detail::surffeaturesfinder(1000,3,4,3,4));