I have six images taken from about 1/4 mile (~1421 feet, ~433 meters) above
the ground. They were all taken within a few milliseconds of each other.

I can't get this stitch to un-wavify the horizon. I think I have good
control point coverage.

The most successful optimization I can do is positions + view. If I try
barrel distortion it does ... weird things.

Is my issue that there are such large distance variations in the scene? The
ground is straight below the box that the cameras reside in and is about
1400 away. The horizon at that altitude is about 46 miles (75 km) away. The
clouds are probably closer, but not all of them. So, given all of that,
we're not really looking at a nicely projected sphere. Is this causing
issues?

You can find an example pto with imagery at
http://robotrising.org/StratoSphere/images/Example.zip

Cheers

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