I should have looked more carefully at everything you posted before
replying based on some of it.  Most of what I said is still correct.  But
the core problem is the lens correction.
We often let lens correction compensate for other fitting problems.  Here
that has gone badly wrong.
If you have correct parameters for the lens (and zoom level) from other
projects, copy those and disable optimization.  Otherwise disable all but b
or otherwise do something to eliminate bad lens correction (which is worse
than no lens correction).  If you intentionally used bad lens correction to
avoid enabling translation (I know some people think you should) don't do
that.

With both translation and the basic (yaw in this case) rotation, other
things can go wrong.  That problem can be limited by turning off both lens
correction (reset either to zero or to known reasonable values from other
projects) and translation (reset to zero) then get things roughly right
with just yaw, pitch and roll, then add translation, finally try adding
lens correction.  Save results at each stage in case things get suddenly
worse.

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