Bundle adjustment functions

Question

If I have a known camera pose(Rotation + Position), and Intrinsics(distortion coefficients and camera matrix), and 2 cameras pointing at the same scene from slightly different angles.

Is there a way to use bundle adjustment to refine the camera pose? Preferably in some already existing API or function that doesent require too much mathematical knowledge to use.

Answer 1

You may want to check out SSBA at http://www.inf.ethz.ch/personal/chzach/opensource.html but it will still require some mathematical insight to be able to use it properly.

Answer 2

You should use PBA (Multicore Bundle Adjustment) from Changchang Wu. It is really a nice library and it is written in C++. Furthermore, it features multi core computations and even GPU computation with a speedup of about 20 times.

It is clearly structured and easy to use.

So, instead of using SBA from Lourakis or using SSBA from Christopher Zach you should use PBA.

Answer 3

You could try the implementation right inside OpenCV. It's in the contrib module. But I couldn't yet get it to work properly.. :/ article about it

Answer 4

Try the Ceres solver. An example implementation is available here. Again, you will need an understanding of the mathematical principles of bundle adjustment. But that is unavoidable.