Bundle adjustment functions

opencv camera bundle adjustment
Henrik Kjus Alstad picture Henrik Kjus Alstad · Dec 17, 2012 · Viewed 17.9k times · Source

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

who9vy picture who9vy · May 7, 2013

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.

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