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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.
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Bundle adjustment boils down to minimizing the reprojection error between the image locations of observed and predicted image points, which is expressed as the sum of squares of a large number of nonlinear, real-valued functions. Thus, the minimization is achieved using nonlinear least-squares algorithms.
The bundle block adjustment is using the photo coordinates, that means, the original information which is available in the photogrammetry. Based on the same photo coordinates by this reason the bundle block adjustment is leading to more accurate results than the other methods.
Local bundle adjustment (LBA) has recently been intro- duced to estimate the geometry of image sequences taken by a calibrated camera. Its advantage over standard (global) bundle adjustment is a great reduction of computational complexity, which allows real-time performances with a similar accuracy.
The minimum number of control points set as constraints to run the bundle adjustment is 3. However ,a higher number is advised, especially when accuracy is important.
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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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.
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