feat: Add Bundle Adjustment for camera extrinsic refinement #218
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- Add bundle_adjustment.py module with GPU-accelerated BA using ba-cuda - Integrate BA into triangulation.py for post-triangulation refinement - Add bundle_adjustment config section to Config.toml templates - Add ba-cuda as optional dependency in pyproject.toml Bundle Adjustment features: - Levenberg-Marquardt optimization with analytical Jacobians - Huber loss for outlier robustness - Confidence-weighted optimization using keypoint scores - Reference camera (cam 0) fixed during optimization - Intrinsic parameters fixed, only extrinsics refined Config options: - triangulation.bundle_adjustment.enabled - triangulation.bundle_adjustment.max_iterations - triangulation.bundle_adjustment.tolerance - triangulation.bundle_adjustment.huber_delta - triangulation.bundle_adjustment.use_confidence_weights Install with: pip install pose2sim[ba]
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Looking forward to it! |
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Sorry for the confusion!
I've tested the AI agent and it produces the wrong PR.
I'll come back here when I've successfully implemented it!