This is a Python implementation of BACS, a bundle adjustment for camera systems with points at infinity. It was originally written in Matlab and published by Johannes Schneider, Falko Schindler, Thomas Läbe, and Wolfgang Förstner in 2012.

Run

python3 -m pip install bacs

to install the library. Have a look at the doc string for explanation of the parameters.

Make sure you have NumPy and SciPy installed:

python3 -m pip install numpy scipy

By running the provided examples with

python3 main.py

you can verify that BACS is working correctly (eg. there is no git diff in the results folder after execution).

By pushing a new tag "vX.Y.Z" to the repository, the package will be automatically built and uploaded to PyPI.

Further explanation and visualization can be found on the BACS project page, the corresponding Matlab demo as well as the original publication.