.. _bundle_adjust:
bundle_adjust
-------------
The ``bundle_adjust`` program performs bundle adjustment on a given
set of images and cameras. An introduction to bundle adjustment, and
some advanced usage, including solving for intrinsics, can be found in
:numref:`bundle_adjustment`. If it is desired to process a large
number of images, consider using ``parallel_bundle_adjust``
(:numref:`parallel_bundle_adjust`).
This tool solves a least squares problem (:numref:`how_ba_works`). It
uses Google's `Ceres Solver `_.
Usage::
bundle_adjust \
-o