Question: How to enforce fixed wand length constraint in bundle adjustment using Ceres Solver?

[Aafaq Inamdar]

Hi everyone,

I’m working on a problem involving wand-based camera calibration and want to perform bundle adjustment using Ceres Solver. My goal is to obtain highly accurate intrinsic parameters and distortion coefficients. The method involves using a rigid wand with a known fixed length, and I want to enforce this length constraint during optimization.

Here’s my approach:

1. Use the wand's known length as a geometric constraint during bundle adjustment.
2. After optimization, triangulate points with OpenCV using the calibrated camera parameters.

How should I model this length constraint in Ceres? Should I add a custom residual block enforcing the distance between two 3D points on the wand to remain constant across frames?

Any advice on defining the cost function and ensuring good convergence for precise intrinsic calibration would be greatly appreciated!

Thanks!

[Sameer Agarwal]

what is wand based camera calibration? can you describe it some more detail?

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