title: Bundle adjustment functions
body: <p>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.</p>
  
  <p>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.</p>