Implementing Bundle Adjustment on Python

[iamkrs9]

Hi, I have used the following paper as a reference to implement Visual Odometry using OpenCV, python and KITTI dataset.

https://www-robotics.jpl.nasa.gov/publications/Andrew_Howard/howard_iros08_visodom.pdf

The next step in implementing a full SLAM solution is Bundle Adjustment (BA). I have referred to the lectures of Daniel Cremers to understand how BA works. https://www.youtube.com/watch?v=9fvopDHdrFg&list=PLTBdjV_4f-EJn6udZ34tht9EVIW7lbeo4&index=24

However, I cannot find an outlined approach or an algorithm that states step by step how to implement BA after Visual Odometry. I also did not find an easy to use library for implementing BA in python. I want to write my own code for BA from scratch in python.

Could you please help me or guide me to material that would have an algorithm for BA following which I can write the code from scratch in python? Also, did you guys use Sparse BA in your implementation?