parameters: (
      reconstruction: types.Reconstruction,
      camera_priors: Dict[str, pygeometry.Camera],
      rig_camera_priors: Dict[str, pymap.RigCamera],
      gcp: Optional[List[pymap.GroundControlPoint]],
      central_shot_id: str,
      config: Dict[str, Any],
  )
return_statement: return pt_ids, report
docstring: Bundle adjust the local neighborhood of a shot.
docstring_summary: Bundle adjust the local neighborhood of a shot.
docstring_tokens: Bundle adjust the local neighborhood of a shot .
function: def bundle_local(
      reconstruction: types.Reconstruction,
      camera_priors: Dict[str, pygeometry.Camera],
      rig_camera_priors: Dict[str, pymap.RigCamera],
      gcp: Optional[List[pymap.GroundControlPoint]],
      central_shot_id: str,
      config: Dict[str, Any],
  ) -> Tuple[Dict[str, Any], List[int]]:
      """Bundle adjust the local neighborhood of a shot."""
      pt_ids, report = pysfm.BAHelpers.bundle_local(
          reconstruction.map,
          dict(camera_priors),
          dict(rig_camera_priors),
          gcp if gcp is not None else [],
          central_shot_id,
          config,
      )
      logger.debug(report["brief_report"])
      return pt_ids, report
function_tokens: def bundle_local ( reconstruction : types . Reconstruction , camera_priors : Dict [ str , pygeometry . Camera ] , rig_camera_priors : Dict [ str , pymap . RigCamera ] , gcp : Optional [ List [ pymap . GroundControlPoint ] ] , central_shot_id : str , config : Dict [ str , Any ] , ) -> Tuple [ Dict [ str , Any ] , List [ int ] ] : pt_ids , report = pysfm . BAHelpers . bundle_local ( reconstruction . map , dict ( camera_priors ) , dict ( rig_camera_priors ) , gcp if gcp is not None else [ ] , central_shot_id , config , ) logger . debug ( report [ "brief_report" ] ) return pt_ids , report