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1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 |
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4 | %
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5 | % %here p is the set of paramets such that
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6 | % g(1) = focal length
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7 | % g(2-3) sperical coordinates of rotation axis
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8 | % g(4) rotation angle
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9 | % g(5-6) is the translation vector
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10 |
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11 |
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12 | function [g,f] = torr_nonlinG(g_init,nx1,ny1,nx2,ny2, no_matches, m3, C)
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13 |
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14 | %options = optimset('Display','iter','Diagnostics','off');
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15 | options = optimset('Display','off','Diagnostics','off');
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16 | g = fminunc('torr_errg_sse',g_init,options,nx1,ny1,nx2,ny2, m3, C);
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17 |
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18 | %generate F matrix (in vector form)
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19 | f = torr_g2F(g,C);
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