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