Local Structure and Motion Optimization

Estimation of local structure and motion using the LM optimization.

This file contains three functions, the first two functions:
1) Rot_Euler: calculate the rotation matrix from three Euler angles;
2) Rot_dEuler: compute the partial derivative of the rotation matrix with respect to the three Euler angles;
can also be found in my earlier submissions, but this version is made slightly different in order to save computations.
The third function takes as input the feature correspondences of a few other views with respect to the first view to estimate the camera pose and the 3D position of the feature points in the coordinate frame of the first camera (world coordinate frame), using the Levenberg–Marquardt optimization algorithm.