[ptx] Questions on the bundle adjustment of Brown's paper. Please advice.

[Xianyong Fang]

Hi,
 
	Does anyone have a interest in Brown's paper: Recognising Panoramas? I encounter some questions concerning bundle adjustment but don't know how to solve it. First, how to initial the camera parameter? I mean the three rotation angles and the focal length. Second, how to calculate the derivatives which are the elements of the Jacobean?  
	
    Thanks all.
 
Xianyong