On this week I tried to implement Levenberg-Marquardt algorithm (LMA http://en.wikipedia.org/wiki/Levenberg-Marquardt_algorithm), but I encountered some problems. The Hessian matrix, which I've computed, is non-invertible (singular), so method doesn't work.
Therefore I should find another solution or modify algorithm.
This code finds feature points and invokes LMA
https://github.com/migal-drew/OpencvTransform/blob/master/src/mosaicing_lma.py
Main LMA code
https://github.com/migal-drew/OpencvTransform/blob/master/src/levenberg_marquardt.py
And I made some minor changes in
https://github.com/migal-drew/OpencvTransform/blob/master/src/utilities.py
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