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%     [w, theta] = rmat2axis(initialAlign(i).Rotation);
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%     [w, theta] = rmat2axis(initialAlign(i).Rotation);
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%     xInit((i-1)*6+1:(i-1)*6+3) = w*theta;
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%     xInit((i-1)*6+1:(i-1)*6+3) = w*theta;
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%     xInit((i-1)*6+4:(i-1)*6+6) = initialAlign(i).Translation;
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%     xInit((i-1)*6+4:(i-1)*6+6) = initialAlign(i).Translation;
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% end
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% end
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figure;
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%options = optimset('Algorithm', 'levenberg-marquardt', 'Display', 'iter-detailed', 'OutputFcn', @outfun, 'MaxIter', 100, 'TolFun', 0, 'TolX', 0);
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options = optimoptions('lsqnonlin', 'Display', 'iter-detailed');
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options = optimoptions('lsqnonlin', 'Display', 'iter-detailed');
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[x, ~, ~] = lsqnonlin(@orthProcFun, xInit, [], [], options);
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[x, ~, ~] = lsqnonlin(@orthProcFun, xInit, [], [], options);
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alignment = struct('Rotation', {}, 'Translation', {});
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alignment = struct('Rotation', {}, 'Translation', {});
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for i=1:Np
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for i=1:Np