Matlab files in this directory:

GaussHelmertModel	% Gauss Helmert Model
GaussHelmertModelGroups	% Gauss Helmert Model for Groups
cg_2D_line	% determines constraint value and Jacobians for 2D line estimation
cg_similarity_2D	% determines constraint values and Jacobians for 2D similarity
diagnostics_GHM_1d	% diagnostics GMM 1d
diagnostics_GHM_constraints_multi_d	% Diagnostics Gauss-Helmert model multidimensional
diagnostics_GHM_multi_d	% Diagnostics Gauss-Helmert model multidimensional
ux_similarity_2D	% update of the four parameters of the 2D similarity transformation