Matlab files in this directory:

demo_sugr_E_matrix	% test sugr_E_matrix
e_from_bR	% get e (= vec E) from [db_r,dr]
sugr_CovM_E_matrix	% Covariance matrix of parameters of essential matrix
sugr_E_Matrix	% create E-matrix
sugr_bR_from_E_uv	% b and R from E using set of pairs of directions
sugr_bR_from_UVuv	% Determine bR from (U,V,u,v
sugr_estimation_algebraic_E_Matrix_from_point_pairs	% Algebraic estimation of E-Matrix from point pairs,
sugr_estimation_ml_E_Matrix_from_point_pairs	% ML estimation of E-Matrix from point pairs
sugr_generate_true_2D_point_pairs_E_matrix	% Generate true 2D point pairs from Relative Orientation,
sugr_get_CbRbR_JebR_from_b_R_Cee	% Determine CbRbR from Cee for given Relative Orientaion
sugr_get_Cee_JebR_from_b_R_CbRbR	% Determine Cee from CbRbR for given Relative Orientaion
sugr_ghm_cg_E_matrix_from_point_pairs	% Constraints and Jacobians for GHM for estimating E-matrix from point pairs
sugr_select_bR_from_E_UV_uv	% Select bR from E
sugr_triangulate_two_spherical_cameras	% sugr_triangulate_two_spherical_cameras