Matlab files in this directory:

sugr_condition_Points	% condition points, determine conditioning matrix
sugr_get_CovM_homogeneous_Vector	% get CovM of homogeneous vector x.h
sugr_ghm_update_E_Matrix	% GHM update params relative orientation/E-matrix
sugr_ghm_update_homography	% GHM update spectrally normalized homography
sugr_ghm_update_vector	% GHM update spherically normalized vector
sugr_uncondition_Points	% Uncondition points