Matlab files in this directory:

sugr_Projection_3D_2D	% Create pose
sugr_estimation_algebraic_Projection_3D_2D_from_point_pairs	% Algebraic estimate of Projection from corresponding 3D-2D point pairs
sugr_estimation_ml_Projection_3D_2D_from_point_pairs	% ML estimate of Projection from corresponding 3D-2D point pairs
sugr_estimation_ml_Projection_3D_2D_from_point_pairs_hnh	% ML estimate of Projection from corresponding 3D-2D point pairs
sugr_generate_true_2D_point_pairs_Projection_3D_2D	% Generate N point pairs for given Projection P
sugr_ghm_cg_Projection_3D_2D_from_point_pairs	% Determines residuals etc. for projection from point pairs
sugr_minimal_Point_Projection_3D_2D	% Minimal representation of Projection P 3D-->2D
sugr_perturb_3D_2D_point_pairs	% Perturb sampled 3D 2D points pairs
sugr_uncondition_Projection	% Uncondition Projection