FUTURE: add covariance to the relative pose

---------------------------------------- BATAPairwiseDirectionError ---------------------------------------- Computes the error between a translation

cublas handle wrapper

dense vector wrapper on device: double type

dense vector wrapper on device: float type

dense vector wrapper on device: int type

dense vector wrapper on device: long int type

cusolver (dense) handle wrapper

cusolver (dense) handle wrapper

sparse vector wrapper on device: double type + CSC format

sparse vector wrapper on device: double type + CSR format

sparse vector wrapper on device: double type

cusparse handle wrapper

cuda stream wrapper

Calibration error for the image pairs sharing the camera

---------------------------------------- GravError ----------------------------------------

dense vector wrapper on host: double type

dense vector wrapper on host: float type

dense vector wrapper on host: int type

dense vector wrapper on host: size_t type

dense vector wrapper on host: ptrdiff_t type

The struct to store the temporary information for each image pair

TODO: L1 solver for dense matrix

TODO: Implement the stratified camera rotation estimation TODO: Implement the HALF_NORM loss for IRLS TODO: Implement the weighted version for rotatio

Your code goes here single matrix eig parameter