Requirements: - Gflags, Eigen, Blas and Lapack, Ceres, Cuda, Magma dense Optional: - Glog, Matlab, OpenMVG, SuiteSparse ----------------------------------------------------- Installation: 1) Precompile/download required libraries 2) Build the project using Cmake ----------------------------------------------------- Output: It can be saved txt file with upper triangles of symmetric covariance matrices, i.e. the values 1-6 for each point covariance matrix ----------- | 1 2 3 | | 2 4 5 | | 3 5 6 | -----------