dellaert
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f675dc3bd4
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ignore .DS_Store
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2014-01-24 16:03:58 -05:00 |
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dellaert
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a3a37131a1
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Moved streaming to implementation file
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2014-01-22 01:05:32 -05:00 |
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dellaert
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6c9fd16ce8
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Moved streaming to header
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2014-01-22 01:03:40 -05:00 |
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dellaert
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1eafec036b
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added testEssentialMatrix.run
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2014-01-22 00:59:55 -05:00 |
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dellaert
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fafa3326f3
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Streaming implemented with test
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2014-01-22 00:59:22 -05:00 |
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dellaert
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fd188a4978
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Development of templated factors
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2014-01-22 00:37:21 -05:00 |
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Frank Dellaert
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48c7e49e84
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Merge branch 'origin/feature/2.4.0/EssentialMatrixConstraint'
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2014-01-05 17:16:13 -05:00 |
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Frank Dellaert
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5f8bb217d7
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Moved implementation to .cpp file
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2014-01-05 16:54:35 -05:00 |
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Frank Dellaert
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832a6fe5c7
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New "between factor" that is agnostic about scale.
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2014-01-05 16:46:22 -05:00 |
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Frank Dellaert
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3cd45be423
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Named constructor FromPose3, with Jacobians
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2014-01-05 16:26:19 -05:00 |
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Frank Dellaert
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fd9805c64f
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Named constructor FromPoint3, with optional Jacobian
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2014-01-05 16:25:47 -05:00 |
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Frank Dellaert
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2acffe885e
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normalize
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2014-01-05 16:25:14 -05:00 |
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Frank Dellaert
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651dd3e931
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Added a unit test for EssentialMatrixFactor3 with LevenbergMarquardt optimization
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2014-01-04 11:59:57 -05:00 |
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Frank Dellaert
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f8fbfaea50
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Use precisions_ where possible
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2014-01-04 10:14:59 -05:00 |
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Frank Dellaert
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aa6aee1157
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Fixed two "unused" warnings
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2014-01-04 10:14:22 -05:00 |
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Frank Dellaert
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902c48d4f1
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Fixed small comment
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2014-01-04 09:46:52 -05:00 |
Frank Dellaert
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d8b68c6fab
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Merged in feature/2.4.0/extrinsicE (pull request #2)
A third factor for essential matrices, now with an extrinsic calibration (rotation only)
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2014-01-03 23:18:08 -05:00 |
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Frank Dellaert
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fe3177c257
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Extra constructor with calibration, unit tested
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2014-01-03 23:12:04 -05:00 |
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Frank Dellaert
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4f81d110f1
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Moved new class EssentialMatrixFactor3 into header
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2014-01-03 22:22:48 -05:00 |
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Frank Dellaert
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861bd148e9
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evaluateError Jacobians now implemented and unit tested
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2014-01-03 22:17:05 -05:00 |
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Frank Dellaert
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5ae65d3f3a
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Derivatives of rotate work (at least, part that matters: not yet with respect to rotation)
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2014-01-03 19:54:43 -05:00 |
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Frank Dellaert
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b839387028
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Evaluation works
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2014-01-03 18:10:06 -05:00 |
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Frank Dellaert
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5002f3da8a
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Moved to header as friend function
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2014-01-03 17:49:45 -05:00 |
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Frank Dellaert
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d6864b0478
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Rotate, without derivatives
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2014-01-03 17:46:36 -05:00 |
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Frank Dellaert
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4b538d9648
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Conjugation
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2014-01-03 17:45:45 -05:00 |
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Frank Dellaert
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3afc4eb651
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Merged in feature/2.4.0/precisions (pull request #1)
Better noise model for updateAtA using precisions
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2014-01-03 17:23:05 -05:00 |
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Frank Dellaert
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18dfd70295
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Removed excess baggage, and added templated constructor with calibration parameter
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2014-01-03 16:08:38 -05:00 |
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Frank Dellaert
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f54861f851
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Made it more clear that Rotation constructor takes columns.
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2014-01-03 15:56:45 -05:00 |
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Frank Dellaert
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29085b94a2
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Check invsigmas and precisions indeed infinity in case of constrained models
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2014-01-02 18:38:47 -05:00 |
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Frank Dellaert
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6f64b20a5b
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The precisions are used many many times in HessianFactor::updatATA, so I added them to the NoiseModel. The invsigmas are no longer optional and hence do not cause extra allocation at every invocation. Same with precision: returns const &
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2014-01-02 18:05:44 -05:00 |
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Frank Dellaert
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c394f9a601
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Disabled non-working smartfactors test
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2014-01-02 17:32:31 -05:00 |
Frank Dellaert
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01dbca8ce1
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Use Rot3 and Sphere2 random constructors to generate random E
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2013-12-26 14:00:07 -05:00 |
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Frank Dellaert
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a47f0a30da
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Use Sphere2::Random to generate a random Rot3
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2013-12-26 13:59:44 -05:00 |
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Frank Dellaert
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dc8236805f
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Generating random directions. Somewhat clumsy use of forward declaration, issue #19 applies as well.
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2013-12-26 13:59:15 -05:00 |
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Frank Dellaert
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e038fa4e6a
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Do calibrate of pA in constructor (needs to happen only once)
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2013-12-24 17:26:13 -05:00 |
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Frank Dellaert
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606b9dce5c
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Fixed bug: first point (pA) had to be calibrated and it was not.
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2013-12-24 17:14:28 -05:00 |
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Frank Dellaert
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707c745aad
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Created second example
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2013-12-24 16:47:30 -05:00 |
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Frank Dellaert
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5f534aaa95
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Merge branch 'origin/refineE'
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2013-12-24 01:29:46 -05:00 |
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Frank Dellaert
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e6a64ec5b2
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Cleaned up derivatives somewhat more
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2013-12-24 01:25:52 -05:00 |
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Frank Dellaert
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adac9d209f
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Fixed unit test (baseline of test-case was not 1, corrected for it)
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2013-12-24 01:25:13 -05:00 |
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Frank Dellaert
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708665ca04
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Moved new factor to header; Still fails!
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2013-12-24 00:52:24 -05:00 |
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Frank Dellaert
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bba8368218
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Added clone, minimization test; converges, but not to grund truth (which has high error)
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2013-12-24 00:48:33 -05:00 |
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Frank Dellaert
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d6edd1db07
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Sanitized/collapsed derivatives
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2013-12-24 00:36:54 -05:00 |
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Frank Dellaert
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44d03e638e
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Tedious derivatives, but right from the start!
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2013-12-24 00:19:08 -05:00 |
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Frank Dellaert
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92c1398cd2
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Checked evaluation and calculation
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2013-12-23 22:29:09 -05:00 |
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Frank Dellaert
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ce7cf524ea
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Initial unit test
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2013-12-23 19:36:24 -05:00 |
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Frank Dellaert
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3b4fd765ec
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Merged wrap improvements back from develop branch
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2013-12-23 14:41:49 -05:00 |
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Frank Dellaert
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b4344cfe16
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gitinspector stats
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2013-12-23 13:16:17 -05:00 |
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Frank Dellaert
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2601b2ad00
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Merged changes from the trunk back into examples. Mostly just Vector inits and some new examples.
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2013-12-23 01:41:17 -05:00 |
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Frank Dellaert
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2778f2fe39
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clone methods
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2013-12-23 01:05:39 -05:00 |