Alex Cunningham
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e20561be73
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Merge branch 'eigen'
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2011-05-20 13:52:08 +00:00 |
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Alex Cunningham
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d35eb581ee
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Removed experimental cmake files - see the branch cmake_build
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2011-05-19 19:16:03 +00:00 |
Yong-Dian Jian
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f906659e00
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experimental cmake support for linux
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2011-05-09 16:54:34 +00:00 |
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Yong-Dian Jian
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85ff7853eb
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experimental cmake support for linux
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2011-05-09 16:53:08 +00:00 |
Richard Roberts
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fe126f2e42
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Upgraded to released version of Eigen 3.0 (was using beta before)
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2011-05-02 20:44:52 +00:00 |
Chris Beall
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729b35fe11
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Logmap fix from last week. Rot3 trace > 3 is now handled, previously caused NaN
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2011-05-02 16:59:33 +00:00 |
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Richard Roberts
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7e901f4fad
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Bug fix in debug checks - don't check lower triangle of Hessian because only the upper triangle is used
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2011-04-26 19:40:47 +00:00 |
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Alex Cunningham
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790599799c
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Syntactic sugar for YPR and RPY vector representations of rotation
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2011-04-18 17:10:52 +00:00 |
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Richard Roberts
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7a0daaa7d9
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Fixed HessianFactor error to be consistent with JacobianFactor error and added unit test.
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2011-04-12 22:06:33 +00:00 |
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Richard Roberts
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5057138ef1
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Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
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2011-04-12 21:18:10 +00:00 |
Duy-Nguyen Ta
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6d5dee0860
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numericalHessian for binary functions
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2011-04-11 21:59:17 +00:00 |
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Richard Roberts
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9f1bf3e475
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Created HessianFactor constructors from Hessian matrix, linear, and constant terms. Removed old constructors from Jacobians that were just mirroring the JacobianFactor interface.
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2011-04-11 19:21:05 +00:00 |
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Duy-Nguyen Ta
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c9a6b16bc2
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a more confusing way
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2011-04-10 18:32:09 +00:00 |
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Duy-Nguyen Ta
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10b37db234
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fixing compilation problem in numericalHessian and re-enable the unittest
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2011-04-10 17:47:22 +00:00 |
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Duy-Nguyen Ta
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6a444b558d
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The new testNumericalDerivative for testing numericalHessian doesn't compile on my machine with boost 1.45. Comment it out for now.
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2011-04-08 22:50:07 +00:00 |
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Richard Roberts
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cb999dba58
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Added numericalHessian function for computing the Hessian matrix of a Lie->scalar function
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2011-04-08 22:18:45 +00:00 |
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Richard Roberts
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c52d525763
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Added copyright notice
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2011-04-08 22:18:05 +00:00 |
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Richard Roberts
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1a94808f57
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Tightened thresholds in Rot3, Pose3, Rot2, Pose2, that were "correcting" numbers to zero and one with too loose tolerance. This made it necessary to specify large steps for numerical derivatives (1e-2 instead of the default 1e-5). Fixed this, and updated unit tests to use the default step size.
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2011-04-08 18:41:50 +00:00 |
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Yong-Dian Jian
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b1922464de
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add member functions
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2011-04-04 03:55:50 +00:00 |
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Alex Cunningham
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53bb7584b6
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Added a print function for RangeFactor
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2011-03-31 03:14:21 +00:00 |
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Alex Cunningham
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ce70480ae0
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Made keys_ protected to allow initialization in a constructor body, added constructor for NonlinearFactor allowing more than two keys
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2011-03-30 14:09:34 +00:00 |
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Alex Cunningham
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f244310250
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Fixed serialization for factors and nonlinear factors
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2011-03-30 03:07:14 +00:00 |
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Richard Roberts
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f5eac05add
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Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
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2011-03-29 21:32:22 +00:00 |
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Richard Roberts
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07820af903
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Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
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2011-03-29 19:51:50 +00:00 |
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Richard Roberts
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1bd10e4b21
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Increased precision when printing out convergence info in NonlinearOptimizer
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2011-03-29 19:50:51 +00:00 |
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Alex Cunningham
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21f7673acd
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Generalized range factor to allow for non-planar domains
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2011-03-29 19:49:10 +00:00 |
Frank Dellaert
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a9d66a915d
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comments
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2011-03-29 19:13:35 +00:00 |
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Chris Beall
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d5ad2b2897
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remove print
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2011-03-29 05:53:54 +00:00 |
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Chris Beall
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12d7b05bd9
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changed backProject to project to world coordinates
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2011-03-29 05:40:30 +00:00 |
Kai Ni
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f1746da36b
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a failed unit test for backproject
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2011-03-29 05:26:57 +00:00 |
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Chris Beall
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78a8b86d1e
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cleaned up
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2011-03-29 02:02:57 +00:00 |
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Chris Beall
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b6783e8b89
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add backproject to StereoCamera
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2011-03-29 01:54:59 +00:00 |
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Frank Dellaert
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e635b21154
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made keys_ and nrFrontals_ private to ensure correct constructors are called
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2011-03-25 16:57:28 +00:00 |
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Chris Beall
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a581d03022
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fix Stereo Calibration serialization
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2011-03-25 02:05:25 +00:00 |
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Frank Dellaert
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5c193422af
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Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
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2011-03-24 19:27:12 +00:00 |
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Frank Dellaert
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ba8cfe2554
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Creating factorization branch
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2011-03-24 19:18:40 +00:00 |
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Kai Ni
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9d25e28123
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add Dim function
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2011-03-24 12:42:39 +00:00 |
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Frank Dellaert
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5393c306a4
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made GenericSequentialSolver testable
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2011-03-21 15:49:37 +00:00 |
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Frank Dellaert
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fa761981d5
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math header not needed
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2011-03-21 15:06:03 +00:00 |
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Frank Dellaert
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105041ae01
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cmath rather than math.h
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2011-03-21 15:05:40 +00:00 |
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Frank Dellaert
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5fd04188e4
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cmath rather than math.h header, in implementation file only
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2011-03-21 15:05:11 +00:00 |
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Frank Dellaert
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a923c8f1b3
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re-format + comments only
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2011-03-21 15:03:03 +00:00 |
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Richard Roberts
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1829e31ca8
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Added sharedUnit(size_t dim) function to SharedDiagonal.h
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2011-03-18 14:50:27 +00:00 |
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Richard Roberts
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22eb95a82b
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Added math.h which defines sqrt
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2011-03-18 14:39:53 +00:00 |
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Richard Roberts
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618b4d5a0a
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Corrected code comments
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2011-03-18 14:38:53 +00:00 |
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Frank Dellaert
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2c54218100
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Formatting only
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2011-03-17 19:34:00 +00:00 |
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Alex Cunningham
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3d2feb0406
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Added an assert_equal to handle optional values, and added a test for TestableAssertions
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2011-03-17 17:28:09 +00:00 |
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Alex Cunningham
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ccf3e91b19
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Fixed bug in assert_container_equal function for vectors of pairs
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2011-03-17 14:46:14 +00:00 |
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Chris Beall
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3e143c1f24
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made Between Factor more flexible to work with measurement that's not of its own Key::Value type. default behavior unchanged
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2011-03-17 04:36:27 +00:00 |
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Chris Beall
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ad8b87c3c2
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added between on StereoCamera
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2011-03-17 04:34:08 +00:00 |