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(all this is prewritten)
• matrix.c: matrix and vector manipulation
• detect.c: Plessey-driven corner detector
• analyze.c: post-detection analysis and improvement
• zerror3D.c: Mark's final statistics generator
(needed to check the usefulness of additions to analyze)
(but this is not)
• calibrate.cpp: my new rewriting of Zhang's calibration
routine, now finished, although still in testing
• matrivec.cpp: my rewriting of Mark's matrix and vector code, with some useful additions
• quaternion.h: some collected and rewritten routines for rotation in 3-D by quaternions
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