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BEAMRobotics
public library for all internal software
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libbeam issues
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In this paper: https://arxiv.org/pdf/1807.08957.pdf They describe that KB has a singularity at z = 0. In our InProjectionDomain function, we only check that z != 0 See check here: https://github.com/BEAMRobotics/libbeam/blob/4384b414bd30b893b91a17ea29258a0816110d05/beam_calibration/src/KannalaBrandt.cpp#L143...
address formatting of data structures and code design according to comments left in [this](https://github.com/BEAMRobotics/libbeam/pull/238) PR
enhancement