Version 2.11 (12-Feb-09)
  CRITICAL FIXES
    - fix grave bugs in the rotation matrix to quaternion routine (that would only happen for badly behaving matrices (trace close to 0) )
    - the NRSFM error according to TOrresani (PAMI08) was computed the wrong way ...
  FIXES
    - the random rotation around an object could be a bit jittery
  NEW
    - the circleSpline function can now accept a repetition number parameter and it also sends back the derivatives of the curve
    - the walking person data and the face data from Torresani (PAMI08) are added

Version 2.1 (29-Jan-09)
  API CHANGES
    - generateToyAnimation uses different flags to deal with the random rotations/translations
    - bundleAdjustment incorporates R and t in the optional arguments as the full P can be given optionally
  NEW
    - better random camera position generation
    - more projective SFM (2 views calibrated/uncalibrated, N-views (Sturm-Triggs, Oliensis Hartley))
    - different ways of comparing 2 3D shapes in computeSFMError
    - bundleAdjustment can deal with full camera matrices (3 x 4), not just the K,R,t decomposition.
    - extractFromP gives a result for orthographic cameras
    - use Mupad to generate the bundle adjustment routines (I used Maple before, the code looks a bit more optimized).
  CRITICAL FIXES
    - fix grave bugs in the absolute orientation routine
  FIXES
    - fix some bugs dealing with calibration matrices (in computeSMFromW and bundleAdjustment)
    - you can now have different calibration matrices for each camera in computeSMFromW

Version 2.01 (20-Sep-08)
  FIXES
    - use custom versions of smooth and minmax (which belong to non-conventional Matlab toolboxes)

Version 2.0  (09-Sep-08)
  API CHANGES
    - now uses an Animation class (don't ask me why I did not use that in the first place ...)
    - errors redefined in computeSFMError and computeNRSFMError
  NEW
    - Xiao-Kanade implementation in computeNRSFM, Uses modern math contrary to the paper, so it works pretty well, even though the theory is wrong in certain cases, but that is a different issue ...
    - compareAnim has been renamed computeNRSFMError. More errors computed
    - SBA 1.5 used in bundleAdjustment
    - sources for the Torresani shark
  CRITICAL FIXES
    - montageView was broken, sorry about that ...
  FIXES
    - A LOT ! unfortunately everywhere, so I only kept track of the biggest ones
  IMPROVEMENTS
    - A LOT TOO ! unfortunately everywhere, so I only kept track of the biggest ones
    - huge speedup in computeAnimSimilarity
    - faster and more accurate pose estimation
    - faster quaternion computation

Version 1.2  (21-May-08)
  NEW
    - new completeAnim function to ease the creation of an animation object
  CRITICAL FIXES
    - fix grave bugs in the SBA routine ! (both in the C routine, and in the matlab code). Big speedup too :)
    - fix a grave bug in the RANSAC part of computeHomography
  FIXES
    - normalization fixed in generateToyAnim
    - quaternion now returns unit quaternions
  IMPROVEMENTS
    - better demo
    - speedups in several SFM routines
    - fixed a few typos
    - more anims in generateToyAnim

Version 1.1  (22-Feb-08)
  - fix compilation bugs under Windows
  - fix vect function
  - require Piotr's toolbox 2.0.3 at least

Version 1.00  (01-Feb-08)
  -initial version