Lots of minor changes but two big things. I've done quite a bit of work on the shape chapter, and I think it's finally got to the stage where I'm not too embarrassed about it any more. I've also moved the preprocessing appendix into the middle of the book at the request of several readers who thought it was too important to be appendicised.
In addition, I've done some work on the multi-view geometry chapter, responding to the comments of a (surprisingly helpful) reviewer.
Enjoy!
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