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int rows=5, cols=5;
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MatrixXf m(rows,cols);
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m << (Matrix3f() << 1, 2, 3, 4, 5, 6, 7, 8, 9).finished(),
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MatrixXf::Zero(3,cols-3),
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MatrixXf::Zero(rows-3,3),
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MatrixXf::Identity(rows-3,cols-3);
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cout << m;
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