Ways to put a convex edge on a knife?

If you are sharpening free hand you're going to end up with a convex edge. Even if you free hand on a grinding disk you almost end up with a convex edge. Maybe its just that my angle holding skills are so poor, but when ever I free hand sharpen I end up with a convex grind.

I think a belt sander puts the best looking edges on knives.
 
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