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Manuel Stoiber
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feat(M3T): first version
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‎M3T/.clang-format‎

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---
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Language: Cpp
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# BasedOnStyle: Google
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AlignAfterOpenBracket: Align
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AlignEscapedNewlines: Left
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AlignOperands: true
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AlignTrailingComments: true
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AllowAllConstructorInitializersOnNextLine: true
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: Never
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: true
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AllowShortLoopsOnASingleLine: true
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: true
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AlwaysBreakTemplateDeclarations: Yes
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BinPackArguments: true
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BinPackParameters: true
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IndentBraces: false
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SplitEmptyFunction: true
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SplitEmptyRecord: true
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SplitEmptyNamespace: true
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BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Attach
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BreakBeforeInheritanceComma: false
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BreakInheritanceList: BeforeColon
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: false
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BreakConstructorInitializers: BeforeColon
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BreakAfterJavaFieldAnnotations: false
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BreakStringLiterals: true
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ColumnLimit: 80
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CommentPragmas: '^ IWYU pragma:'
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CompactNamespaces: false
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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ConstructorInitializerIndentWidth: 4
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DerivePointerAlignment: true
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IncludeBlocks: Preserve
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IncludeCategories:
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- Regex: '^<ext/.*\.h>'
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- Regex: '^<.*\.h>'
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IndentWrappedFunctionNames: false
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JavaScriptQuotes: Leave
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JavaScriptWrapImports: true
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KeepEmptyLinesAtTheStartOfBlocks: false
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCBinPackProtocolList: Never
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ObjCBlockIndentWidth: 2
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: true
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PenaltyBreakAssignment: 2
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PenaltyBreakBeforeFirstCallParameter: 1
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PenaltyBreakComment: 300
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PenaltyBreakString: 1000
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PenaltyBreakTemplateDeclaration: 10
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PenaltyExcessCharacter: 1000000
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PenaltyReturnTypeOnItsOwnLine: 200
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PointerAlignment: Left
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RawStringFormats:
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- Language: Cpp
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Delimiters:
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- cc
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- CC
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- cpp
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- Cpp
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- CPP
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- 'c++'
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- 'C++'
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CanonicalDelimiter: ''
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BasedOnStyle: google
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- Language: TextProto
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Delimiters:
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- pb
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- PB
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- proto
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- PROTO
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EnclosingFunctions:
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- EqualsProto
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- EquivToProto
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- PARSE_PARTIAL_TEXT_PROTO
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- PARSE_TEST_PROTO
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- PARSE_TEXT_PROTO
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- ParseTextOrDie
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- ParseTextProtoOrDie
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CanonicalDelimiter: ''
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ReflowComments: true
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SortUsingDeclarations: true
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SpaceAfterCStyleCast: false
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SpaceAfterLogicalNot: false
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SpaceAfterTemplateKeyword: true
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SpaceBeforeCpp11BracedList: false
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SpaceBeforeCtorInitializerColon: true
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SpaceBeforeInheritanceColon: true
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SpaceBeforeParens: ControlStatements
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SpaceBeforeRangeBasedForLoopColon: true
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 2
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SpacesInAngles: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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Standard: Auto
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TabWidth: 8
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UseTab: Never
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...
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‎M3T/.gitignore‎

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/*
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/*/
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*.asv
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doc/html
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!/include/
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!/src/
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!/third_party/
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!/test/
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!/examples/
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!/data/
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!/doc/
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!.gitignore
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!CMakeLists.txt
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!readme.md
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!.clang-format

‎M3T/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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# A Multi-Body Multi-Modality Multi-Camera 3D Tracker (M3T)
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# =============================================================================
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project(M3T)
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# Options
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# =============================================================================
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option(USE_AZURE_KINECT "Use Azure Kinect" ON)
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option(USE_REALSENSE "Use RealSense D435" ON)
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option(USE_GTEST "Use gtest" ON)
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# Libraries
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# =============================================================================
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# Build static on Windows
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if (WIN32)
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set(GLEW_STATIC true)
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set(OpenCV_STATIC true)
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set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -MTd")
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -MT")
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endif ()
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# Used libraries
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find_package(Eigen3 3.3.2 REQUIRED)
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find_package(GLEW REQUIRED)
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if (UNIX)
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set(OpenGL_GL_PREFERENCE LEGACY)
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endif ()
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find_package(OpenGL REQUIRED)
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find_package(glfw3 3.1.2 REQUIRED)
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find_package(OpenCV 4.3.0 REQUIRED COMPONENTS core imgproc highgui imgcodecs calib3d features2d xfeatures2d OPTIONAL_COMPONENTS cudafeatures2d)
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if (USE_AZURE_KINECT)
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find_package(k4a 1.3.0 REQUIRED)
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endif ()
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if (USE_REALSENSE)
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find_package(realsense2 REQUIRED)
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endif ()
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find_package(OpenMP)
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if (OPENMP_FOUND)
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if (WIN32)
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set(CMAKE_CXX_FLAGS_RELEASE
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"${CMAKE_CXX_FLAGS_RELEASE} -openmp:experimental")
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set(CMAKE_C_FLAGS_RELEASE
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"${CMAKE_C_FLAGS_RELEASE} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS_RELEASE
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"${CMAKE_CXX_FLAGS_RELEASE} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS
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"${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
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else ()
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS
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"${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
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endIf ()
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endif ()
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# Compiler Settings
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# =============================================================================
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# Default settings
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_VISIBILITY_PRESET hidden)
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include(CheckCXXCompilerFlag)
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check_cxx_compiler_flag(-march HAS_MARCH)
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check_cxx_compiler_flag(-mtune HAS_MTUNE)
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if (HAS_MARCH)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
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endif ()
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if (HAS_MTUNE)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native")
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endif ()
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# Debug settings
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check_cxx_compiler_flag(-ggdb HAS_GGDB)
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check_cxx_compiler_flag(-Z7 HAS_Z7)
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check_cxx_compiler_flag(-ftrapv HAS_FTRAPV)
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check_cxx_compiler_flag(-Od HAS_OD)
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if (HAS_GGDB)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ggdb")
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elseif (HAS_Z7)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Z7")
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endif ()
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if (HAS_FTRAPV)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ftrapv")
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endif ()
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if (HAS_OD)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Od")
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endif ()
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall")
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# Release settings
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check_cxx_compiler_flag(-Ob3 HAS_OB3)
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check_cxx_compiler_flag(-O3 HAS_O3)
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check_cxx_compiler_flag(-Ob2 HAS_OB2)
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check_cxx_compiler_flag(-O2 HAS_O2)
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if (HAS_OB3)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob3")
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elseif (HAS_O3)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
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elseif (HAS_OB2)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob2")
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elseif (HAS_O2)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O2")
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endif ()
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG")
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# Definitions
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# =============================================================================
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if (USE_AZURE_KINECT)
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add_definitions( -DUSE_AZURE_KINECT=TRUE )
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endif ()
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if (USE_REALSENSE)
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add_definitions( -DUSE_REALSENSE=TRUE )
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endif ()
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if(OpenCV_CUDA_VERSION)
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add_definitions( -DUSE_CUDA=TRUE )
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endif ()
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if (USE_GTEST)
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add_definitions( -DUSE_GTEST=TRUE )
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endif ()
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# Directories
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# =============================================================================
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add_subdirectory(src)
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add_subdirectory(test)
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add_subdirectory(examples)
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add_subdirectory(doc)

‎M3T/data/_body/default_body.yaml‎

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%YAML:1.2
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geometry_path: "INFER_FROM_NAME"
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geometry_unit_in_meter: 1.0
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geometry_counterclockwise: 1
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geometry_enable_culling: 1
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geometry2body_pose: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [ 1., 0, 0, 0,
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0, 1., 0, 0,
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0, 0, 1., -0.006,
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0, 0, 0, 1. ]
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body_id: 150
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region_id: 150

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