├── .gitignore ├── CMakeLists.txt ├── COPYING.txt ├── README.md ├── apps ├── CMakeLists.txt ├── colorpick │ ├── CMakeLists.txt │ └── colorpick.cpp ├── helloworld │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_atb │ ├── CMakeLists.txt │ ├── main.cpp │ └── main_new.cpp ├── helloworld_cublas │ ├── CMakeLists.txt │ ├── gnuplot_i.h │ ├── main_performance.cpp │ └── main_simple.cpp ├── helloworld_cudagl │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_librealsense │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_opencv │ ├── CMakeLists.txt │ ├── input.png │ └── main.cpp ├── helloworld_openmp │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_openni │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_qglviewer │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_qtopengl │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_realsense │ ├── CMakeLists.txt │ └── main.cpp ├── helloworld_thrust │ ├── CMakeLists.txt │ └── main.cu ├── htrack_atb │ ├── AntTweakBarEventFilter.h │ ├── CMakeLists.txt │ └── main.cpp ├── htrack_qt │ ├── CMakeLists.txt │ ├── Main_window.cpp │ ├── Main_window.h │ ├── OpenGL_viewer.cpp │ ├── OpenGL_viewer.h │ └── main.cpp └── synthgen │ └── synthgen.cpp ├── cmake ├── CompileSynthgen.cmake ├── ConfigureAntTweakBar.cmake ├── ConfigureCUDA.cmake ├── ConfigureCompiler.cmake ├── ConfigureCudaOctree.cmake ├── ConfigureEigen.cmake ├── ConfigureGLEW.cmake ├── ConfigureGLFW.cmake ├── ConfigureLibRealSense.cmake ├── ConfigureOpenCV.cmake ├── ConfigureOpenGL.cmake ├── ConfigureOpenGP.cmake ├── ConfigureOpenMP.cmake ├── ConfigureOpenNI.cmake ├── ConfigureQGLViewer.cmake ├── ConfigureQt.cmake ├── ConfigureRealSense.cmake ├── ConfigureSensor.cmake ├── ConfigureSoftKinetic.cmake ├── FindAntTweakBar.cmake ├── FindEigen3.cmake ├── FindGLEW.cmake ├── FindGLFW.cmake ├── FindGLM.cmake ├── FindOpenCV2.cmake ├── FindOpenGP.cmake ├── FindOpenNI2.cmake ├── FindQGLViewer.cmake └── FindSoftKinetic.cmake ├── cudax ├── CMakeLists.txt ├── CublasHelper.h ├── CudaHelper.h ├── CudaTimer.h ├── KinectCamera.h ├── Kinematic.h ├── MeshGrid.h ├── OpenCVOutputBuffer.h ├── PixelIndexer.h ├── Timer.h ├── cuda_glm.h ├── externs.h ├── functors │ ├── ClosestPoint.h │ ├── ComputeJacobianRow.h │ ├── ComputeJacobianRowDepth.h │ ├── ComputeJacobianRowExtraClosedForm.h │ ├── ComputeJacobianRowPush.h │ ├── ComputeJacobianRowSilho.h │ ├── CopyOver.h │ ├── ImageGradient.h │ ├── ImageGradientDepth.h │ ├── ImageHighlighter.h │ ├── IsMatchingDepth.h │ ├── IsSilhouette.h │ ├── IsSilhouetteBoundary.h │ ├── IsTopLeft3x3Block.h │ └── SkeletonJacobian.h ├── helper_cuda.h ├── kernel.cu ├── kernel.h ├── kernel_debug.h ├── kernel_init.h ├── kernel_upload.h └── outer_product.cu ├── matlab ├── ik_alignment │ ├── FKObject.m │ └── PiecewiseRigidAlignment2D.m └── is_tracking_lost │ ├── andrew_ng_logistic_regression.m │ ├── data.txt │ ├── main.m │ └── readme.txt ├── openni ├── include │ ├── Driver │ │ ├── OniDriverAPI.h │ │ └── OniDriverTypes.h │ ├── Linux-x86 │ │ └── OniPlatformLinux-x86.h │ ├── NiTE.h │ ├── NiteCAPI.h │ ├── NiteCEnums.h │ ├── NiteCTypes.h │ ├── NiteEnums.h │ ├── NiteVersion.h │ ├── OniCAPI.h │ ├── OniCEnums.h │ ├── OniCProperties.h │ ├── OniCTypes.h │ ├── OniEnums.h │ ├── OniPlatform.h │ ├── OniProperties.h │ ├── OniVersion.h │ ├── OpenNI.h │ └── PS1080.h └── lib │ ├── OpenNI2 │ └── Drivers │ │ ├── libDummyDevice.so │ │ ├── libFreenectDriver.so │ │ ├── libFreenectDriver.so.vga │ │ ├── libOniFile.so │ │ ├── libPS1080.so │ │ └── libPSLink.so │ ├── libOpenNI2.jni.so │ └── libOpenNI2.so ├── tracker ├── CMakeLists.txt ├── Calibration │ ├── Calibration.cpp │ ├── Calibration.h │ ├── Skeleton_IO.cpp │ ├── Skeleton_IO.h │ └── default.calib ├── Data │ ├── Camera.cpp │ ├── Camera.h │ ├── DataFrame.h │ ├── DataStream.cpp │ ├── DataStream.h │ ├── SolutionStream.h │ ├── TextureColor8UC3.h │ └── TextureDepth16UC1.h ├── DataStructure │ ├── CustomJointInfo.h │ ├── SkeletonSerializer.cpp │ └── SkeletonSerializer.h ├── Detection │ ├── DetectionStream.h │ ├── FindFingers.cpp │ ├── FindFingers.h │ ├── QianDetection.cpp │ ├── QianDetection.h │ ├── TrivialDetector.cpp │ ├── TrivialDetector.h │ └── matlab_helpers.h ├── Energy │ ├── Collision.cpp │ ├── Collision.h │ ├── Damping.cpp │ ├── Damping.h │ ├── Energy.cpp │ ├── Energy.h │ ├── Fitting.cpp │ ├── Fitting.h │ ├── Fitting │ │ ├── DistanceTransform.h │ │ ├── Settings.h │ │ └── TrackingMonitor.h │ ├── JointLimits.cpp │ ├── JointLimits.h │ ├── PoseSpace.cpp │ ├── PoseSpace.h │ ├── PoseSpace_PCA │ │ ├── Limits │ │ ├── P │ │ ├── Sigma │ │ ├── fingers │ │ │ ├── Limits │ │ │ ├── P │ │ │ ├── Sigma │ │ │ ├── mu │ │ │ └── pca.png │ │ ├── mu │ │ ├── pca.png │ │ ├── pca_light.png │ │ └── thumb │ │ │ ├── Limits │ │ │ ├── P │ │ │ ├── Sigma │ │ │ ├── mu │ │ │ └── pca.png │ ├── Temporal.cpp │ ├── Temporal.h │ ├── Wristband.cpp │ └── Wristband.h ├── ForwardDeclarations.h ├── HandFinder │ ├── HandFinder.cpp │ ├── HandFinder.h │ ├── connectedComponents.cpp │ ├── connectedComponents.h │ └── wristband.txt ├── Legacy │ ├── LegacyTracker.cpp │ ├── LegacyTracker.h │ ├── algorithm │ │ ├── Detector.h │ │ ├── ICP.cpp │ │ └── ICP.h │ ├── fingerfist.mat │ ├── geometry │ │ ├── Cylinders.cpp │ │ ├── Cylinders.h │ │ ├── Effector.cpp │ │ ├── Effector.h │ │ ├── Joint.cpp │ │ ├── Joint.h │ │ ├── Mapping.cpp │ │ ├── Mapping.h │ │ ├── Skeleton.cpp │ │ └── Skeleton.h │ ├── math │ │ ├── Gauss_newton.h │ │ ├── Inverse_kinematics.cpp │ │ ├── Inverse_kinematics.h │ │ ├── MathUtils.cpp │ │ ├── MathUtils.h │ │ ├── PCA.cpp │ │ └── PCA.h │ └── util │ │ ├── PostureFile.h │ │ ├── Util.cpp │ │ ├── Util.h │ │ └── openmp_helpers.h ├── OffscreenRender │ ├── CustomFrameBuffer.h │ ├── OffscreenRenderer.cpp │ └── OffscreenRenderer.h ├── OpenGL │ ├── CylindersRenderer │ │ ├── Cylinders_FB_fshader.glsl │ │ ├── Cylinders_FB_vshader.glsl │ │ ├── Cylinders_fshader.glsl │ │ ├── Cylinders_renderer.cpp │ │ ├── Cylinders_renderer.h │ │ ├── Cylinders_vshader.glsl │ │ └── icopill.h │ ├── DebugRenderer │ │ ├── CloudRenderer.cpp │ │ ├── CloudRenderer.h │ │ ├── CloudRenderer_fshader.glsl │ │ ├── CloudRenderer_vshader.glsl │ │ ├── DebugRenderer.cpp │ │ ├── DebugRenderer.h │ │ ├── Segment_renderer.cpp │ │ └── Segment_renderer.h │ ├── KinectDataRenderer │ │ ├── KinectDataRenderer.cpp │ │ ├── KinectDataRenderer.h │ │ ├── KinectDataRenderer_fshader.glsl │ │ └── KinectDataRenderer_vshader.glsl │ ├── ObjectRenderer.cpp │ ├── ObjectRenderer.h │ ├── QuadRenderer │ │ ├── QuadRenderer.cpp │ │ ├── QuadRenderer.h │ │ ├── QuadRenderer_color_fshader.glsl │ │ ├── QuadRenderer_depth_fshader.glsl │ │ └── QuadRenderer_vshader.glsl │ └── shaders.qrc ├── Sensor │ ├── Sensor.h │ ├── Sensor_depthsensegrabber.cpp │ ├── Sensor_librealsense.cpp │ ├── Sensor_openni.cpp │ ├── Sensor_realsense.cpp │ └── Sensor_softkin.cpp ├── Tracker.h ├── TwSettings.cpp ├── TwSettings.h ├── Types.h ├── Worker.cpp └── Worker.h └── util ├── CMakeLists.txt ├── MLogger.h ├── MLogger_Eigen.h ├── OpenGL32Format.h ├── Sleeper.h ├── assertf.h ├── check_error_gl.h ├── 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