├── .dockerignore
├── .gitignore
├── CMakeLists.txt
├── LICENSE
├── README.md
├── apps
    ├── Autonomous_Carm
    │   ├── CMakeLists.txt
    │   ├── autocarm_calibrate_kwire_pts
    │   │   ├── CMakeLists.txt
    │   │   └── autocarm_calibrate_kwire_pts_main.cpp
    │   ├── autocarm_fidest_multiview_pelvis_regi
    │   │   ├── CMakeLists.txt
    │   │   ├── autocarm_fidest_multiview_pelvis_regi_main.cpp
    │   │   └── autocarm_fidest_multiview_pelvis_regi_main_calibration_data_testing.cpp
    │   ├── autocarm_pelvis_kwire_triangulation
    │   │   ├── CMakeLists.txt
    │   │   └── autocarm_pelvis_kwire_triangulation_main.cpp
    │   ├── autocarm_proc_xraydcm_to_tiff
    │   │   ├── CMakeLists.txt
    │   │   └── autocarm_proc_xraydcm_to_tiff_main.cpp
    │   ├── autocarm_reproj_jigpts
    │   │   ├── CMakeLists.txt
    │   │   └── autocarm_reproj_jigpts_main.cpp
    │   └── autocarm_singleview_pelvis_regi
    │   │   ├── CMakeLists.txt
    │   │   └── autocarm_singleview_pelvis_regi_main.cpp
    ├── CMakeLists.txt
    ├── Carm_PolarisMarker_Calibration
    │   ├── CMakeLists.txt
    │   ├── carm_calibration_handeye
    │   │   ├── CMakeLists.txt
    │   │   ├── carm_calibration_handeye_main.cpp
    │   │   └── handeye_carm_source_to_fiducial_main.cpp
    │   ├── carm_calibration_polaris_jig_pnp
    │   │   ├── CMakeLists.txt
    │   │   ├── carm_calibration_polaris_jig_pnp_main.cpp
    │   │   └── jhmr_carm_polaris_pnp_main.cpp
    │   └── carm_calibration_proj_data
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_carm_calibration_proj_data_main.cpp
    ├── Carm_Xray_Simulation
    │   ├── CMakeLists.txt
    │   ├── create_disk_data
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_gen_create_disk_data_main.cpp
    │   ├── create_disk_data_fromh5
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_gen_create_disk_data_fromh5_main.cpp
    │   ├── create_h5_data
    │   │   ├── CMakeLists.txt
    │   │   ├── xreg_gen_create_h5_data_main.cpp
    │   │   └── xreg_gen_create_h5_data_main_backup.cpp
    │   ├── create_ipcai_label_h5
    │   │   ├── CMakeLists.txt
    │   │   ├── xreg_gen_create_h5_data_main_backup.cpp
    │   │   └── xreg_gen_create_ipcai_label_h5_main.cpp
    │   ├── create_vol_h5
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_gen_create_vol_h5_main.cpp
    │   ├── disk_images_to_h5
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_gen_disk_images_to_h5_main.cpp
    │   ├── export_ipcai_xform
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_export_ipcai_xform_main.cpp
    │   ├── initial_pelvis_pose_estimate
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_initial_pelvis_pose_estimate_main.cpp.cpp
    │   └── preproc_deepdrr
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_gen_preproc_deepdrr_main.cpp
    ├── Femoroplasty
    │   ├── CMakeLists.txt
    │   ├── README.md
    │   ├── img
    │   │   ├── .DS_Store
    │   │   ├── Concept.png
    │   │   └── regi.gif
    │   ├── injection_device_registration
    │   │   ├── CMakeLists.txt
    │   │   ├── device_femur_regi_multiview
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── device_femur_regi_multiview_main.cpp
    │   │   ├── device_multiconfig_singleview
    │   │   │   ├── CMakeLists.txt
    │   │   │   ├── device_multiconfig_singleview_main.cpp
    │   │   │   └── jhmr_fem_regi_device_multiconfig_singleview_main.cpp
    │   │   └── device_regi_singleview
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── device_regi_singleview_main.cpp
    │   ├── pelvis_femur_registration
    │   │   ├── CMakeLists.txt
    │   │   ├── femoroplasty_regi_multiview_femur
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── femoroplasty_regi_multiview_femur_main.cpp
    │   │   ├── femoroplasty_regi_multiview_pelvis_and_femur
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── femoroplasty_regi_multiview_pelvis_and_femur_main.cpp
    │   │   ├── femoroplasty_regi_singleview_femur
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── femoroplasty_regi_singleview_femur_main.cpp
    │   │   ├── femoroplasty_regi_singleview_pelvis_and_femur
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── femoroplasty_regi_singleview_pelvis_and_femur_main.cpp
    │   │   ├── femur_regi_singleview
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── femur_regi_singleview_main.cpp
    │   │   └── pelvis_femur_regi_multiview
    │   │   │   ├── CMakeLists.txt
    │   │   │   └── pelvis_femur_regi_multiview_main.cpp
    │   └── pre_processing
    │   │   ├── CMakeLists.txt
    │   │   ├── apply_femur_seg_to_CT
    │   │       ├── CMakeLists.txt
    │   │       └── apply_femur_seg_to_CT_main.cpp
    │   │   └── flip_seg
    │   │       ├── CMakeLists.txt
    │   │       └── flip_seg_main.cpp
    ├── Osteonecrosis
    │   ├── CMakeLists.txt
    │   └── example_drr_regi_singleview_femur
    │   │   ├── CMakeLists.txt
    │   │   └── example_drr_regi_singleview_femur_main.cpp
    ├── Robotic_Continuum_Manipulator
    │   ├── CMakeLists.txt
    │   ├── example_drr_proj_justin_snakemodel
    │   │   ├── CMakeLists.txt
    │   │   └── snake_example_drr_proj_justin_snakemodel_main.cpp
    │   ├── include
    │   │   └── xregBuildJustinSnakeModel.h
    │   ├── newsnake_sim_multiview
    │   │   ├── CMakeLists.txt
    │   │   └── newsnake_sim_multiview_main.cpp
    │   ├── newsnake_sim_singleview
    │   │   ├── CMakeLists.txt
    │   │   └── newsnake_sim_singleview_main.cpp
    │   └── regi2d3d_replay_newsnake
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_regi2d3d_replay_newsnake_main.cpp
    ├── Robotic_Injection_Device
    │   ├── CMakeLists.txt
    │   ├── device_bb_pnp
    │   │   ├── CMakeLists.txt
    │   │   └── device_bb_pnp_main.cpp
    │   └── device_handeye_calibration
    │   │   ├── CMakeLists.txt
    │   │   └── device_handeye_calibration_main.cpp
    ├── image_io
    │   ├── CMakeLists.txt
    │   ├── add_lands_to_proj_data
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_add_lands_to_proj_data_main.cpp
    │   ├── convert_resample_dicom
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_convert_resample_dicom_main.cpp
    │   ├── crop_vol
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_crop_vol_main.cpp
    │   ├── draw_xray_scene
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_draw_xray_scene_main.cpp
    │   ├── extract_nii_from_proj_data
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_extract_nii_from_proj_data_main.cpp
    │   ├── regi2d3d_replay
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_regi2d3d_replay_main.cpp
    │   ├── regi2d3d_replay_multiconfig_device
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_regi2d3d_replay_multiconfig_device_main.cpp
    │   ├── remap_and_tile_proj_data
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_remap_tile_proj_data_main.cpp
    │   └── report_dicom
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_report_dicom_main.cpp
    ├── mesh
    │   ├── CMakeLists.txt
    │   ├── create_mesh
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_create_mesh_main.cpp
    │   ├── show_mesh
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_show_mesh_main.cpp
    │   └── sur_regi
    │   │   ├── CMakeLists.txt
    │   │   ├── Readme.md
    │   │   └── xreg_sur_regi_main.cpp
    ├── point_clouds
    │   ├── CMakeLists.txt
    │   ├── print_fcsv
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_print_fcsv_main.cpp
    │   └── xform_fcsv
    │   │   ├── CMakeLists.txt
    │   │   └── xreg_xform_fcsv_main.cpp
    └── transforms
    │   ├── CMakeLists.txt
    │   └── print_rigid_transform
    │       ├── CMakeLists.txt
    │       └── xreg_print_rigid_transform_main.cpp
├── cmake
    ├── FindEigen3.cmake
    ├── GetGitRevisionDescription.cmake
    ├── GetGitRevisionDescription.cmake.in
    ├── tbb
    │   └── FindTBB.cmake
    └── xregConfig.cmake.in
├── dist
    ├── centos_dist_pkgs
    ├── dist_readme
    │   └── README.txt
    ├── make_linux_dist.py
    ├── make_macos_dist.py
    ├── setup-xreg-vars.bat
    └── ubuntu_dist_pkgs
├── docker
    ├── Dockerfile.centos_dev_base
    ├── Dockerfile.ubuntu_dev_base
    ├── Dockerfile.xreg
    ├── Dockerfile.xreg-deps
    ├── Dockerfile.xreg-dist-bin
    └── README.md
├── example_build_script
├── lib
    ├── CMakeLists.txt
    ├── basic_math
    │   ├── CMakeLists.txt
    │   ├── xregBasicStats.cpp
    │   ├── xregBasicStats.h
    │   ├── xregDistInterface.cpp
    │   ├── xregDistInterface.h
    │   ├── xregFoldNormDist.cpp
    │   ├── xregFoldNormDist.h
    │   ├── xregLinAlgUtils.cpp
    │   ├── xregLinAlgUtils.h
    │   ├── xregLogNormDist.cpp
    │   ├── xregLogNormDist.h
    │   ├── xregNDRange.cpp
    │   ├── xregNDRange.h
    │   ├── xregNormDist.cpp
    │   ├── xregNormDist.h
    │   ├── xregNormDistFit.cpp
    │   ├── xregNormDistFit.h
    │   ├── xregNullDist.cpp
    │   ├── xregNullDist.h
    │   ├── xregPolyFindZeros.cpp
    │   ├── xregPolyFindZeros.h
    │   ├── xregPolyFit.cpp
    │   ├── xregPolyFit.h
    │   ├── xregSampleUniformUnitVecs.cpp
    │   ├── xregSampleUniformUnitVecs.h
    │   ├── xregSpline.cpp
    │   └── xregSpline.h
    ├── bigssMath
    │   ├── CMakeLists.txt
    │   ├── bigssKinematicsUtils-inl.h
    │   ├── bigssKinematicsUtils.cpp
    │   ├── bigssKinematicsUtils.h
    │   ├── bigssMath.cpp
    │   ├── bigssMath.h
    │   ├── bigssMathEigen.cpp
    │   ├── bigssMathEigen.h
    │   ├── bigss_debug_util.cpp
    │   ├── bigss_debug_util.h
    │   ├── eigenAddons.h
    │   ├── eigenMatrixAddons.h
    │   ├── interpolatingSpline.cpp
    │   ├── interpolatingSpline.h
    │   ├── slicerUtil.cpp
    │   ├── slicerUtil.h
    │   ├── smoothingSpline.cpp
    │   ├── smoothingSpline.h
    │   ├── spline.h
    │   ├── test.cpp
    │   ├── testSmoothingSpline.cpp
    │   └── transformTest.cpp
    ├── common
    │   ├── CMakeLists.txt
    │   ├── xregAssert.cpp
    │   ├── xregAssert.h
    │   ├── xregCommon.h
    │   ├── xregCompareUtils.h
    │   ├── xregEndianUtils.cpp
    │   ├── xregEndianUtils.h
    │   ├── xregExceptionUtils.cpp
    │   ├── xregExceptionUtils.h
    │   ├── xregFilesystemUtils.cpp
    │   ├── xregFilesystemUtils.h
    │   ├── xregLandmarkMapUtils.cpp
    │   ├── xregLandmarkMapUtils.h
    │   ├── xregMesh.cpp
    │   ├── xregMesh.h
    │   ├── xregObjWithOStream.cpp
    │   ├── xregObjWithOStream.h
    │   ├── xregObjectUtils.h
    │   ├── xregProgOptUtils.cpp
    │   ├── xregProgOptUtils.h
    │   ├── xregSampleUtils.cpp
    │   ├── xregSampleUtils.h
    │   ├── xregSizedTypeUtils.h
    │   ├── xregStdStreamUtils.cpp
    │   ├── xregStdStreamUtils.h
    │   ├── xregStreams.cpp
    │   ├── xregStreams.h
    │   ├── xregStringUtils.cpp
    │   ├── xregStringUtils.h
    │   ├── xregTBBUtils.h
    │   ├── xregTimer.cpp
    │   ├── xregTimer.h
    │   └── xregTypeUtils.h
    ├── file_formats
    │   ├── CMakeLists.txt
    │   ├── xregACSVUtils.cpp
    │   ├── xregACSVUtils.h
    │   ├── xregCIOSFusionDICOM.cpp
    │   ├── xregCIOSFusionDICOM.h
    │   ├── xregCSVUtils.cpp
    │   ├── xregCSVUtils.h
    │   ├── xregDICOMUtils.cpp
    │   ├── xregDICOMUtils.h
    │   ├── xregFCSVUtils.cpp
    │   ├── xregFCSVUtils.h
    │   ├── xregH5CamModelIO.cpp
    │   ├── xregH5CamModelIO.h
    │   ├── xregH5MeshIO.cpp
    │   ├── xregH5MeshIO.h
    │   ├── xregH5PAOIO.cpp
    │   ├── xregH5PAOIO.h
    │   ├── xregH5ProjDataIO.cpp
    │   ├── xregH5ProjDataIO.h
    │   ├── xregH5SE3OptVarsIO.cpp
    │   ├── xregH5SE3OptVarsIO.h
    │   ├── xregMeshIO.cpp
    │   ├── xregMeshIO.h
    │   ├── xregPAOIO.cpp
    │   ├── xregPAOIO.h
    │   ├── xregSTLMeshIO.cpp
    │   ├── xregSTLMeshIO.h
    │   ├── xregWriteVideo.cpp
    │   └── xregWriteVideo.h
    ├── hdf5
    │   ├── CMakeLists.txt
    │   ├── xregHDF5.cpp
    │   ├── xregHDF5.h
    │   ├── xregHDF5Internal.h
    │   └── xregHDF5ReadWriteInterface.h
    ├── hip_surgery
    │   ├── CMakeLists.txt
    │   ├── xregHipSegUtils.cpp
    │   ├── xregHipSegUtils.h
    │   ├── xregMetalObjSampling.cpp
    │   ├── xregMetalObjSampling.h
    │   ├── xregMetalObjs.cpp
    │   ├── xregMetalObjs.h
    │   ├── xregPAOCuts.cpp
    │   ├── xregPAOCuts.h
    │   ├── xregPAODrawBones.cpp
    │   ├── xregPAODrawBones.h
    │   ├── xregPAOVolAfterRepo.cpp
    │   ├── xregPAOVolAfterRepo.h
    │   ├── xregSegMetalInXRay.cpp
    │   └── xregSegMetalInXRay.h
    ├── image
    │   ├── CMakeLists.txt
    │   ├── xregHUToLinAtt.cpp
    │   ├── xregHUToLinAtt.h
    │   ├── xregImageAddPoissonNoise.cpp
    │   ├── xregImageAddPoissonNoise.h
    │   ├── xregImageIntensLogTrans.cpp
    │   ├── xregImageIntensLogTrans.h
    │   ├── xregLabelWarping.cpp
    │   ├── xregLabelWarping.h
    │   ├── xregProjData.cpp
    │   ├── xregProjData.h
    │   ├── xregProjPreProc.cpp
    │   ├── xregProjPreProc.h
    │   ├── xregVariableSpacedSlices.cpp
    │   └── xregVariableSpacedSlices.h
    ├── itk
    │   ├── CMakeLists.txt
    │   ├── xregITKBackgroundImageWriter.h
    │   ├── xregITKBasicImageUtils.cpp
    │   ├── xregITKBasicImageUtils.h
    │   ├── xregITKCropPadUtils.cpp
    │   ├── xregITKCropPadUtils.h
    │   ├── xregITKIOUtils.cpp
    │   ├── xregITKIOUtils.h
    │   ├── xregITKLabelUtils.cpp
    │   ├── xregITKLabelUtils.h
    │   ├── xregITKMathOps.h
    │   ├── xregITKOpenCVUtils.h
    │   ├── xregITKRemapUtils.cpp
    │   ├── xregITKRemapUtils.h
    │   └── xregITKResampleUtils.h
    ├── opencl
    │   ├── CMakeLists.txt
    │   ├── xregOpenCLConvert.cpp
    │   ├── xregOpenCLConvert.h
    │   ├── xregOpenCLMath.cpp
    │   ├── xregOpenCLMath.h
    │   ├── xregOpenCLMiscKernels.cpp
    │   ├── xregOpenCLMiscKernels.h
    │   ├── xregOpenCLSpatial.cpp
    │   ├── xregOpenCLSpatial.h
    │   ├── xregOpenCLSys.cpp
    │   ├── xregOpenCLSys.h
    │   ├── xregViennaCLManager.cpp
    │   └── xregViennaCLManager.h
    ├── opencv
    │   ├── CMakeLists.txt
    │   ├── xregOpenCVUtils.cpp
    │   └── xregOpenCVUtils.h
    ├── optim
    │   ├── CMakeLists.txt
    │   ├── xregCMAESInterface.cpp
    │   ├── xregCMAESInterface.h
    │   ├── xregDiffEvo.cpp
    │   ├── xregDiffEvo.h
    │   ├── xregLineSearchOpt.cpp
    │   ├── xregLineSearchOpt.h
    │   ├── xregOptimTestObjFns.cpp
    │   ├── xregOptimTestObjFns.h
    │   ├── xregPSO.cpp
    │   ├── xregPSO.h
    │   ├── xregSimAnn.cpp
    │   └── xregSimAnn.h
    ├── ray_cast
    │   ├── CMakeLists.txt
    │   ├── xregEdgesFromRayCast.cpp
    │   ├── xregEdgesFromRayCast.h
    │   ├── xregProj3DLabelsTo2D.cpp
    │   ├── xregProj3DLabelsTo2D.h
    │   ├── xregRayCastBaseCPU.cpp
    │   ├── xregRayCastBaseCPU.h
    │   ├── xregRayCastBaseOCL.cpp
    │   ├── xregRayCastBaseOCL.h
    │   ├── xregRayCastDepthCPU.cpp
    │   ├── xregRayCastDepthCPU.h
    │   ├── xregRayCastDepthOCL.cpp
    │   ├── xregRayCastDepthOCL.h
    │   ├── xregRayCastInterface.cpp
    │   ├── xregRayCastInterface.h
    │   ├── xregRayCastLineIntCPU.cpp
    │   ├── xregRayCastLineIntCPU.h
    │   ├── xregRayCastLineIntOCL.cpp
    │   ├── xregRayCastLineIntOCL.h
    │   ├── xregRayCastOccContourCPU.cpp
    │   ├── xregRayCastOccContourCPU.h
    │   ├── xregRayCastOccContourOCL.cpp
    │   ├── xregRayCastOccContourOCL.h
    │   ├── xregRayCastProgOpts.cpp
    │   ├── xregRayCastProgOpts.h
    │   ├── xregRayCastSparseCollCPU.cpp
    │   ├── xregRayCastSparseCollCPU.h
    │   ├── xregRayCastSurRenderCPU.cpp
    │   ├── xregRayCastSurRenderCPU.h
    │   ├── xregRayCastSurRenderOCL.cpp
    │   ├── xregRayCastSurRenderOCL.h
    │   ├── xregRayCastSyncBuf.cpp
    │   ├── xregRayCastSyncBuf.h
    │   ├── xregSplatLineIntCPU.cpp
    │   └── xregSplatLineIntCPU.h
    ├── regi
    │   ├── CMakeLists.txt
    │   ├── interfaces_2d_3d
    │   │   ├── xregIntensity2D3DRegi.cpp
    │   │   ├── xregIntensity2D3DRegi.h
    │   │   ├── xregIntensity2D3DRegiBOBYQA.cpp
    │   │   ├── xregIntensity2D3DRegiBOBYQA.h
    │   │   ├── xregIntensity2D3DRegiCMAES-Device-MultiConfig-OptimHandeye.cpp
    │   │   ├── xregIntensity2D3DRegiCMAES-Device-MultiConfig-OptimHandeye.h
    │   │   ├── xregIntensity2D3DRegiCMAES-Device-MultiConfig.cpp
    │   │   ├── xregIntensity2D3DRegiCMAES-Device-MultiConfig.h
    │   │   ├── xregIntensity2D3DRegiCMAES-JustinSnake.cpp
    │   │   ├── xregIntensity2D3DRegiCMAES-JustinSnake.h
    │   │   ├── xregIntensity2D3DRegiCMAES.cpp
    │   │   ├── xregIntensity2D3DRegiCMAES.h
    │   │   ├── xregIntensity2D3DRegiCRS.cpp
    │   │   ├── xregIntensity2D3DRegiCRS.h
    │   │   ├── xregIntensity2D3DRegiDESCH.cpp
    │   │   ├── xregIntensity2D3DRegiDESCH.h
    │   │   ├── xregIntensity2D3DRegiDIRECT.cpp
    │   │   ├── xregIntensity2D3DRegiDIRECT.h
    │   │   ├── xregIntensity2D3DRegiDISRES.cpp
    │   │   ├── xregIntensity2D3DRegiDISRES.h
    │   │   ├── xregIntensity2D3DRegiDebug.cpp
    │   │   ├── xregIntensity2D3DRegiDebug.h
    │   │   ├── xregIntensity2D3DRegiDiffEvo.cpp
    │   │   ├── xregIntensity2D3DRegiDiffEvo.h
    │   │   ├── xregIntensity2D3DRegiExhaustive.cpp
    │   │   ├── xregIntensity2D3DRegiExhaustive.h
    │   │   ├── xregIntensity2D3DRegiHillClimb.cpp
    │   │   ├── xregIntensity2D3DRegiHillClimb.h
    │   │   ├── xregIntensity2D3DRegiNEWUOA.cpp
    │   │   ├── xregIntensity2D3DRegiNEWUOA.h
    │   │   ├── xregIntensity2D3DRegiNLOptInterface.cpp
    │   │   ├── xregIntensity2D3DRegiNLOptInterface.h
    │   │   ├── xregIntensity2D3DRegiNelderMead.cpp
    │   │   ├── xregIntensity2D3DRegiNelderMead.h
    │   │   ├── xregIntensity2D3DRegiPRAXIS.cpp
    │   │   ├── xregIntensity2D3DRegiPRAXIS.h
    │   │   ├── xregIntensity2D3DRegiPSO.cpp
    │   │   ├── xregIntensity2D3DRegiPSO.h
    │   │   ├── xregIntensity2D3DRegiSbplx.cpp
    │   │   ├── xregIntensity2D3DRegiSbplx.h
    │   │   ├── xregMultiObjMultiLevel2D3DRegi.cpp
    │   │   ├── xregMultiObjMultiLevel2D3DRegi.h
    │   │   ├── xregMultiObjMultiLevel2D3DRegiDebug.cpp
    │   │   └── xregMultiObjMultiLevel2D3DRegiDebug.h
    │   ├── penalty_fns_2d_3d
    │   │   ├── xregRegi2D3DPenaltyFn.cpp
    │   │   ├── xregRegi2D3DPenaltyFn.h
    │   │   ├── xregRegi2D3DPenaltyFnCombo.cpp
    │   │   ├── xregRegi2D3DPenaltyFnCombo.h
    │   │   ├── xregRegi2D3DPenaltyFnDebugH5.cpp
    │   │   ├── xregRegi2D3DPenaltyFnDebugH5.h
    │   │   ├── xregRegi2D3DPenaltyFnGlobalPelvis.cpp
    │   │   ├── xregRegi2D3DPenaltyFnGlobalPelvis.h
    │   │   ├── xregRegi2D3DPenaltyFnLandReproj.cpp
    │   │   ├── xregRegi2D3DPenaltyFnLandReproj.h
    │   │   ├── xregRegi2D3DPenaltyFnPelvisAP.cpp
    │   │   ├── xregRegi2D3DPenaltyFnPelvisAP.h
    │   │   ├── xregRegi2D3DPenaltyFnRelPose.cpp
    │   │   ├── xregRegi2D3DPenaltyFnRelPose.h
    │   │   ├── xregRegi2D3DPenaltyFnSE3EulerDecomp.cpp
    │   │   ├── xregRegi2D3DPenaltyFnSE3EulerDecomp.h
    │   │   ├── xregRegi2D3DPenaltyFnSE3Mag.cpp
    │   │   ├── xregRegi2D3DPenaltyFnSE3Mag.h
    │   │   ├── xregRegi2D3DPenaltyFnSnakeLandReproj.cpp
    │   │   └── xregRegi2D3DPenaltyFnSnakeLandReproj.h
    │   ├── pnp_solvers
    │   │   ├── xregLandmark2D3DRegi.cpp
    │   │   ├── xregLandmark2D3DRegi.h
    │   │   ├── xregLandmark2D3DRegiReprojDist.cpp
    │   │   ├── xregLandmark2D3DRegiReprojDist.h
    │   │   ├── xregLandmark2D3DRegiReprojDistCMAES.cpp
    │   │   ├── xregLandmark2D3DRegiReprojDistCMAES.h
    │   │   ├── xregP3PCArm.cpp
    │   │   ├── xregP3PCArm.h
    │   │   ├── xregPOSIT.cpp
    │   │   ├── xregPOSIT.h
    │   │   ├── xregPnPUtils.cpp
    │   │   ├── xregPnPUtils.h
    │   │   ├── xregRANSACPnP.cpp
    │   │   └── xregRANSACPnP.h
    │   ├── sim_metrics_2d
    │   │   ├── xregImgSimMetric2D.cpp
    │   │   ├── xregImgSimMetric2D.h
    │   │   ├── xregImgSimMetric2DBoundaryEdgesCPU.cpp
    │   │   ├── xregImgSimMetric2DBoundaryEdgesCPU.h
    │   │   ├── xregImgSimMetric2DCPU.cpp
    │   │   ├── xregImgSimMetric2DCPU.h
    │   │   ├── xregImgSimMetric2DCombine.cpp
    │   │   ├── xregImgSimMetric2DCombine.h
    │   │   ├── xregImgSimMetric2DGradDiffCPU.cpp
    │   │   ├── xregImgSimMetric2DGradDiffCPU.h
    │   │   ├── xregImgSimMetric2DGradImgCPU.cpp
    │   │   ├── xregImgSimMetric2DGradImgCPU.h
    │   │   ├── xregImgSimMetric2DGradImgOCL.cpp
    │   │   ├── xregImgSimMetric2DGradImgOCL.h
    │   │   ├── xregImgSimMetric2DGradImgParamInterface.h
    │   │   ├── xregImgSimMetric2DGradNCCCPU.cpp
    │   │   ├── xregImgSimMetric2DGradNCCCPU.h
    │   │   ├── xregImgSimMetric2DGradNCCOCL.cpp
    │   │   ├── xregImgSimMetric2DGradNCCOCL.h
    │   │   ├── xregImgSimMetric2DGradOrientCPU.cpp
    │   │   ├── xregImgSimMetric2DGradOrientCPU.h
    │   │   ├── xregImgSimMetric2DNCCCPU.cpp
    │   │   ├── xregImgSimMetric2DNCCCPU.h
    │   │   ├── xregImgSimMetric2DNCCOCL.cpp
    │   │   ├── xregImgSimMetric2DNCCOCL.h
    │   │   ├── xregImgSimMetric2DOCL.cpp
    │   │   ├── xregImgSimMetric2DOCL.h
    │   │   ├── xregImgSimMetric2DPatchCommon.cpp
    │   │   ├── xregImgSimMetric2DPatchCommon.h
    │   │   ├── xregImgSimMetric2DPatchGradNCCCPU.cpp
    │   │   ├── xregImgSimMetric2DPatchGradNCCCPU.h
    │   │   ├── xregImgSimMetric2DPatchGradNCCOCL.cpp
    │   │   ├── xregImgSimMetric2DPatchGradNCCOCL.h
    │   │   ├── xregImgSimMetric2DPatchNCCCPU.cpp
    │   │   ├── xregImgSimMetric2DPatchNCCCPU.h
    │   │   ├── xregImgSimMetric2DPatchNCCOCL.cpp
    │   │   ├── xregImgSimMetric2DPatchNCCOCL.h
    │   │   ├── xregImgSimMetric2DProgOpts.cpp
    │   │   ├── xregImgSimMetric2DProgOpts.h
    │   │   ├── xregImgSimMetric2DSSDCPU.cpp
    │   │   ├── xregImgSimMetric2DSSDCPU.h
    │   │   ├── xregImgSimMetric2DSSDOCL.cpp
    │   │   └── xregImgSimMetric2DSSDOCL.h
    │   ├── xregICP3D3D.cpp
    │   ├── xregICP3D3D.h
    │   ├── xregPairedPointRegi3D3D.cpp
    │   ├── xregPairedPointRegi3D3D.h
    │   ├── xregSE3OptVars.cpp
    │   └── xregSE3OptVars.h
    ├── spatial
    │   ├── CMakeLists.txt
    │   ├── xregFitCircle.cpp
    │   ├── xregFitCircle.h
    │   ├── xregFitPlane.cpp
    │   ├── xregFitPlane.h
    │   ├── xregKDTree.cpp
    │   ├── xregKDTree.h
    │   ├── xregSpatialPrimitives.cpp
    │   └── xregSpatialPrimitives.h
    ├── transforms
    │   ├── CMakeLists.txt
    │   ├── xregAnatCoordFrames.cpp
    │   ├── xregAnatCoordFrames.h
    │   ├── xregPerspectiveXform.cpp
    │   ├── xregPerspectiveXform.h
    │   ├── xregPointCloudUtils.cpp
    │   ├── xregPointCloudUtils.h
    │   ├── xregRigidUtils.cpp
    │   ├── xregRigidUtils.h
    │   ├── xregRotUtils.cpp
    │   └── xregRotUtils.h
    ├── version
    │   ├── CMakeLists.txt
    │   ├── xregVersionConfigVals.cpp.in
    │   ├── xregVersionInfo.cpp
    │   └── xregVersionInfo.h
    └── vtk
    │   ├── CMakeLists.txt
    │   ├── xregVTK3DPlotter.cpp
    │   ├── xregVTK3DPlotter.h
    │   ├── xregVTKBasicUtils.cpp
    │   ├── xregVTKBasicUtils.h
    │   ├── xregVTKITKUtils.cpp
    │   ├── xregVTKITKUtils.h
    │   ├── xregVTKMeshUtils.cpp
    │   └── xregVTKMeshUtils.h
└── third_party
    ├── CMakeLists.txt
    ├── OpenCL-Headers-2020.06.16
        ├── .travis.yml
        ├── CL
        │   ├── cl.h
        │   ├── cl_d3d10.h
        │   ├── cl_d3d11.h
        │   ├── cl_dx9_media_sharing.h
        │   ├── cl_dx9_media_sharing_intel.h
        │   ├── cl_egl.h
        │   ├── cl_ext.h
        │   ├── cl_ext_intel.h
        │   ├── cl_gl.h
        │   ├── cl_gl_ext.h
        │   ├── cl_half.h
        │   ├── cl_icd.h
        │   ├── cl_platform.h
        │   ├── cl_va_api_media_sharing_intel.h
        │   ├── cl_version.h
        │   └── opencl.h
        ├── CODE_OF_CONDUCT.md
        ├── LICENSE
        ├── README.md
        └── tests
        │   ├── CMakeLists.txt
        │   ├── README.md
        │   ├── test_cl.h.c
        │   ├── test_cl_egl.h.c
        │   ├── test_cl_ext.h.c
        │   ├── test_cl_ext_intel.h.c
        │   ├── test_cl_gl.h.c
        │   ├── test_cl_gl_ext.h.c
        │   ├── test_cl_half.h.c
        │   ├── test_cl_icd.h.c
        │   ├── test_cl_platform.h.c
        │   ├── test_cl_version.h.c
        │   ├── test_headers.c
        │   └── test_opencl.h.c
    ├── OpenCL-ICD-Loader-2020.06.16
        ├── .appveyor.yml
        ├── .gitignore
        ├── .travis.yml
        ├── CMakeLists.txt
        ├── CODE_OF_CONDUCT.md
        ├── LICENSE
        ├── README.md
        ├── inc
        │   └── README.txt
        ├── loader
        │   ├── icd.c
        │   ├── icd.h
        │   ├── icd_cmake_config.h.in
        │   ├── icd_dispatch.c
        │   ├── icd_dispatch.h
        │   ├── icd_envvars.h
        │   ├── icd_platform.h
        │   ├── linux
        │   │   ├── icd_exports.map.in
        │   │   ├── icd_linux.c
        │   │   └── icd_linux_envvars.c
        │   └── windows
        │   │   ├── OpenCL.def.in
        │   │   ├── OpenCL.rc
        │   │   ├── adapter.h
        │   │   ├── icd_windows.c
        │   │   ├── icd_windows.h
        │   │   ├── icd_windows_apppackage.cpp
        │   │   ├── icd_windows_apppackage.h
        │   │   ├── icd_windows_dxgk.c
        │   │   ├── icd_windows_dxgk.h
        │   │   ├── icd_windows_envvars.c
        │   │   ├── icd_windows_hkr.c
        │   │   └── icd_windows_hkr.h
        └── test
        │   ├── CMakeLists.txt
        │   ├── driver_stub
        │       ├── CMakeLists.txt
        │       ├── cl.c
        │       ├── cl_ext.c
        │       ├── cl_gl.c
        │       ├── driver_stub.def
        │       ├── icd.c
        │       ├── icd_driver_exports.map
        │       ├── icd_structs.h
        │       └── rename_api.h
        │   ├── inc
        │       └── platform
        │       │   └── icd_test_log.h
        │   ├── loader_test
        │       ├── CMakeLists.txt
        │       ├── callbacks.c
        │       ├── icd_test_match.c
        │       ├── main.c
        │       ├── param_struct.h
        │       ├── test_buffer_object.c
        │       ├── test_cl_runtime.c
        │       ├── test_clgl.c
        │       ├── test_create_calls.c
        │       ├── test_image_objects.c
        │       ├── test_kernel.c
        │       ├── test_platforms.c
        │       ├── test_program_objects.c
        │       └── test_sampler_objects.c
        │   └── log
        │       ├── CMakeLists.txt
        │       └── icd_test_log.c
    └── cmaes
        ├── CMakeLists.txt
        ├── boundary_transformation.c
        ├── boundary_transformation.h
        ├── cmaes.c
        ├── cmaes.h
        ├── cmaes_interface.h
        └── licenses.txt


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https://raw.githubusercontent.com/gaocong13/Orthopedic-Robot-Navigation/HEAD/third_party/cmaes/cmaes_interface.h


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/third_party/cmaes/licenses.txt:
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https://raw.githubusercontent.com/gaocong13/Orthopedic-Robot-Navigation/HEAD/third_party/cmaes/licenses.txt


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