#include <cmath>#include <iostream>#include <limits>#include <cstddef>#include <Eigen/Core>#include <Eigen/StdVector>#include <Eigen/Geometry>#include <unsupported/Eigen/MatrixFunctions>#include <vtkImageData.h>#include <vtkFloatArray.h>#include <vtkXMLImageDataWriter.h>#include <vtkXMLImageDataReader.h>#include <vtkPointData.h>#include <vtkSmartPointer.h>#include <opencv2/core/core.hpp>#include <time.h>#include "sdf_tracker/sdf_tracker.h"