* \brief \ref Modality class that implements a depth-based modality, which uses * information from a \ref DepthCamera and \ref DepthModel to calculate the * gradient vector and Hessian matrix that are used by the \ref Optimizer to * update the \ref Body pose. * * \details The modality is able to measure occlusions using the depth image or * model occlusions using renderings from a \ref Focus
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