diff --git a/.clang-format b/.clang-format
new file mode 100644
index 000000000..33bf2a3b9
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,137 @@
+---
+Language:        Cpp
+# BasedOnStyle:  LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: MultiLine
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories:
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        1
+    SortPriority:    0
+IncludeIsMainRegex: '(Test)?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Right
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Latest
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...
+
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 000000000..7001c0fed
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,5 @@
+repos:
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
diff --git a/build_jetson.sh b/build_jetson.sh
index fd446d908..000e8e434 100755
--- a/build_jetson.sh
+++ b/build_jetson.sh
@@ -1,3 +1,13 @@
+apt-get install clang-format
+clang-format -style=llvm -dump-config > .clang-format
+if ! command -v pip &> /dev/null; then
+    # If pip is not available, download and install pip
+    curl -O https://bootstrap.pypa.io/get-pip.py
+    python3 get-pip.py
+fi
+pip install pre-commit
+pre-commit install
+
 chmod +x build_scripts/build_dependencies_jetson_cuda.sh
 ./build_scripts/build_dependencies_jetson_cuda.sh
 
diff --git a/build_linux_cuda.sh b/build_linux_cuda.sh
index c9c417571..52d3ebc49 100755
--- a/build_linux_cuda.sh
+++ b/build_linux_cuda.sh
@@ -1,3 +1,13 @@
+apt-get install clang-format
+clang-format -style=llvm -dump-config > .clang-format
+if ! command -v pip &> /dev/null; then
+    # If pip is not available, download and install pip
+    curl -O https://bootstrap.pypa.io/get-pip.py
+    python3 get-pip.py
+fi
+pip install pre-commit
+pre-commit install
+
 chmod +x build_scripts/build_dependencies_linux_cuda.sh
 ./build_scripts/build_dependencies_linux_cuda.sh
 
diff --git a/build_linux_no_cuda.sh b/build_linux_no_cuda.sh
index e3ccff896..6b9e2d129 100755
--- a/build_linux_no_cuda.sh
+++ b/build_linux_no_cuda.sh
@@ -1,3 +1,13 @@
+apt-get install clang-format
+clang-format -style=llvm -dump-config > .clang-format
+if ! command -v pip &> /dev/null; then
+    # If pip is not available, download and install pip
+    curl -O https://bootstrap.pypa.io/get-pip.py
+    python3 get-pip.py
+fi
+pip install pre-commit
+pre-commit install
+
 chmod +x build_scripts/build_dependencies_linux_no_cuda.sh
 ./build_scripts/build_dependencies_linux_no_cuda.sh