├── .gitignore ├── LICENSE ├── README.md ├── config ├── build_map.yml ├── evaluation.yml └── localization.yml ├── data ├── README.md └── figs │ ├── loc_results.gif │ ├── mesh-traj.png │ └── submap.png ├── requirements.txt ├── results └── demo_loc_results.npz └── src ├── __init__.py ├── build_mesh_map.py ├── evaluate.py ├── initialization.py ├── main_range_mcl.py ├── map_building ├── __init__.py ├── build_mesh_map.py ├── c_utils │ ├── CMakeLists.txt │ ├── README.md │ └── src │ │ ├── c_gen_depth_and_normal.cpp │ │ ├── c_gen_normal_map.cpp │ │ └── c_gen_virtual_scan.cpp ├── compute_normals.py ├── simplify_ground_mesh.py └── time_utils.py ├── map_module.py ├── map_renderer ├── __init__.py ├── glow.py ├── mesh.py ├── offscreen_window.py ├── renderer.py ├── renderer_instanced.py └── shader │ ├── draw_mesh.frag │ ├── draw_mesh.vert │ ├── drawtex.frag │ ├── empty.vert │ ├── quad.geom │ ├── render_instanced.frag │ ├── render_instanced.geom │ ├── render_instanced.vert │ ├── render_mesh.frag │ 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