├── README.md ├── dislam_msgs ├── CMakeLists.txt ├── msg │ ├── DiSCO.msg │ ├── InterPR.msg │ ├── InterPRs.msg │ └── SubMap.msg └── package.xml ├── elevation_mapping ├── elevation_mapping │ ├── CMakeLists.txt │ ├── config │ │ └── sensor_processors │ │ │ ├── aslam.yaml │ │ │ ├── fotonic_g45.yaml │ │ │ ├── hokuyo_utm-30lx.yaml │ │ │ ├── kinect_nguyen_et_al.yaml │ │ │ ├── perfect.yaml │ │ │ ├── primesense_carmine_109_short_range_datasheet.yaml │ │ │ ├── primesense_carmine_109_short_range_uncalibrated.yaml │ │ │ ├── realsense_ZR300.yaml │ │ │ ├── realsense_d435.yaml │ │ │ ├── velodyne.yaml │ │ │ ├── velodyne_HDL-32E.yaml │ │ │ └── velodyne_VLP16.yaml │ ├── cuda │ │ ├── CMakeLists.txt │ │ └── gpu_process.cu │ ├── include │ │ └── elevation_mapping │ │ │ ├── ElevationMap.hpp │ │ │ ├── ElevationMapFunctors.hpp │ │ │ ├── ElevationMapping.hpp │ │ │ ├── GridUtilHash.hpp │ │ │ ├── PointXYZRGBC.hpp │ │ │ ├── PointXYZRGBCE.hpp │ │ │ ├── PointXYZRGBIC.hpp │ │ │ ├── PointXYZRGBICT.hpp │ │ │ ├── Pointcloudtogrid.hpp │ │ │ ├── RobotMotionMapUpdater.hpp │ │ │ ├── WeightedEmpiricalCumulativeDistributionFunction.hpp │ │ │ └── sensor_processors │ │ │ ├── LaserSensorProcessor.hpp │ │ │ ├── PerfectSensorProcessor.hpp │ │ │ ├── SensorProcessorBase.hpp │ │ │ ├── StereoSensorProcessor.hpp │ │ │ └── StructuredLightSensorProcessor.hpp │ ├── package.xml │ └── src │ │ ├── ElevationMap.cpp │ │ ├── ElevationMapping.cpp │ │ ├── RobotMotionMapUpdater.cpp │ │ ├── elevation_mapping_node.cpp │ │ └── sensor_processors │ │ ├── LaserSensorProcessor.cpp │ │ ├── PerfectSensorProcessor.cpp │ │ ├── SensorProcessorBase.cpp │ │ ├── StereoSensorProcessor.cpp │ │ └── StructuredLightSensorProcessor.cpp ├── elevation_mapping_demos │ ├── CMakeLists.txt │ ├── config │ │ ├── elevation_maps │ │ │ ├── kitti_demo_map.yaml │ │ │ └── simple_demo_map.yaml │ │ └── robots │ │ │ ├── kitti_demo_robot.yaml │ │ │ └── simple_demo_robot.yaml │ ├── doc │ │ ├── after_loop.png │ │ ├── before_loop.png │ │ ├── costmap.png │ │ └── 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