├── .dockerignore ├── .github └── workflows │ ├── alpine-ros1-release.yaml │ ├── create-release.yaml │ ├── release-candidate.yaml │ └── test.yaml ├── .gitignore ├── .rosinstall ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg └── MCL3DLParams.cfg ├── codecov.yml ├── config ├── mcl_3dl_demo.rviz ├── test_localization.yaml ├── test_localization_noimu.yaml └── test_localization_noodom.yaml ├── doc ├── Algorithms.md ├── ExperimentalDemos.md ├── Parameters.md └── images │ ├── demo_rviz.jpg │ ├── expansion_resetting.gif │ └── mcl_3dl_io.png ├── include ├── mcl_3dl │ ├── chunked_kdtree.h │ ├── cloud_accum.h │ ├── filter.h │ ├── filter_vec3.h │ ├── imu_measurement_model_base.h │ ├── imu_measurement_models │ │ └── imu_measurement_model_gravity.h │ ├── lidar_measurement_model_base.h │ ├── lidar_measurement_models │ │ ├── lidar_measurement_model_beam.h │ │ └── lidar_measurement_model_likelihood.h │ ├── motion_prediction_model_base.h │ ├── motion_prediction_models │ │ └── motion_prediction_model_differential_drive.h │ ├── nd.h │ ├── noise_generator_base.h │ ├── noise_generators │ │ ├── diagonal_noise_generator.h │ │ └── multivariate_noise_generator.h │ ├── parameters.h │ ├── pf.h │ ├── point_cloud_random_sampler.h │ ├── point_cloud_random_samplers │ │ ├── point_cloud_sampler_with_normal.h │ │ └── point_cloud_uniform_sampler.h │ ├── point_conversion.h │ ├── point_types.h │ ├── quat.h │ ├── raycast.h │ ├── raycasts │ │ ├── raycast_using_dda.h │ │ └── raycast_using_kdtree.h │ ├── state_6dof.h │ └── vec3.h └── mcl_3dl_compat │ └── compatibility.h ├── launch └── test.launch ├── package.xml ├── src ├── cloud_accum.cpp ├── lidar_measurement_model_beam.cpp ├── lidar_measurement_model_likelihood.cpp ├── mcl_3dl.cpp ├── parameters.cpp └── point_types.cpp └── test ├── CMakeLists.txt ├── src ├── compare_pose.cpp ├── compare_tf.cpp ├── performance_raycast.cpp ├── test_beam_label.cpp ├── test_beam_likelihood.cpp ├── test_chunked_kdtree.cpp ├── test_cloud_accum.cpp ├── test_debug_output.cpp ├── test_expansion_resetting.cpp ├── test_filter.cpp ├── test_global_localization.cpp ├── test_imu_measurement_model_gravity.cpp ├── test_landmark.cpp ├── test_mcl_3dl_compat.cpp ├── test_motion_prediction_model_differential_drive.cpp ├── test_nd.cpp ├── test_noise_generator.cpp ├── test_parameters.cpp ├── test_pf.cpp ├── test_point_cloud_random_sampler.cpp ├── test_point_cloud_random_sampler_with_normal.cpp ├── test_point_types.cpp ├── test_quat.cpp ├── test_raycast.cpp ├── test_raycast_dda.cpp ├── test_state_6dof.cpp ├── test_transform_failure.cpp └── test_vec3.cpp └── tests ├── beam_label_rostest.test ├── beam_likelihood_rostest.test ├── debug_output_rostest.test ├── expansion_resetting_rostest.test ├── global_localization_rostest.test ├── landmark_rostest.test ├── localization_rostest.test.in ├── mcl_3dl_compat_rostest.test ├── parameters_rostest.test ├── tf_rostest.test.in └── transform_rostest.test /.dockerignore: 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