├── .gitignore ├── LICENSE ├── README.md ├── elevation_mapping ├── .gitignore ├── 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_HDL-32E.yaml ├── include │ └── elevation_mapping │ │ ├── ElevationMap.hpp │ │ ├── ElevationMapFunctors.hpp │ │ ├── ElevationMapping.hpp │ │ ├── PointXYZRGBConfidenceRatio.hpp │ │ ├── RobotMotionMapUpdater.hpp │ │ ├── WeightedEmpiricalCumulativeDistributionFunction.hpp │ │ ├── input_sources │ │ ├── Input.hpp │ │ └── InputSourceManager.hpp │ │ ├── postprocessing │ │ ├── PostprocessingPipelineFunctor.hpp │ │ ├── PostprocessingWorker.hpp │ │ └── PostprocessorPool.hpp │ │ └── sensor_processors │ │ ├── LaserSensorProcessor.hpp │ │ ├── PerfectSensorProcessor.hpp │ │ ├── SensorProcessorBase.hpp │ │ ├── StereoSensorProcessor.hpp │ │ └── StructuredLightSensorProcessor.hpp ├── package.xml ├── src │ ├── ElevationMap.cpp │ ├── ElevationMapping.cpp │ ├── PointXYZRGBConfidenceRatio.cpp │ ├── RobotMotionMapUpdater.cpp │ ├── elevation_mapping_node.cpp │ ├── input_sources │ │ ├── Input.cpp │ │ └── InputSourceManager.cpp │ ├── postprocessing │ │ ├── PostprocessingPipelineFunctor.cpp │ │ ├── PostprocessingWorker.cpp │ │ └── PostprocessorPool.cpp │ └── sensor_processors │ │ ├── LaserSensorProcessor.cpp │ │ ├── PerfectSensorProcessor.cpp │ │ ├── SensorProcessorBase.cpp │ │ ├── StereoSensorProcessor.cpp │ │ └── StructuredLightSensorProcessor.cpp └── test │ ├── ElevationMapTest.cpp │ ├── WeightedEmpiricalCumulativeDistributionFunctionTest.cpp │ ├── elevation_mapping.test │ ├── input_sources │ ├── InputSourcesTest.cpp │ ├── config │ │ ├── TestConfigurations.yaml │ │ └── rosconsole.config │ ├── input_sources.test │ └── test_input_sources.cpp │ ├── postprocessing │ ├── PostprocessorTest.cpp │ ├── main.cpp │ ├── postprocessor.test │ └── postprocessor_pipeline.yaml │ └── test_elevation_mapping.cpp ├── elevation_mapping_demos ├── .pydevproject ├── CMakeLists.txt ├── config │ ├── elevation_maps │ │ ├── long_range.yaml │ │ ├── remove_object.yaml │ │ ├── simple_demo_map.yaml │ │ └── starleth_map.yaml │ ├── postprocessing │ │ └── postprocessor_pipeline.yaml │ ├── robots │ │ ├── ground_truth_demo.yaml │ │ ├── remove_object.yaml │ │ ├── simple_demo_robot.yaml │ │ ├── starleth.yaml │ │ └── waffle_robot.yaml │ ├── rosconsole.conf │ └── visualization │ │ ├── fused.yaml │ │ └── raw.yaml ├── doc │ ├── anymal_forrest.jpg │ ├── anymal_locomotion_planner.jpg │ ├── anymal_outdoor_stairs.jpg │ ├── elevation_map.jpg │ └── starleth_kinect.jpg ├── launch │ ├── ground_truth_demo.launch │ ├── realsense_demo.launch │ ├── simple_demo.launch │ ├── starleth_kinect_demo.launch │ ├── turtlesim3_waffle_demo.launch │ └── 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