#include <mrpt_localization/mrpt_localization.h>
#include <mrpt_localization/mrpt_localization_defaults.h>
#include <mrpt/base.h>
#include <mrpt_bridge/map.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/opengl/CEllipsoid.h>
#include <mrpt/opengl/CPointCloud.h>