#include <pcl/conversions.h>#include <pcl/point_cloud.h>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <tf_conversions/tf_eigen.h>#include <cstdio>#include <Eigen/Eigen>#include <Eigen/Geometry>#include <fstream>#include <ndt_map/ndt_map.h>#include <ndt_map/ndt_cell.h>#include <ndt_map/pointcloud_utils.h>#include "ndt_mcl/CParticleFilter.h"
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