#include <mrpt/core/format.h>#include <mrpt/core/get_env.h>#include <mrpt/core/lock_helper.h>#include <mrpt/core/round.h>#include <mrpt/math/TLine3D.h>#include <mrpt/math/TObject3D.h>#include <mrpt/math/geometry.h>#include <mrpt/obs/CObservation3DRangeScan.h>#include <mrpt/obs/CObservationImage.h>#include <mrpt/opengl/COpenGLScene.h>#include <mrpt/version.h>#include <mvsim/World.h>#include <cmath>#include <rapidxml.hpp>#include "xml_utils.h"