Function beluga_ros::detail::use_mean_covariance

• Defined in File ndt_ellipsoid.hpp

Function Documentation

bool beluga_ros::detail::use_mean_covariance(Eigen::SelfAdjointEigenSolver<Eigen::Matrix<double, 3, 3>> &eigen_solver, beluga::NDTCell<3> cell, beluga_ros::msg::Marker &marker)

Create an ellipoid based on NDT cell data (eigenvalues and eigenvectors) contained in the received marker.

Parameters:

• eigen_solver – Precreated eigen solver of the NDT cell.

• cell – NDT cell.

• marker – Marker that will contain the message.

Returns:

A boolean set to false if the ellipsoid could not be created (because the covariances are non-diagonalizable).