Classes
class	DiscreteCell

class	NDTMap

class	NormalDistribution

class	OccupancyGrid

Functions
Optional[NormalDistribution]	fit_normal_distribution (np.ndarray points, float min_variance=5e-3)

np.ndarray	grid_to_point_cloud (OccupancyGrid occupancy_grid)

NDTMap	point_cloud_to_ndt (np.ndarray pc, cell_size=1.0)

Variables
	frozen

	message

Function Documentation

◆ fit_normal_distribution()

Optional[NormalDistribution] beluga_ros.conversion_utils.fit_normal_distribution	(	np.ndarray	points,
		float	min_variance = `5e-3`
	)

Fit a normal distribution to a set of 2D points.

A minimum variance in each dimension will be enforced to avoid singularities.

Definition at line 244 of file conversion_utils.py.

◆ grid_to_point_cloud()

np.ndarray beluga_ros.conversion_utils.grid_to_point_cloud ( OccupancyGrid occupancy_grid )

Convert an OccupancyGrid's occupied cells to a 2D point cloud.

Uses the center of the cell for the conversion to reduce max error.

Definition at line 225 of file conversion_utils.py.

◆ point_cloud_to_ndt()

NDTMap beluga_ros.conversion_utils.point_cloud_to_ndt	(	np.ndarray	pc,
			cell_size = `1.0`
	)

Convert a 2D point cloud into a NDT map representation.

Does so by clustering points in 2D cells of {cell_size} * {cell_size} meters^2
and fitting a normal distribution when applicable.

Definition at line 269 of file conversion_utils.py.

Variable Documentation

◆ frozen

beluga_ros.conversion_utils.frozen

Definition at line 34 of file conversion_utils.py.

◆ message

beluga_ros.conversion_utils.message

Definition at line 29 of file conversion_utils.py.

Classes

Functions