Template Function beluga::detail::to_cells

• Defined in File ndt_sensor_model.hpp

Function Documentation

template<int NDim, typename Scalar = double>
inline std::vector<NDTCell<NDim, Scalar>> beluga::detail::to_cells(const std::vector<Eigen::Vector<Scalar, NDim>> &points, const double resolution)

Given a number of N dimensional points and a resolution, constructs a vector of NDT cells, by clusterizing the points using ‘resolution’ and fitting a normal distribution to each of the resulting clusters if they contain a minimum number of points in them.