This package provides provides functions for training GMMs on pointclouds of arbitrary dimensions.

Gtests are listed in the CMakeLists.txt file. In order to run them, the tests must first be compiled using the following command:

catkin build --make-args tests -- gmm -DCMAKE_BUILD_TYPE=Release

The tests may be run using the following commands:

   rosrun gmm test_kmeans
   rosrun gmm test_k_means_elkan
   rosrun gmm test_kmeans_time
   rosrun gmm test_sample
   rosrun gmm test_em
   rosrun gmm test_get_submap```

`test_gmm` is a ros node so it spins until it receives SIGINT.