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Welcome to the Cestimii wiki!

You are probably wondering how to use cestimii. You can either look at the good in test.py or the wiki. I hope it helps. If not, feel free to message me or open an issue.

There are wiki pages for the following topics:

• Difference between methods that end with "_ocg" and "_pointcloud"
• How to decide which occupancy grids to use
• What occupancy grids are and what the difference between relaxed and strict occupancy grids is
• What the parameter rho does
• How to estimate curvatures and visualise the results