genLiDARPointsDistribution.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
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 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function points = genLiDARPointsDistribution(plotting, peak, sigma, points)
    points_gaussian_distribution= 0;
%     mu_intensity = mean(points.normalized_intensityM1P1(:));
    for i = 1:size(points.x, 2)
        value = points.normalized_intensityM1P1(i);
%         if value > mu_intensity
%             g_peak = value - mu_intensity; % 
%         else
%             g_peak = -value;
%         end
        mu = [points.y(i) points.z(i)];
        disp = value .* mvnpdf(plotting.plot, mu, sigma);
        points_gaussian_distribution = points_gaussian_distribution + disp;       
        
    end
    points.distribution = reshape(points_gaussian_distribution, length(plotting.plot_y), length(plotting.plot_x));
    points.normalized_distribution = normalizedDiff(points.distribution);
end