atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
598 stars 233 forks source link

Calculation of principal curvature direction #127

Open qyp-robot opened 2 years ago

qyp-robot commented 2 years ago

hi,To find the normal direction of a surface at a certain point is to fit a plane, the corresponding minimum eigenvalue is the normal vector, then the fork product of the eigenvectors corresponding to the maximum and minimum eigenvalues is the direction of the principal curvature axis? image

According to my understanding, the two real eigenvalues are computed through the Weingarten transform in order to obtain the two principal curvature axis directions

qyp-robot commented 2 years ago

@atenpas I look forward to your help, thank you very Much!

atenpas commented 1 year ago

What's a fork product? I think you mean the cross product.

This is just one way of calculating the curvature directions of a surface.