Normals information of pointcloud is not saved during voxelization

daavoo / pyntcloud

pyntcloud is a Python library for working with 3D point clouds.

http://pyntcloud.readthedocs.io

MIT License

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Normals information of pointcloud is not saved during voxelization #286

Open GainiK opened 3 years ago

GainiK commented 3 years ago

I have the pointcloud with normals, but after the voxelization, the generated voxel grid has no normals. Is it the expected behavior?

GainiK commented 3 years ago

Currently the code is:

cloud = PyntCloud.from_instance("open3d", pcd) voxelgrid_id = cloud.add_structure("voxelgrid", n_x = 80, n_y = 80, n_z=32, regular_bounding_box=False) voxelgrid = cloud.structures[voxelgrid_id]

But my cloud points has xyz, rgb and nxnynz values

daavoo commented 3 years ago

Hola @GainiK ! Sorry for the late response.

It is indeed the expected behaviour, we don't currently implement a way of computing the normals for each voxel. It would be a nice addition to have.