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koide3 / small_gicp

Efficient and parallel algorithms for point cloud registration [C++, Python]
MIT License
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Missing normal vector after downsampling #29

Closed mcmingchang closed 4 months ago

mcmingchang commented 4 months ago

I slightly modified the creation method of the point cloud, which can convert the point cloud and normal vector of Open3D normally. However, after voxelization, I output the point with a normal vector value of (0,0,0,0)

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koide3 commented 4 months ago

The downsampling ruins point attributes other than point coordinates. I recommend doing downsampling before normal estimation.