In PhoXiInterface::getOrganizedCloudFromFrame and PhoXiInterface::getUnorganizedCloudFromFrame the point coordinates are divided by 1000 to change the scaling from the PhoXi-Default mm to the ROS-Default m. This is completely fine.
What I don't understand is why is the "scaling" of the point normals also changed? Aren't point normals by name and definition normalized? I'm asking because we are performing 3d object matching with Halcon and the matching fails, unless we "scale" the point normals back up.
In
PhoXiInterface::getOrganizedCloudFromFrame
andPhoXiInterface::getUnorganizedCloudFromFrame
the point coordinates are divided by 1000 to change the scaling from the PhoXi-Defaultmm
to the ROS-Defaultm
. This is completely fine.What I don't understand is why is the "scaling" of the point normals also changed? Aren't point normals by name and definition normalized? I'm asking because we are performing 3d object matching with Halcon and the matching fails, unless we "scale" the point normals back up.