search

photoneo / phoxi_camera

ROS Package for PhoXi Scanner/Camera. If you like us, STAR US! :P
MIT License
44 stars 32 forks source link

Why are point normals scaled? #54

Open Levaru opened 3 years ago

Levaru commented 3 years ago

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.

marcelsvec commented 3 years ago

Hi Levaru, this is a bug, there is no reason to scale normals. Sorry for the inconvenience.