Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 (#6980)

isl-org · Oct 21, 2024 · 6b93696 · 6b93696
1 parent d829996
commit 6b93696
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -47,6 +47,7 @@
 -   Fix projection of point cloud to Depth/RGBD image if no position attribute is provided (PR #6880)
 -   Support lowercase types when reading PCD files (PR #6930)
 -   Fix visualization/draw ICP example and add warnings (PR #6933)
+-   Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 (PR #6980)
 -   Fix alpha shape reconstruction if alpha too small for point scale (PR #6998)
 -   Fix render to depth image on Apple Retina displays (PR #7001)
 

diff --git a/cpp/open3d/t/geometry/kernel/PointCloudImpl.h b/cpp/open3d/t/geometry/kernel/PointCloudImpl.h
@@ -956,8 +956,8 @@ OPEN3D_HOST_DEVICE void EstimatePointWiseNormalsWithFastEigen3x3(
             normals_ptr[1] = 0.0;
             normals_ptr[2] = 0.0;
             return;
-        } else if (covariance_ptr[0] < covariance_ptr[4] &&
-                   covariance_ptr[0] < covariance_ptr[8]) {
+        } else if (covariance_ptr[4] < covariance_ptr[0] &&
+                   covariance_ptr[4] < covariance_ptr[8]) {
             normals_ptr[0] = 0.0;
             normals_ptr[1] = 1.0;
             normals_ptr[2] = 0.0;