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Why are point normals scaled? #54

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Levaru opened this issue Jun 9, 2021 · 1 comment
Open

Why are point normals scaled? #54

Levaru opened this issue Jun 9, 2021 · 1 comment

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@Levaru
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Levaru commented Jun 9, 2021

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

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@marcelsvec @Levaru