html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd" Point Cloud Library a href="http://www.openperception.org" id="op-logo">Open Perception</a About News Blog Downloads Media Jobs Documentation Contact GSoC'14 Tutorials Advanced #menu-bar Surface normals are important properties of a geometric surface, and are heavily used in many areas such as computer graphics applications, to apply the correct light sources that generate shadings and other visual effects. Given a geometric surface, it’s usually trivial to infer the direction of the normal at a certain point on the surface as the vector perpendicular to the surface in that point. However, since the point cloud datasets that we acquire represent a set of point samples on the real surface, there are two possibilities: obtain ...