No parameters available for 3d normals estimation


the API allows to retrieve 3D surface normals. However, there is no control at all about the parameters used to compute them by the API. For example, if the implementation uses nearest-K search, there is no control over the number K of neighbours considered. Or if the algorithm is radius-based (pick every neighbour distant less than X), there is no control on this radius. This is very limiting, since we have to get only a black-box output with no control over it (and it’s way noiser than ehat can be easily achieved for example by PCL or Open3D).

Is there a way developers can expose some kind of tunable parameter for normal computation?

Hi @roncapat
Welcome to the Stereolabs community.

Your request has been noted and taken into consideration for future upgrades of the ZED SDK.