From ded8ca6fa8a6421701660c9fe1b6c91fdcb0f2ee Mon Sep 17 00:00:00 2001 From: Nicola Loi Date: Sat, 21 Sep 2024 22:51:56 +0200 Subject: [PATCH 1/2] Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 --- cpp/open3d/t/geometry/kernel/PointCloudImpl.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cpp/open3d/t/geometry/kernel/PointCloudImpl.h b/cpp/open3d/t/geometry/kernel/PointCloudImpl.h index 14a19c25c79..dc5bcb147be 100644 --- 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; From e1765f3c685f14ece3b04d737298ffbd28f41752 Mon Sep 17 00:00:00 2001 From: Nicola Loi Date: Sat, 21 Sep 2024 23:40:01 +0200 Subject: [PATCH 2/2] Update CHANGELOG.md --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index e5803ea862f..b7996f79aff 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -46,6 +46,7 @@ - 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) ## 0.13