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Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 #6980

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merged 3 commits into from
Oct 21, 2024
Merged

Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 #6980

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ded8ca6
Fix tensor EstimatePointWiseNormalsWithFastEigen3x3
nicolaloi Sep 21, 2024
e1765f3
Update CHANGELOG.md
nicolaloi Sep 21, 2024
28eea8a
Merge branch 'main' into nicolaloi/fix-t-fasteigen3x3
nicolaloi Oct 16, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

## 0.13
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4 changes: 2 additions & 2 deletions cpp/open3d/t/geometry/kernel/PointCloudImpl.h
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Expand Up @@ -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;
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