surface_normals_object_model_3d — Calculate the 3D surface normals of a 3D object model.
The operator surface_normals_object_model_3d calculates the 3D surface normals for the object ObjectModel3D using the method specified by Method. The calculated normals are appended to the input object and the resulting object is returned in ObjectModel3DNormals.
For Method 'mls', the normals estimation method Moving Least Squares (MLS) is applied. The MLS method for normals estimation is essentially identical with the MLS method used by smooth_object_model_3d with the exception that in surface_normals_object_model_3d the 3D points are not smoothed, i.e., the original 3D points of ObjectModel3D remain unchanged. For more details on the MLS as well as a full list and descriptions of the supported MLS parameters refer to smooth_object_model_3d.
If the object ObjectModel3D contains triangles, the Method 'triangles' can be used to obtain point normals from the normals of the triangles neighboring a point. The normals of the neighboring triangles are weighted according to the angle which the triangle encloses at the point.
If the object ObjectModel3D contains a 2D mapping (for example a 3D object model that was created with xyz_to_object_model_3d), the Method 'xyz_mapping' can be used to obtain point normals from the neighborhood of the points in the 2D mapping. In a 5x5 neighborhood of the points in the 2D mapping, a plane is fit through the corresponding 3D points. The normal of this plane then gets switched in a direction consistent with the 2D mapping, for example along the viewing direction of the sensor or in the opposite direction.
Note that for points where the normal vector cannot be estimated, it is set to the zero vector. This happens, for example, if the 3D object model contains an identical point more than 'mls_kNN' times.
This operator supports cancelling timeouts.
Handle of the 3D object model containing 3D point data.
Normals calculation method.
Default value: 'mls'
List of values: 'mls', 'triangles', 'xyz_mapping'
Names of generic smoothing parameters.
Default value: 
List of values: 'mls_abs_sigma', 'mls_force_inwards', 'mls_kNN', 'mls_order', 'mls_relative_sigma'
Values of generic smoothing parameters.
Default value: 
Suggested values: 10, 20, 40, 60, 0.1, 0.5, 1.0, 2.0, 0, 1, 2, 'true', 'false'
Handle of the 3D object model with calculated 3D normals.