Kinect Point Cloud Normals Rendering – Part 3

In this post I’ll add to further methods for calculating the normals of the depth point cloud. In the previous point I showed how to calculate the normal of a point using the point directly above and the point directly to the left. We can obtain smoother normals by looking at 4 points that surround – those that are above, below, to the left, to the right. Here’s a picture showing the grid of the points that surround our current point. I’ve labelled the points we’ll be considering as A, B, C and D: We calculate the normals of each…
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