Using open3d function, sometimes the z value is inverted.

RyanLee

We are using the open3d function with the OAK-D-Pro PoE model and sometimes the z value is inverted.

Here is the pictures of the normal value reversal.
Currently, the expected problem is identified as a problem calculated through the estimate_normal function in open3d, but it needs confirmation.

If you need any additional information, please ask us we will answer it as soon as possible.

[https://drive.google.com/file/d/1E3eZp-CWPK-vksU6hbkMRDvsJqg1pr5S/view?usp=sharing](https://)
[https://drive.google.com/file/d/1b0QtebEMY39RTSjIqkL5FkwlF9YjnG3n/view?usp=sharing](https://)

Best regards,
Ryan.

erik

Hi RyanLee ,
Which script are you using? I can take a look at it.
Thanks, Erik

RyanLee

Hi erik

First of all, the normal problem I mentioned last time has been solved.
Originally, We used only open3D's estimate_normals() function.
At this time, we solved the problem by adding the orient_normals_towards_camera_location() function to multiply this by the rotation for the flipped direction.

Thank you for your support.

Best regards,
Ryan.