the orientation of normal is very strange!

[guyuezuntinggithub]

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Hey guys, I appreciate the awesome work! when I ran the test with the image from my D405 depth camera, I got this result. it seems right. but, when I read the normal from this image, and put it in my point cloud. the normal is not along with the surface. but the orientation of light.

[baegwangbin]

Hi,

FYI, we use the right-handed coordinate system with (X, Y, Z) = (right, down, front). An important thing to note is that both the ground truth normals and our prediction are the outward normals. For example, in the case of a fronto-parallel wall facing the camera, the normals would be (0, 0, 1), not (0, 0, -1). If you instead need to use the inward normals, please do normals = -normals.

Let me know if this fixes the problem!

[guyuezuntinggithub]

Hi,

FYI, we use the right-handed coordinate system with (X, Y, Z) = (right, down, front). An important thing to note is that both the ground truth normals and our prediction are the outward normals. For example, in the case of a fronto-parallel wall facing the camera, the normals would be (0, 0, 1), not (0, 0, -1). If you instead need to use the inward normals, please do normals = -normals.

Let me know if this fixes the problem!

very appreciate for your reply。 I have solved it! the result is awe-inspiring！