I use PCL to compute the normal of point clouds. With Meshlab, normals are correct, although all normals are from external to internal, this will be correct after I canceled all of them.
But when I use PCL for this, the direction of some normals is wrong, as the left image shows.
To make more sense, below reconstructed surfaces using meshlab and PCL, with a normal value estimated using PCL, I cannot get the correct result.
My code is as follows, and my example data is .ply here , and my model can be found here, I tried to change the radius, the number of neighbors and the position of the centroid, but not fix it.
cout << "begin normal estimation" << endl;
NormalEstimationOMP<PointXYZ, Normal> ne;
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
ne.setSearchMethod(tree);
ne.setNumberOfThreads(8);
ne.setInputCloud(filtered);
ne.setKSearch(15);
ne.setRadiusSearch(5);
Eigen::Vector4f centroid;
compute3DCentroid(*filtered, centroid);
ne.setViewPoint(centroid[0], centroid[1], centroid[2]);
PointCloud<Normal>::Ptr cloud_normals (new PointCloud<Normal>());
ne.compute(*cloud_normals);
cout << "normal estimation complete" << endl;
, ? ? !