{"action":"created","issue":{"url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/2372","repository_url":"https://api.github.com/repos/PointCloudLibrary/pcl","labels_url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/2372/labels{/name}","comments_url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/2372/comments","events_url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/2372/events","html_url":"https://github.com/PointCloudLibrary/pcl/issues/2372","id":339280958,"node_id":"MDU6SXNzdWUzMzkyODA5NTg=","number":2372,"title":"normal calculated by pcl is incorrect","user":{"login":"LawrenceNJU","id":19586476,"node_id":"MDQ6VXNlcjE5NTg2NDc2","avatar_url":"https://avatars2.githubusercontent.com/u/19586476?v=4","gravatar_id":"","url":"https://api.github.com/users/LawrenceNJU","html_url":"https://github.com/LawrenceNJU","followers_url":"https://api.github.com/users/LawrenceNJU/followers","following_url":"https://api.github.com/users/LawrenceNJU/following{/other_user}","gists_url":"https://api.github.com/users/LawrenceNJU/gists{/gist_id}","starred_url":"https://api.github.com/users/LawrenceNJU/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LawrenceNJU/subscriptions","organizations_url":"https://api.github.com/users/LawrenceNJU/orgs","repos_url":"https://api.github.com/users/LawrenceNJU/repos","events_url":"https://api.github.com/users/LawrenceNJU/events{/privacy}","received_events_url":"https://api.github.com/users/LawrenceNJU/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-07-09T01:58:48Z","updated_at":"2018-08-31T16:18:30Z","closed_at":null,"author_association":"NONE","body":"<!--- WARNING: This is an issue tracker, please use our mailing list for questions: www.pcl-users.org. -->\r\n\r\n<!--- Provide a general summary of the issue in the Title above -->\r\n\r\n## Your Environment\r\n<!--- Include as many relevant details about the environment you experienced the bug in -->\r\n* Operating System and version: ubuntu 18.04\r\n* Compiler: gcc 7.3.0\r\n* PCL Version: pcl 1.8\r\n\r\n## Context\r\nWhen I use \"pcl_normal_estimation\" tool to calculate the normal of point cloud representing outdoor scene, the result is wrong, as shown in the following figure(the first figure is in top view and the second is in side view):\r\n![screenshot from 2018-07-09 10-10-23](https://user-images.githubusercontent.com/19586476/42427389-db63b876-8360-11e8-96ed-44ee52052ebc.png)\r\n![screenshot from 2018-07-09 10-15-38](https://user-images.githubusercontent.com/19586476/42427438-1565ec92-8361-11e8-9d6a-667046e33834.png)\r\nThe normal(white line) is not perpendicular to surface (green point cloud)\r\n<!--- How has this issue affected you? What are you trying to accomplish? -->\r\n<!--- Providing context helps us come up with a solution that is most useful in the real world -->\r\n\r\n## Expected Behavior\r\n<!--- If you're describing a bug, tell us what should happen -->\r\n<!--- If you're suggesting a change/improvement, tell us how it should work -->\r\n\r\n## Current Behavior\r\n<!--- If describing a bug, tell us what happens instead of the expected behavior -->\r\n<!--- If suggesting a change/improvement, explain the difference from current behavior -->\r\n\r\n## Code to Reproduce\r\n<!--- Provide a link to a live example, or an unambiguous set of steps to -->\r\n<!--- reproduce this bug. Include code to reproduce, if relevant -->\r\n$ pcl_normal_estimation ./xyz.pcd ./xyz_normal.pcd -k 10\r\n$ pcl_viewer xyz_normal.pcd -normals 50 -normals_scale 2\r\nthe data is: [xyz.zip](https://github.com/PointCloudLibrary/pcl/files/2174427/xyz.zip)\r\n\r\n## Possible Solution\r\n<!--- Not obligatory, but suggest a fix/reason for the bug, -->\r\n<!--- or ideas how to implement the addition or change -->\r\n"},"comment":{"url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/comments/417715267","html_url":"https://github.com/PointCloudLibrary/pcl/issues/2372#issuecomment-417715267","issue_url":"https://api.github.com/repos/PointCloudLibrary/pcl/issues/2372","id":417715267,"node_id":"MDEyOklzc3VlQ29tbWVudDQxNzcxNTI2Nw==","user":{"login":"taketwo","id":1241736,"node_id":"MDQ6VXNlcjEyNDE3MzY=","avatar_url":"https://avatars0.githubusercontent.com/u/1241736?v=4","gravatar_id":"","url":"https://api.github.com/users/taketwo","html_url":"https://github.com/taketwo","followers_url":"https://api.github.com/users/taketwo/followers","following_url":"https://api.github.com/users/taketwo/following{/other_user}","gists_url":"https://api.github.com/users/taketwo/gists{/gist_id}","starred_url":"https://api.github.com/users/taketwo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/taketwo/subscriptions","organizations_url":"https://api.github.com/users/taketwo/orgs","repos_url":"https://api.github.com/users/taketwo/repos","events_url":"https://api.github.com/users/taketwo/events{/privacy}","received_events_url":"https://api.github.com/users/taketwo/received_events","type":"User","site_admin":false},"created_at":"2018-08-31T16:18:30Z","updated_at":"2018-08-31T16:18:30Z","author_association":"MEMBER","body":"Looks similar to #2403."}}
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