image.py 文件源码

def normal_cloud_im(self):
        """Generate a NormalCloudImage from the PointCloudImage.

        Returns
        -------
        :obj:`NormalCloudImage`
            The corresponding NormalCloudImage.
        """
        gx, gy, _ = np.gradient(self.data)
        gx_data = gx.reshape(self.height * self.width, 3)
        gy_data = gy.reshape(self.height * self.width, 3)
        pc_grads = np.cross(gx_data, gy_data)  # default to point toward camera
        pc_grad_norms = np.linalg.norm(pc_grads, axis=1)
        normal_data = pc_grads / np.tile(pc_grad_norms[:, np.newaxis], [1, 3])
        normal_im_data = normal_data.reshape(self.height, self.width, 3)
        return NormalCloudImage(normal_im_data, frame=self.frame)