Normal information of the point cloud

[Milalaa]

Hi！
How do you obtain the normal vector information of the point cloud?
I know that the point cloud normal vector information is assigned in LidarFeatureExtractor.cpp, but I don't understand the rationale behind this.
Can such a normal vector assignment method be put into other LiDAR point clouds?
Looking forward to your reply！

[SiyuanHuang95]

1. Just follow the normal procedure of LOAM-series. You can refer to those papers to get detailed info.
2. The lidar processing is always in a statistic way, similar to norm calculation.

[Milalaa]

Thanks for your reply！