estimate_point_normals — 3D transform op

• Data kinds: points → normals

• Call: import match3d; match3d.estimate_point_normals(points, k=16, viewpoint=None) (or ops3d.get("estimate_point_normals"))

Usage

Point set (N,3) → unit normals (the smallest eigenvector of the local k-neighbourhood covariance = PCA).

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

Runnable examples (verified samples that actually call this op)

• fpfh_correspondence — py -3.11 examples_3d/fpfh_correspondence.py

Ops the type connects to (they accept normals as input)

icp_point2plane · compute_fpfh · shot_descriptor · fuse_to_voxel · reflect · refract · normal_consistency · ransac_cylinder

Same category (transform)

points_to_voxel · gaussians_to_voxel · mesh_to_voxel · mesh_to_points · depth_to_points · voxel_to_mips · voxel_to_mesh · tsdf_from_depth

*Provenance: match3d.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.