Pytorch3d: Points_normal coordinate frame

[dd292]

❓ Questions on how to use PyTorch3D

I am a bit confused about the output of the estimate_pointcloud_normals function. Is the output of the function in the camera coordinate frame or the local coordinate frame of that specific point?
Also, I think it's a unit vector but would be great if you can confirm that.

Thanks.

[gkioxari]

The normals are in the same space your vertices/points are.
You can check yourself whether the normals are unit vectors by computing their norm.