---
name: "pcl_normal_estimation"
section: "1"
platform: "linux"
package: "pcl-tools"
version: "1.15.0+dfsg-2"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/pcl_normal_estimation"
---

# pcl\_normal\_estimation(1)

pcl\_normal\_estimation

## NAME

pcl\_normal\_estimation - pcl\_normal\_estimation

## DESCRIPTION

Syntax is: pcl\_normal\_estimation input.pcd output.pcd \<options\> \[optional\_arguments\]

Estimate surface normals using NormalEstimation. For more information, use: pcl\_normal\_estimation **-h**

  where options are:

 **-radius** X = use a radius of Xm around each point to determine the neighborhood (default: 0.000000)

 **-k** X = use a fixed number of X-nearest neighbors around each point (default: 0.000000)

 For organized datasets, an IntegralImageNormalEstimation approach will be used, with the RADIUS given value as SMOOTHING SIZE.

Optional arguments are:

 **-input\_dir** X  = batch process all PCD files found in input\_dir

 **-output\_dir** X = save the processed files from input\_dir in this directory

## AUTHOR

pcl\_normal\_estimation is part of Point Cloud Library (PCL) - www.pointclouds.org

The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

This manual page was written by Leopold Palomo-Avellaneda \<leo@alaxarxa.net\> with the help of help2man tool and some handmade arrangement for the Debian project (and may be used by others).