The invention discloses a calculating method for three-dimension scanning
point cloud real-time normal vectors. The method includes the steps that (1) a kinect camera is used for performing real object scanning to read
point cloud data, and a KD tree is used for searching for neighborhood points among points in
point cloud; (2) according to a
principal component analysis (PCA), the searched neighborhood points are subjected to fitting to form a plane, and normal vectors of the fitting plane serve as the normal vectors of all points of the point
cloud data; (3) normal vector weighted mean of a neighborhood point of each
data point of the point
cloud data within
radius r can be figured out through a weighted mean
algorithm; (4) normal vector evaluation confidence coefficient of each point is set, and the evaluation is performed by means of the normal vector weighted mean of each neighborhood point of each
data point of the step (3); (5) a threshold value a of the normal vector confidence coefficient of each point is set, the normal vector confidence coefficient of each point is judged, and the normal vectors of the points are corrected. By means of the calculating method for the three-dimension scanning point cloud real-time normal vectors, overhead time of calculation of point
cloud data normal vector
estimation can be reduced, the correction function on the normal vectors of the points can be achieved, reorientation calculation of the point cloud normal vectors can be avoided, and the calculating complexity is reduced.