for livox lidar about ringfalsnormal HOT 3 CLOSED

Another question:
The normal vectors of some laser points are miscalculated,as shown in the following picture [Different views of the same data]

Maybe part of the error is because the normal vector is close to 90 degrees.
But as you can see, some of the angles are less than 90 degrees.Do you have any good suggestions for this problem?

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@chengwei0427
This method is probably not working well for livox since its mechanism is repeated scanning, but it's still a good idea to give it a try.
The wrong estimate for RingFals probably comes from the fact that some pixels in the range image corresponding to the scan have no range value. Using a low-resolution range image should alleviate this, but that would not be estimating the normal at every point within the scan.

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Thank you for your patience, problem solved.

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