A three channel image of 32bit floats generated via ComputeNormals. Each pixel represents the three coordinates of its normal with respect to the world coordinate system (i.e. the same system as the PointMap itself). Its number value is the time stamp of the image it has been created from. The point map normals are computed from the camera’s PointMap. In general ComputeNormals takes care to orient all normals towards the camera’s projection center. However in some degenerate cases (e.g. at depth discontinuities) some of the normals might point away from the camera.



A three channel x,y,z image of 32bit float values with the same size as the point map.