Function estimate_normals

pub fn estimate_normals(
    cloud: &PointCloud<Point3f>,
    k: usize,
) -> Result<PointCloud<NormalPoint3f>>

Estimate normals for a point cloud using k-nearest neighbors

This function computes surface normals for each point in the cloud by:

1. Finding k nearest neighbors for each point (or neighbors within radius)
2. Computing the normal using Principal Component Analysis (PCA)
3. The normal is the eigenvector corresponding to the smallest eigenvalue
4. Optionally enforcing orientation consistency towards a viewpoint

Arguments

• cloud - Reference to the point cloud
• k - Number of nearest neighbors to use (typically 10-30)

Returns

• Result<PointCloud<NormalPoint3f>> - A new point cloud with normals