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@ -379,20 +379,13 @@ void orient_scanline (Iterator begin, Iterator end,
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Then, the line of sight (estimated vector between a point and the
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position of the scanner at its time of acquisition) is estimated:
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- if both `scan_direction_flag` and `scan_angle` are provided, the
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line of sight can be directly computed as a combination of the 2D
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vector of the projected scanline, the vertical vector and the
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- if `scan_angle` is provided, the line of sight can be directly
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computed as a combination of the estimated scanline and of the
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scan angle.
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- if only `scan_angle` is provided, then for each scanline, the
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position of the scanner is estimated as being above the point of
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the scanline which has the minimum scan angle absolute
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value. This method is less optimal than the one using
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`scan_direction_flag`.
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- if none of these property maps are provided, then for each
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scanline, the position of the scanner is estimated as being above
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of the barycenter of the points of the scanline projected on the
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- if no scan angle map is provided, then for each scanline, the
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position of the scanner is estimated as being above of the
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barycenter of the points of the scanline projected on the
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XY-plane. This fallback method gives suboptimal results.
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Once the line of sight is estimated for each point, the normals are
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