def compute_normal_histograms(normal_cloud): norm_x_vals = [] norm_y_vals = [] norm_z_vals = [] for norm_component in pc2.read_points(normal_cloud, field_names=('normal_x', 'normal_y', 'normal_z'), skip_nans=True): norm_x_vals.append(norm_component[0]) norm_y_vals.append(norm_component[1]) norm_z_vals.append(norm_component[2]) a = Histogram(norm_x_vals, norm_y_vals, norm_z_vals) a.bins_range = (-1, 1) normed_features = a.generate_normalised_concatenated_histogram() return normed_features