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
