computeCentroidAndNormals.m

%{
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
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%}


function [centroid, normals] = computeCentroidAndNormals(corners)
    centroid = mean(corners(1:3,:), 2);
    normals = cross(corners(1:3,1)-corners(1:3,2), corners(1:3,1)-corners(1:3,3));
    normals = normals/(norm(normals));
    if normals(1) > 0
        normals = -normals;
    end
end