Algorithm for normal estimation in cloud compare

[miniMaddy]

Hello everyone,
I am writing a research paper and I used Cloudcompare normal estimation for my experiments. I want to write the normal algorithm that Cloudcompare uses but I can't seem to find anything online. Can someone please help me with the algorithm.
I am really grateful for your time.

[daniel]

Super simple: extract the neighbors around each point of the cloud, then fit either a plane, a 2.5D quadric or compute the Delaunay triangulation (see https://www.cloudcompare.org/doc/wiki/i ... %5CCompute).