Could you please provide the code for optimizing the scale and shift?

[MobiusLqm]

Hi, thank you for opening source your greate work.
In your paper you mentioned that you use least squares method to optimizing the scale and shift.
Could your provide codes of this part? or give us some intructions about your implementation. I tried to implement it, But i found it is a non-linear process to obtain normal from depth( use neighbor points' cross product as the nomal). Could you give us some hints?

[fuxiao0719]

It has been incorporated in "Run inference for 3D reconstruction using BiNI algorithm" section. Best regards.

[MobiusLqm]

Thank you!