Scale Invariant Depth, Metric Depth, and Surface Normals

[pablovela5620]

As I understand here #44 (comment) ya'll are in the process of training a metric version of dust3r, so the current version outputs scale invariant. Was the depth normalized before training? I see here

dust3r/dust3r/datasets/utils/cropping.py

Line 54 in 198c009

def rescale_image_depthmap(image, depthmap, camera_intrinsics, output_resolution):

that the resolution is being changed. But I also notice here

dust3r/datasets_preprocess/preprocess_co3d.py

Line 190 in 198c009

with PIL.Image.open(depth_path) as depth_pil:

that it seems the metric depth map is being loaded?

Is there any normalization being performed on the depth/pointmap to make it scale invariant?

Also I've been following what the MetricV2, have you all looked at including surface normals as supervision based on pointmap -> depthmap -> surface normal conversion such that the network can also produce surface normals?