Great job! How do I get the normal labels for each frame from the scannetv2 data set

[li12138cmd]

I want to use scannetV2 data set for related research, I want to know how to get the normal label of each frame from the initial scannetV2 data set, can you give me some help, thank you

[YvanYin]

Hi, you could use this https://github.com/YvanYin/Metric3D/blob/main/training/mono/model/losses/depth_to_normal.py to transform depth to surface normals.