Issue Concerning the triangluation_bpa

[kaichen-z]

Thanks for your excellent work. There is one question about def triangluation_bpa(), where the normal is computed as follows:

pcd.normals = o3d.utility.Vector3dVector(pnts[:, :3] / np.linalg.norm(pnts[:, :3], axis=-1, keepdims=True))

Does this mean that you always consider that all cameras are located centering the [0, 0, 0]?