Reconstructing the 3D point cloud when the intrinsic is known

[qiaomu-miao]

Hi,

Thanks for the great work!

Your model predicts the shift for the estimated depth and a scale factor for the camera focal length after monocular depth estimation. In my project, my cameras are already calibrated and I already have the intrinsic parameters. What is the way to get the accurate point cloud with your model in my case? Should I just ignore the predicted scaling factor for the focal length?