SDF recovery

[barbosafs]

In the paper you write

While the resulting EDF now loses the sign, it is possible to recover the sign using the surface normal and sensor’s location.

and

However, we recover the sign of the Log-GPIS by comparing the predicted gradient of each testing point with sensor position. If the gradient is in the opposite direction of the sensor, we flip the sign of distance value of the testing point.

I could not find throughout the paper how you define "sensor position". Looking at the source code has also led me nowhere. Could you give a hand, please? How would I reproduce it in the source code you provide?

[LanWu076]

We have the camera position for each frame, so that we can have the sign for the explored area. In this repo, the 2d case has an engineering way to recover the sign.

https://github.com/LanWu076/LogGPisMap