Bug Report: Surface Normal Calculation is Wrong

[aj96]

In depth2normal_tf.py, line 121, you do normal_vector = normalize_l2(normals0). Your final normal vector should be some weighted average of the four resulting cross products normalized by l2 norm, right? line 121 should be
normal_vector = normalize_l2(normal_vector).

Also, isn't it kind of redundant to normalize these vectors multiple times? You should only need to normalize at the end?