fix: wrong first argument passed to _refine_depths_with_TSDF

[andrewwhitecdw]

Problem

fix: wrong first argument passed to _refine_depths_with_TSDF

Fix

Replace:

    def _get_depthmaps(self, TSDF_filtering_thresh=None):
        if TSDF_filtering_thresh:
            self._refine_depths_with_TSDF(self.optimizer, TSDF_filtering_thresh)  # compute refined depths if needed
        dms = self.TSDF_im_depthmaps if TSDF_filtering_thresh else self.im_depthmaps
        return [d.exp() for d in dms]

with:

    def _get_depthmaps(self, TSDF_filtering_thresh=None):
        if TSDF_filtering_thresh:
            self._refine_depths_with_TSDF(TSDF_filtering_thresh)  # compute refined depths if needed
        dms = self.TSDF_im_depthmaps if TSDF_filtering_thresh else self.im_depthmaps
        return [d.exp() for d in dms]

Files changed

• mast3r/cloud_opt/tsdf_optimizer.py