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Depth covariance computation #77

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JzHuai0108 opened this issue Oct 18, 2024 · 0 comments
Open

Depth covariance computation #77

JzHuai0108 opened this issue Oct 18, 2024 · 0 comments

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@JzHuai0108
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JzHuai0108 commented Oct 18, 2024

Dear author,

I am confused by the lines for depth covariance computation quoted below,

                F = torch.matmul(Q_ * E_sum.t(), L_inv) # K*HW x D*P
                F2 = torch.pow(F, 2)
                delta_cov = F2.sum(dim=-1) # K*HW

My expected form is like below according to your probabilistic fusion paper eq 5,

F = torch.matmul(Q_ * E_sum.t(), L_inv.t()) # K*HW x D*P

Note I think there is a transpose for L_inv. Can you please clarify this?

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