Organize disparity interpolation

argoverse · Jul 25, 2021 · cb91f13 · cb91f13
1 parent c27dab0
commit cb91f13
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/argoverse/evaluation/stereo/utils.py b/argoverse/evaluation/stereo/utils.py
@@ -67,7 +67,6 @@ def compute_disparity_error(
     density = num_pixels_all_est / num_pixels_all
 
     if density < 1.0:
-        pred_disparity[pred_disparity == 0] = -1  # Set invalid disparities to -1
         pred_disparity = interpolate_disparity(pred_disparity)
 
     # Compute errors
@@ -149,6 +148,8 @@ def interpolate_disparity(disparity: np.ndarray) -> np.ndarray:
     """
     height, width = disparity.shape
 
+    disparity = np.where(disparity == 0, -1, disparity)  # Set invalid disparities to -1
+
     for v in range(height):
         count = 0
         for u in range(width):