fix(foundation-stereo): run_hierachical passes tuple to (+1 more)

[andrewwhitecdw]

Small fixes in core/foundation_stereo.py:

fix: run_hierachical passes tuple to padder.unpad

Fix: Replace:

      disp = self.forward(image1, image2, iters=iters, test_mode=test_mode, low_memory=low_memory, init_disp=init_disp)
      disp = padder.unpad(disp)
      return disp

with:

      disp = self.forward(image1, image2, iters=iters, test_mode=test_mode, low_memory=low_memory, init_disp=init_disp)
      if test_mode:
        disp = padder.unpad(disp)
      else:
        init_disp, disp_preds = disp
        init_disp = padder.unpad(init_disp)
        disp_preds = [padder.unpad(d) for d in disp_preds]
        disp = (init_disp, disp_preds)
      return disp

fix: wrongly adds horizontal padding to disparity values

Fix: Replace:

      image1, image2, disp_small_up = padder.pad(image1, image2, disp_small_up)
      disp_small_up += padder._pad[0]
      init_disp = F.interpolate(disp_small_up, scale_factor=0.25, mode='bilinear', align_corners=True) * 0.25   # Init disp will be 1/4

with:

      image1, image2, disp_small_up = padder.pad(image1, image2, disp_small_up)
      init_disp = F.interpolate(disp_small_up, scale_factor=0.25, mode='bilinear', align_corners=True) * 0.25   # Init disp will be 1/4

Files changed

• core/foundation_stereo.py