@@ -34,11 +34,15 @@ def lookup_3dim_no_mask(L, D, Q):
3434 ----------
3535 L : HW x Z x C numpy array of float32
3636 flattened lookup table
37+ D : HW x Z numpy array of float 32
38+ flattened calibrated depth values associated with lookup table
3739 Q : HW x C numpy array of float32
3840 flattened normalized image to query on the lookup table
3941
4042 Returns
4143 -------
44+ depth_map: HW numpy array of float32
45+ depth value for each pixel
4246 minD : HW numpy array of int32
4347 index of the minimum value along Z axis
4448 loss_map : HW numpy array of float32
@@ -68,6 +72,8 @@ def lookup_3dim_with_mask(L, D, Q, mask):
6872 ----------
6973 L : HW x Z x C numpy array of float32
7074 flattened lookup table
75+ D : HW x Z numpy array of float 32
76+ flattened calibrated depth values associated with lookup table
7177 Q : HW x C numpy array of float32
7278 flattened normalized image to query on the lookup table
7379 mask : HW numpy of bool
@@ -77,6 +83,8 @@ def lookup_3dim_with_mask(L, D, Q, mask):
7783
7884 Returns
7985 -------
86+ depth_map: HW numpy array of float32
87+ depth value for each pixel
8088 minD : HW numpy array of int32
8189 index of the minimum value along Z axis
8290 loss_map : HW numpy array of float32
@@ -108,11 +116,15 @@ def lookup_4dim_no_mask(L, D, Q):
108116 ----------
109117 L : H x W x Z x C numpy array of float32
110118 lookup table
119+ D : H x W x Z numpy array of float 32
120+ calibrated depth values associated with lookup table
111121 Q : H x W x C numpy array of float32
112122 normalized image to query on the lookup table
113123
114124 Returns
115125 -------
126+ depth_map: H x W numpy array of float32
127+ depth value for each pixel
116128 minD : H x W numpy array of int32
117129 index of the minimum value along Z axis
118130 loss_map : H x W numpy array of float32
@@ -143,6 +155,8 @@ def lookup_4dim_with_mask(L, D, Q, mask):
143155 ----------
144156 L : H x W x Z x C numpy array of float32
145157 lookup table
158+ D : H x W x Z numpy array of float 32
159+ calibrated depth values associated with lookup table
146160 Q : H x W x C numpy array of float32
147161 normalized image to query on the lookup table
148162 mask : H x W numpy of bool
@@ -152,6 +166,8 @@ def lookup_4dim_with_mask(L, D, Q, mask):
152166
153167 Returns
154168 -------
169+ depth_map: H x W numpy array of float32
170+ depth value for each pixel
155171 minD : H x W numpy array of int32
156172 index of the minimum value along Z axis
157173 loss_map : H x W numpy array of float32
@@ -183,13 +199,17 @@ def lookup(L, D, Q, mask=None):
183199 ----------
184200 L : H x W x Z x C or HW x Z x C numpy array of float32
185201 lookup table
202+ D : H x W x Z or HW x Z numpy array of float 32
203+ calibrated depth values associated with lookup table
186204 Q : H x W x C or HW x C numpy array of float32
187205 normalized image to query on the lookup table
188206 mask : H x W or HW numpy of bool, optional
189207 mask
190208
191209 Returns
192210 -------
211+ depth_map: H x W or HW numpy array of float32
212+ depth value for each pixel
193213 minD : H x W or HW numpy array of int32
194214 index of the minimum value along Z axis
195215 loss_map : H x W or HW numpy array of float32
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