fix: conf.cuda() causes CPU/CUDA device mismatch

[andrewwhitecdw]

Problem

fix: conf.cuda() causes CPU/CUDA device mismatch

Fix

Replace:

            depths[ni] = depth[imc[:, 1], imc[:, 0]]
            confs[ni] = conf.cuda()[imc[:, 1], imc[:, 0]]
        return depths, confs, valids

with:

            depths[ni] = depth[imc[:, 1], imc[:, 0]]
            confs[ni] = conf.to(imc.device)[imc[:, 1], imc[:, 0]]
        return depths, confs, valids

Files changed

• mast3r/cloud_opt/tsdf_optimizer.py