depth confidence mask: wilddet3d/inference.py

wilddet3d/inference.py

@@ -265,8 +265,9 @@ class WildDet3DPredictor(nn.Module):
             scores_3d_out.append(img_scores_3d)
             class_ids_out.append(img_class_ids)
 
-        # Get predicted intrinsics if available
+        # Get predicted intrinsics and confidence maps if available
         predicted_K = output.predicted_intrinsics
+        confidence_maps = output.confidence_maps
 
         if return_predicted_intrinsics:
             return (
@@ -278,6 +279,7 @@ class WildDet3DPredictor(nn.Module):
                 class_ids_out,
                 depth_maps,
                 predicted_K,
+                confidence_maps,
             )
         else:
             return (