Confusion about Formula 3

[iGuoYanjun]

Your code:
refined_depth = guided_filter(rgb_img, render_dpt_filled, 15, 1e-8)
Your paper:
Depth-align(·) denotes any further depth alignment operation, and we employ guided filtering [14] here to achieve smoother overall depth transitions.
However in Formula 3，the input is Di Not I i. Is this a typo or is it two different steps to align and filter?

[TRL-0]

Thank you for your question. In the actual implementation, the guided_filter requires the depth input D_i (i.e., render_dpt_filled). However, it also needs to take the RGB input I_i (i.e., rgb_img) as an auxiliary input. This part was simplified in the paper to only show the depth input D_i.