On the standard deviation of depth map

[joeyw1030]

std = (((z_vals - depth.unsqueeze(-1)).pow(2) * weights).sum(-1)).sqrt()
I don't quite understand the concept of standard deviation on your side. Can you expand it?

[barbararoessle]

This implements a weighted sample standard deviation, i.e., the square root of the weighted sample variance.

z_vals are the depths of samples along the ray
depth is the weighted mean of z_vals
weights are the normalized weights of the samples