updates to depth representation

dronescapes_reader/dronescapes_representations.py

@@ -30,13 +30,22 @@ class EdgesRepresentation(NpzRepresentation):
 
 class DepthRepresentation(NpzRepresentation):
     """DepthRepresentation. Implements depth task-specific stuff, like hotmap."""
-    def __init__(self, name: str):
+    def __init__(self, name: str, min_depth: float, max_depth: float):
         super().__init__(name, n_channels=1)
+        self.min_depth = min_depth
+        self.max_depth = max_depth
+
+    @overrides
+    def load_from_disk(self, path: Path) -> tr.Tensor:
+        """Reads the npz data from the disk and transforms it properly"""
+        res = super().load_from_disk(path)
+        res_clip = res.clip(self.min_depth, self.max_depth)
+        return res_clip
 
     @overrides
     def plot_fn(self, x: tr.Tensor) -> np.ndarray:
         x = x.detach().clip(0, 1).squeeze().cpu().numpy()
-        _min, _max = np.percentile(x, [5, 95])
+        _min, _max = np.percentile(x, [1, 95])
         x = np.nan_to_num((x - _min) / (_max - _min), False, 0, 0, 0).clip(0, 1)
         y: np.ndarray = hot(x)[..., 0:3] * 255
         return y.astype(np.uint8)
@@ -91,9 +100,9 @@ dronescapes_task_types = { # some pre-baked representations
     "hsv": HSVRepresentation("hsv"),
     "edges_dexined": EdgesRepresentation("edges_dexined"),
     "edges_gb": EdgesRepresentation("edges_gb"),
-    "depth_dpt": DepthRepresentation("depth_dpt"),
-    "depth_sfm_manual202204": DepthRepresentation("depth_sfm_manual202204"),
-    "depth_ufo": DepthRepresentation("depth_ufo"),
+    "depth_dpt": DepthRepresentation("depth_dpt", min_depth=0, max_depth=0.999),
+    "depth_sfm_manual202204": DepthRepresentation("depth_sfm_manual202204", min_depth=0, max_depth=300),
+    "depth_ufo": DepthRepresentation("depth_ufo", min_depth=0, max_depth=1),
     "normals_sfm_manual202204": NormalsRepresentation("normals_sfm_manual202204"),
     "opticalflow_rife": OpticalFlowRepresentation("opticalflow_rife"),
     "semantic_segprop8": SemanticRepresentation("semantic_segprop8", classes=8, color_map=_color_map),