Saved depth seems wrong about idisc HOT 2 CLOSED

Thank you for using our model.
I believe that the effect comes from the saving part, the output depth of our model is metrics depth, thus is has floating values from [0.0, +inf), which can result in PIL saving the image in the wrong format.
I suggest you first convert the scalar float values to RGB with a colormap transformation and then save it. You can look into idisc/utils/visualization.py, more specifically into colorize function. It accepts 2D inputs (e.g., (H, W) shaped numpy array), min and max values (for NYU is 0.01 and 10.0 meters), and the colormap name. For instance, "magma" is a good colormap choice since it has a perceptually increasing colormap and does not introduce wrong spurious contrasts.

One little nitpick: the model was trained with ImageNet normalization statistics, hence it would be better to normalize the RGB image with those, instead of the default ones, i.e., {"mean": [0.5, 0.5, 0.5], "std": [0.5, 0.5, 0.5]}

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Hi @lpiccinelli-eth, this solves it!
Thank you so much for your response and detailed explanation!

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