small updates to semantic mapper

scripts/semantic_mapper/semantic_mapper.py

@@ -7,8 +7,8 @@ from pprint import pprint
 import numpy as np
 import torch as tr
 
-from vre.utils import (semantic_mapper, colorize_semantic_segmentation, DiskData, MemoryData, ReprOut, reorder_dict,
-                       collage_fn, image_add_title, lo)
+from vre.utils import (semantic_mapper, colorize_semantic_segmentation, DiskData, MemoryData,
+                       ReprOut, reorder_dict, collage_fn, image_add_title, lo)
 from vre.logger import vre_logger as logger
 from vre.readers.multitask_dataset import MultiTaskDataset, MultiTaskItem
 from vre.representations import TaskMapper, NpIORepresentation, Representation, build_representations_from_cfg
@@ -106,10 +106,9 @@ m2f_r50_mapillary = SemanticRepresentation("semantic_mask2former_mapillary_49189
 marigold = DepthRepresentation("depth_marigold", min_depth=0, max_depth=1)
 normals_svd_marigold = NormalsRepresentation("normals_svd(depth_marigold)")
 
-class SemanticMask2FormerMapillaryConvertedPaper(TaskMapper, NpIORepresentation):
-    def __init__(self, name: str, dependencies: list[Representation]):
+class SemanticMask2FormerMapillaryConvertedPaper(TaskMapper, SemanticRepresentation):
+    def __init__(self, name: str, dependencies: list[SemanticRepresentation]):
         TaskMapper.__init__(self, name=name, n_channels=8, dependencies=dependencies)
-        NpIORepresentation.__init__(self)
         self.mapping = {
             "land": ["Terrain", "Sand", "Snow"],
             "forest": ["Vegetation"],
@@ -127,40 +126,21 @@ class SemanticMask2FormerMapillaryConvertedPaper(TaskMapper, NpIORepresentation)
             "sky": ["Sky"],
             "hill": ["Mountain"]
         }
-        self.color_map = [[0, 255, 0], [0, 127, 0], [255, 255, 0], [255, 255, 255],
-                          [255, 0, 0], [0, 0, 255], [0, 255, 255], [127, 127, 63]]
+        color_map = [[0, 255, 0], [0, 127, 0], [255, 255, 0], [255, 255, 255],
+                     [255, 0, 0], [0, 0, 255], [0, 255, 255], [127, 127, 63]]
+        SemanticRepresentation.__init__(self, name, dependencies=dependencies, classes=list(self.mapping),
+                                        color_map=color_map, disk_data_argmax=True)
         self.original_classes = dependencies[0].classes
         assert set(reduce(lambda x, y: x + y, self.mapping.values(), [])) == set(self.original_classes)
-        self.classes = list(self.mapping.keys())
-        self.n_classes = len(self.classes)
-        self.output_dtype = "uint8"
-
-    @property
-    @overrides
-    def n_channels(self) -> int:
-        return self.n_classes
-
-    @overrides
-    def make_images(self, data: ReprOut) -> np.ndarray:
-        return colorize_semantic_segmentation(data.output.argmax(-1), self.classes, self.color_map)
 
     @overrides
     def merge_fn(self, dep_data: list[MemoryData]) -> MemoryData:
         m2f_mapillary_converted = semantic_mapper(dep_data[0].argmax(-1), self.mapping, self.original_classes)
         return self.disk_to_memory_fmt(m2f_mapillary_converted)
 
-    @overrides
-    def memory_to_disk_fmt(self, memory_data: MemoryData) -> DiskData:
-        return memory_data.argmax(-1).astype(np.uint8)
-
-    @overrides
-    def disk_to_memory_fmt(self, disk_data: DiskData) -> MemoryData:
-        return MemoryData(np.eye(self.n_classes)[disk_data.astype(int)])
-
-class SemanticMask2FormerCOCOConverted(TaskMapper, NpIORepresentation):
+class SemanticMask2FormerCOCOConverted(TaskMapper, SemanticRepresentation):
     def __init__(self, name: str, dependencies: list[Representation]):
         TaskMapper.__init__(self, name=name, n_channels=8, dependencies=dependencies)
-        NpIORepresentation.__init__(self)
         self.mapping = {
             "land": ["grass-merged", "dirt-merged", "sand", "gravel", "flower", "playingfield", "snow", "platform"],
             "forest": ["tree-merged"],
@@ -185,22 +165,11 @@ class SemanticMask2FormerCOCOConverted(TaskMapper, NpIORepresentation):
             "sky": ["sky-other-merged"],
             "hill": ["mountain-merged"]
         }
-        self.color_map = [[0, 255, 0], [0, 127, 0], [255, 255, 0], [255, 255, 255],
-                          [255, 0, 0], [0, 0, 255], [0, 255, 255], [127, 127, 63]]
+        color_map = [[0, 255, 0], [0, 127, 0], [255, 255, 0], [255, 255, 255],
+                     [255, 0, 0], [0, 0, 255], [0, 255, 255], [127, 127, 63]]
+        SemanticRepresentation.__init__(self, name, dependencies=dependencies, classes=list(self.mapping),
+                                        color_map=color_map, disk_data_argmax=True)
         self.original_classes = dependencies[0].classes
-        assert set(reduce(lambda x, y: x + y, self.mapping.values(), [])) == set(self.original_classes)
-        self.classes = list(self.mapping.keys())
-        self.n_classes = len(self.classes)
-        self.output_dtype = "uint8"
-
-    @property
-    @overrides
-    def n_channels(self) -> int:
-        return self.n_classes
-
-    @overrides
-    def make_images(self, data: ReprOut) -> np.ndarray:
-        return colorize_semantic_segmentation(data.output.argmax(-1), self.classes, self.color_map)
 
     @overrides
     def merge_fn(self, dep_data: list[MemoryData]) -> MemoryData:
@@ -208,14 +177,6 @@ class SemanticMask2FormerCOCOConverted(TaskMapper, NpIORepresentation):
         res = self.disk_to_memory_fmt(m2f_mapillary_converted)
         return res
 
-    @overrides
-    def memory_to_disk_fmt(self, memory_data: MemoryData) -> DiskData:
-        return memory_data.argmax(-1).astype(np.uint8)
-
-    @overrides
-    def disk_to_memory_fmt(self, disk_data: DiskData) -> MemoryData:
-        return MemoryData(np.eye(self.n_classes)[disk_data.astype(int)])
-
 class BinaryMapper(TaskMapper, NpIORepresentation):
     """
     Note for future self: this is never generic enough to be in VRE -- we'll keep it in this separate code only
@@ -269,13 +230,12 @@ class BinaryMapper(TaskMapper, NpIORepresentation):
             res_argmax = sum(dep_data_converted) > len(dep_data_converted) // 2
         return self.disk_to_memory_fmt(res_argmax)
 
-class BuildingsFromM2FDepth(BinaryMapper, NpIORepresentation):
+class BuildingsFromM2FDepth(BinaryMapper):
     def __init__(self, name: str, dependencies: list[Representation], buildings: BinaryMapper, mode: str,
                  load_mode: str = "binary"):
         assert len(dependencies) == 1, dependencies
         BinaryMapper.__init__(self, name=name, dependencies=buildings.dependencies,
                               mapping=buildings.mapping, mode=mode, load_mode=load_mode)
-        NpIORepresentation.__init__(self)
         self.dependencies = [*buildings.dependencies, dependencies[0]]
         self.classes = ["others", name]
 
@@ -286,26 +246,18 @@ class BuildingsFromM2FDepth(BinaryMapper, NpIORepresentation):
         buildings_depth = buildings * (depth <= thr)
         return self.disk_to_memory_fmt(buildings_depth.astype(bool))
 
-class SemanticMedian(TaskMapper, NpIORepresentation):
-    def __init__(self, name: str, deps: list[TaskMapper]):
+class SemanticMedian(TaskMapper, SemanticRepresentation):
+    def __init__(self, name: str, deps: list[TaskMapper | SemanticRepresentation]):
         assert all(dep.n_channels == deps[0].n_channels for dep in deps), [(dep.name, dep.n_channels) for dep in deps]
         TaskMapper.__init__(self, name, n_channels=deps[0].n_channels, dependencies=deps)
-        NpIORepresentation.__init__(self)
-        self.classes = list(deps[0].classes)
-        self.n_classes = len(self.classes)
-        self.output_dtype = "uint8"
-        self.color_map = deps[0].color_map
+        SemanticRepresentation.__init__(self, name, dependencies=deps, classes=deps[0].classes,
+                                        color_map=deps[0].color_map, disk_data_argmax=True)
 
     @overrides
     def merge_fn(self, dep_data: list[MemoryData]) -> MemoryData:
-        return MemoryData(np.eye(self.n_classes)[sum(dep_data).argmax(-1)].astype(np.uint8))
+        return MemoryData(np.eye(self.n_classes)[sum(dep_data).argmax(-1)].astype(np.float32))
 
-    @overrides
-    def make_images(self, data: ReprOut) -> np.ndarray:
-        data_output = data.output.argmax(-1) if np.issubdtype(data.output.dtype, np.floating) else data.output
-        return colorize_semantic_segmentation(data_output, self.classes, self.color_map)
-
-class SafeLandingAreas(BinaryMapper, NpIORepresentation):
+class SafeLandingAreas(BinaryMapper):
     def __init__(self, name: str, depth: DepthRepresentation, camera_normals: NormalsRepresentation,
                  include_semantics: bool, original_classes: tuple[list[str], list[str]] | None = None,
                  semantics: list[SemanticRepresentation] | None = None, load_mode: str = "binary"):
@@ -315,7 +267,6 @@ class SafeLandingAreas(BinaryMapper, NpIORepresentation):
             assert len(semantics) == 3
             dependencies = [*dependencies, *semantics]
         TaskMapper.__init__(self, name, dependencies=dependencies, n_channels=2)
-        NpIORepresentation.__init__(self)
         self.color_map = [[255, 0, 0], [0, 255, 0]]
         self.original_classes = original_classes
         self.classes = ["unsafe-landing", "safe-landing"]

vre_dronescapes/cntrs.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -11,7 +11,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 2,
    "metadata": {},
    "outputs": [
     {
@@ -19,13 +19,7 @@
      "output_type": "stream",
      "text": [
       "ls: cannot access 'comana_DJI_0881_full/camera_normals_output/npz': No such file or directory\n",
-      "ls: cannot access 'comana_DJI_0881_full/depth_output/npz': No such file or directory\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
+      "ls: cannot access 'comana_DJI_0881_full/depth_output/npz': No such file or directory\n",
       "ls: cannot access 'norway_210821_DJI_0015_full/camera_normals_output/npz': No such file or directory\n",
       "ls: cannot access 'norway_210821_DJI_0015_full/depth_output/npz': No such file or directory\n"
      ]
@@ -37,7 +31,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [
     {
@@ -180,14 +174,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "/tmp/ipykernel_3560989/2846805734.py:4: DeprecationWarning: DataFrameGroupBy.apply operated on the grouping columns. This behavior is deprecated, and in a future version of pandas the grouping columns will be excluded from the operation. Either pass `include_groups=False` to exclude the groupings or explicitly select the grouping columns after groupby to silence this warning.\n",
+      "/tmp/ipykernel_78883/2846805734.py:4: DeprecationWarning: DataFrameGroupBy.apply operated on the grouping columns. This behavior is deprecated, and in a future version of pandas the grouping columns will be excluded from the operation. Either pass `include_groups=False` to exclude the groupings or explicitly select the grouping columns after groupby to silence this warning.\n",
       "  df2 = df.groupby(\"scene\").apply(f).reset_index().drop(columns=[\"level_1\"]).set_index(\"scene\")\n"
      ]
     },
@@ -420,27 +414,27 @@
        "      <td>2983</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <th>norway_DJI_0741_540p</th>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
-       "      <td>9021</td>\n",
+       "      <th>norway_DJI_0708_540p</th>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
+       "      <td>4763</td>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th>olanesti_DJI_0416_full</th>\n",
@@ -604,29 +598,6 @@
        "      <td>6264</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <th>rome_youtube_1_540p</th>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "      <td>14074</td>\n",
-       "    </tr>\n",
-       "    <tr>\n",
        "      <th>sanfrancisco_youtube_1_540p</th>\n",
        "      <td>5635</td>\n",
        "      <td>5635</td>\n",
@@ -650,6 +621,29 @@
        "      <td>5635</td>\n",
        "    </tr>\n",
        "    <tr>\n",
+       "      <th>sheerness_youtube_1_540p</th>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "      <td>4950</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
        "      <th>slanic_DJI_0956_0957_combined_sliced_780_9780</th>\n",
        "      <td>9001</td>\n",
        "      <td>9001</td>\n",
@@ -674,26 +668,26 @@
        "    </tr>\n",
        "    <tr>\n",
        "      <th>total</th>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>95534</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>95534</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>99685</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
-       "      <td>160254</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>82152</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>82152</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>86303</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
+       "      <td>146872</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
        "</table>\n",
@@ -709,7 +703,7 @@
        "herculane_DJI_0021_full                               9022       9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...   11066      11066   \n",
        "norway_210821_DJI_0015_full                           2983       2983   \n",
-       "norway_DJI_0741_540p                                  9021       9021   \n",
+       "norway_DJI_0708_540p                                  4763       4763   \n",
        "olanesti_DJI_0416_full                                9022       9022   \n",
        "ovaselu_DJI_0372_540p                                 9022       9022   \n",
        "paris_youtube_1_540p                                  8455       8455   \n",
@@ -717,10 +711,10 @@
        "politehnica_DJI_0741_a2_540p                          9021       9021   \n",
        "raciu_DJI_0418_540p                                   9022       9022   \n",
        "riodejaneiro_youtube_1_540p                           6264       6264   \n",
-       "rome_youtube_1_540p                                  14074      14074   \n",
        "sanfrancisco_youtube_1_540p                           5635       5635   \n",
+       "sheerness_youtube_1_540p                              4950       4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780         9001       9001   \n",
-       "total                                               160254     160254   \n",
+       "total                                               146872     146872   \n",
        "\n",
        "                                                    buildings(nearby)  \\\n",
        "scene                                                                   \n",
@@ -731,7 +725,7 @@
        "herculane_DJI_0021_full                                          9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...              11066   \n",
        "norway_210821_DJI_0015_full                                      2983   \n",
-       "norway_DJI_0741_540p                                             9021   \n",
+       "norway_DJI_0708_540p                                             4763   \n",
        "olanesti_DJI_0416_full                                           9022   \n",
        "ovaselu_DJI_0372_540p                                            9022   \n",
        "paris_youtube_1_540p                                             8455   \n",
@@ -739,10 +733,10 @@
        "politehnica_DJI_0741_a2_540p                                     9021   \n",
        "raciu_DJI_0418_540p                                              9022   \n",
        "riodejaneiro_youtube_1_540p                                      6264   \n",
-       "rome_youtube_1_540p                                             14074   \n",
        "sanfrancisco_youtube_1_540p                                      5635   \n",
+       "sheerness_youtube_1_540p                                         4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                    9001   \n",
-       "total                                                          160254   \n",
+       "total                                                          146872   \n",
        "\n",
        "                                                    camera_normals_output  \\\n",
        "scene                                                                       \n",
@@ -753,7 +747,7 @@
        "herculane_DJI_0021_full                                               847   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                   1452   \n",
        "norway_210821_DJI_0015_full                                             0   \n",
-       "norway_DJI_0741_540p                                                 9021   \n",
+       "norway_DJI_0708_540p                                                 4763   \n",
        "olanesti_DJI_0416_full                                               1210   \n",
        "ovaselu_DJI_0372_540p                                                9022   \n",
        "paris_youtube_1_540p                                                 8455   \n",
@@ -761,10 +755,10 @@
        "politehnica_DJI_0741_a2_540p                                         9021   \n",
        "raciu_DJI_0418_540p                                                  9022   \n",
        "riodejaneiro_youtube_1_540p                                          6264   \n",
-       "rome_youtube_1_540p                                                 14074   \n",
        "sanfrancisco_youtube_1_540p                                          5635   \n",
+       "sheerness_youtube_1_540p                                             4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                        9001   \n",
-       "total                                                               95534   \n",
+       "total                                                               82152   \n",
        "\n",
        "                                                    containing  \\\n",
        "scene                                                            \n",
@@ -775,7 +769,7 @@
        "herculane_DJI_0021_full                                   9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...       11066   \n",
        "norway_210821_DJI_0015_full                               2983   \n",
-       "norway_DJI_0741_540p                                      9021   \n",
+       "norway_DJI_0708_540p                                      4763   \n",
        "olanesti_DJI_0416_full                                    9022   \n",
        "ovaselu_DJI_0372_540p                                     9022   \n",
        "paris_youtube_1_540p                                      8455   \n",
@@ -783,10 +777,10 @@
        "politehnica_DJI_0741_a2_540p                              9021   \n",
        "raciu_DJI_0418_540p                                       9022   \n",
        "riodejaneiro_youtube_1_540p                               6264   \n",
-       "rome_youtube_1_540p                                      14074   \n",
        "sanfrancisco_youtube_1_540p                               5635   \n",
+       "sheerness_youtube_1_540p                                  4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780             9001   \n",
-       "total                                                   160254   \n",
+       "total                                                   146872   \n",
        "\n",
        "                                                    depth_marigold  \\\n",
        "scene                                                                \n",
@@ -797,7 +791,7 @@
        "herculane_DJI_0021_full                                       9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...           11066   \n",
        "norway_210821_DJI_0015_full                                   2983   \n",
-       "norway_DJI_0741_540p                                          9021   \n",
+       "norway_DJI_0708_540p                                          4763   \n",
        "olanesti_DJI_0416_full                                        9022   \n",
        "ovaselu_DJI_0372_540p                                         9022   \n",
        "paris_youtube_1_540p                                          8455   \n",
@@ -805,10 +799,10 @@
        "politehnica_DJI_0741_a2_540p                                  9021   \n",
        "raciu_DJI_0418_540p                                           9022   \n",
        "riodejaneiro_youtube_1_540p                                   6264   \n",
-       "rome_youtube_1_540p                                          14074   \n",
        "sanfrancisco_youtube_1_540p                                   5635   \n",
+       "sheerness_youtube_1_540p                                      4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                 9001   \n",
-       "total                                                       160254   \n",
+       "total                                                       146872   \n",
        "\n",
        "                                                    depth_output  \\\n",
        "scene                                                              \n",
@@ -819,7 +813,7 @@
        "herculane_DJI_0021_full                                      847   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...          1452   \n",
        "norway_210821_DJI_0015_full                                    0   \n",
-       "norway_DJI_0741_540p                                        9021   \n",
+       "norway_DJI_0708_540p                                        4763   \n",
        "olanesti_DJI_0416_full                                      1210   \n",
        "ovaselu_DJI_0372_540p                                       9022   \n",
        "paris_youtube_1_540p                                        8455   \n",
@@ -827,10 +821,10 @@
        "politehnica_DJI_0741_a2_540p                                9021   \n",
        "raciu_DJI_0418_540p                                         9022   \n",
        "riodejaneiro_youtube_1_540p                                 6264   \n",
-       "rome_youtube_1_540p                                        14074   \n",
        "sanfrancisco_youtube_1_540p                                 5635   \n",
+       "sheerness_youtube_1_540p                                    4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780               9001   \n",
-       "total                                                      95534   \n",
+       "total                                                      82152   \n",
        "\n",
        "                                                    normals_svd(depth_marigold)  \\\n",
        "scene                                                                             \n",
@@ -841,7 +835,7 @@
        "herculane_DJI_0021_full                                                    9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                        11066   \n",
        "norway_210821_DJI_0015_full                                                2983   \n",
-       "norway_DJI_0741_540p                                                       9021   \n",
+       "norway_DJI_0708_540p                                                       4763   \n",
        "olanesti_DJI_0416_full                                                     9022   \n",
        "ovaselu_DJI_0372_540p                                                      9022   \n",
        "paris_youtube_1_540p                                                       8455   \n",
@@ -849,10 +843,10 @@
        "politehnica_DJI_0741_a2_540p                                               9021   \n",
        "raciu_DJI_0418_540p                                                        9022   \n",
        "riodejaneiro_youtube_1_540p                                                6264   \n",
-       "rome_youtube_1_540p                                                       14074   \n",
        "sanfrancisco_youtube_1_540p                                                5635   \n",
+       "sheerness_youtube_1_540p                                                   4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                              9001   \n",
-       "total                                                                    160254   \n",
+       "total                                                                    146872   \n",
        "\n",
        "                                                    safe-landing-no-sseg  \\\n",
        "scene                                                                      \n",
@@ -863,7 +857,7 @@
        "herculane_DJI_0021_full                                             9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                 11066   \n",
        "norway_210821_DJI_0015_full                                         2983   \n",
-       "norway_DJI_0741_540p                                                9021   \n",
+       "norway_DJI_0708_540p                                                4763   \n",
        "olanesti_DJI_0416_full                                              9022   \n",
        "ovaselu_DJI_0372_540p                                               9022   \n",
        "paris_youtube_1_540p                                                8455   \n",
@@ -871,10 +865,10 @@
        "politehnica_DJI_0741_a2_540p                                        9021   \n",
        "raciu_DJI_0418_540p                                                 9022   \n",
        "riodejaneiro_youtube_1_540p                                         6264   \n",
-       "rome_youtube_1_540p                                                14074   \n",
        "sanfrancisco_youtube_1_540p                                         5635   \n",
+       "sheerness_youtube_1_540p                                            4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                       9001   \n",
-       "total                                                             160254   \n",
+       "total                                                             146872   \n",
        "\n",
        "                                                    safe-landing-semantics  \\\n",
        "scene                                                                        \n",
@@ -885,7 +879,7 @@
        "herculane_DJI_0021_full                                               9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                   11066   \n",
        "norway_210821_DJI_0015_full                                           2983   \n",
-       "norway_DJI_0741_540p                                                  9021   \n",
+       "norway_DJI_0708_540p                                                  4763   \n",
        "olanesti_DJI_0416_full                                                9022   \n",
        "ovaselu_DJI_0372_540p                                                 9022   \n",
        "paris_youtube_1_540p                                                  8455   \n",
@@ -893,10 +887,10 @@
        "politehnica_DJI_0741_a2_540p                                          9021   \n",
        "raciu_DJI_0418_540p                                                   9022   \n",
        "riodejaneiro_youtube_1_540p                                           6264   \n",
-       "rome_youtube_1_540p                                                  14074   \n",
        "sanfrancisco_youtube_1_540p                                           5635   \n",
+       "sheerness_youtube_1_540p                                              4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                         9001   \n",
-       "total                                                               160254   \n",
+       "total                                                               146872   \n",
        "\n",
        "                                                    semantic_mask2former_coco_47429163_0  \\\n",
        "scene                                                                                      \n",
@@ -907,7 +901,7 @@
        "herculane_DJI_0021_full                                                             9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                                 11066   \n",
        "norway_210821_DJI_0015_full                                                         2983   \n",
-       "norway_DJI_0741_540p                                                                9021   \n",
+       "norway_DJI_0708_540p                                                                4763   \n",
        "olanesti_DJI_0416_full                                                              9022   \n",
        "ovaselu_DJI_0372_540p                                                               9022   \n",
        "paris_youtube_1_540p                                                                8455   \n",
@@ -915,10 +909,10 @@
        "politehnica_DJI_0741_a2_540p                                                        9021   \n",
        "raciu_DJI_0418_540p                                                                 9022   \n",
        "riodejaneiro_youtube_1_540p                                                         6264   \n",
-       "rome_youtube_1_540p                                                                14074   \n",
        "sanfrancisco_youtube_1_540p                                                         5635   \n",
+       "sheerness_youtube_1_540p                                                            4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                                       9001   \n",
-       "total                                                                             160254   \n",
+       "total                                                                             146872   \n",
        "\n",
        "                                                    semantic_mask2former_mapillary_49189528_0  \\\n",
        "scene                                                                                           \n",
@@ -929,7 +923,7 @@
        "herculane_DJI_0021_full                                                                  9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                                      11066   \n",
        "norway_210821_DJI_0015_full                                                              2983   \n",
-       "norway_DJI_0741_540p                                                                     9021   \n",
+       "norway_DJI_0708_540p                                                                     4763   \n",
        "olanesti_DJI_0416_full                                                                   9022   \n",
        "ovaselu_DJI_0372_540p                                                                    9022   \n",
        "paris_youtube_1_540p                                                                     8455   \n",
@@ -937,10 +931,10 @@
        "politehnica_DJI_0741_a2_540p                                                             9021   \n",
        "raciu_DJI_0418_540p                                                                      9022   \n",
        "riodejaneiro_youtube_1_540p                                                              6264   \n",
-       "rome_youtube_1_540p                                                                     14074   \n",
        "sanfrancisco_youtube_1_540p                                                              5635   \n",
+       "sheerness_youtube_1_540p                                                                 4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                                            9001   \n",
-       "total                                                                                  160254   \n",
+       "total                                                                                  146872   \n",
        "\n",
        "                                                    semantic_mask2former_mapillary_49189528_1  \\\n",
        "scene                                                                                           \n",
@@ -951,7 +945,7 @@
        "herculane_DJI_0021_full                                                                  9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                                      11066   \n",
        "norway_210821_DJI_0015_full                                                              2983   \n",
-       "norway_DJI_0741_540p                                                                     9021   \n",
+       "norway_DJI_0708_540p                                                                     4763   \n",
        "olanesti_DJI_0416_full                                                                   9022   \n",
        "ovaselu_DJI_0372_540p                                                                    9022   \n",
        "paris_youtube_1_540p                                                                     8455   \n",
@@ -959,10 +953,10 @@
        "politehnica_DJI_0741_a2_540p                                                             9021   \n",
        "raciu_DJI_0418_540p                                                                      9022   \n",
        "riodejaneiro_youtube_1_540p                                                              6264   \n",
-       "rome_youtube_1_540p                                                                     14074   \n",
        "sanfrancisco_youtube_1_540p                                                              5635   \n",
+       "sheerness_youtube_1_540p                                                                 4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                                            9001   \n",
-       "total                                                                                  160254   \n",
+       "total                                                                                  146872   \n",
        "\n",
        "                                                    semantic_mask2former_r50_mapillary_converted  \\\n",
        "scene                                                                                              \n",
@@ -973,7 +967,7 @@
        "herculane_DJI_0021_full                                                                     9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                                         11066   \n",
        "norway_210821_DJI_0015_full                                                                 2983   \n",
-       "norway_DJI_0741_540p                                                                        9021   \n",
+       "norway_DJI_0708_540p                                                                        4763   \n",
        "olanesti_DJI_0416_full                                                                      9022   \n",
        "ovaselu_DJI_0372_540p                                                                       9022   \n",
        "paris_youtube_1_540p                                                                        8455   \n",
@@ -981,10 +975,10 @@
        "politehnica_DJI_0741_a2_540p                                                                9021   \n",
        "raciu_DJI_0418_540p                                                                         9022   \n",
        "riodejaneiro_youtube_1_540p                                                                 6264   \n",
-       "rome_youtube_1_540p                                                                        14074   \n",
        "sanfrancisco_youtube_1_540p                                                                 5635   \n",
+       "sheerness_youtube_1_540p                                                                    4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                                               9001   \n",
-       "total                                                                                     160254   \n",
+       "total                                                                                     146872   \n",
        "\n",
        "                                                    semantic_mask2former_swin_coco_converted  \\\n",
        "scene                                                                                          \n",
@@ -995,7 +989,7 @@
        "herculane_DJI_0021_full                                                                 9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                                     11066   \n",
        "norway_210821_DJI_0015_full                                                             2983   \n",
-       "norway_DJI_0741_540p                                                                    9021   \n",
+       "norway_DJI_0708_540p                                                                    4763   \n",
        "olanesti_DJI_0416_full                                                                  9022   \n",
        "ovaselu_DJI_0372_540p                                                                   9022   \n",
        "paris_youtube_1_540p                                                                    8455   \n",
@@ -1003,10 +997,10 @@
        "politehnica_DJI_0741_a2_540p                                                            9021   \n",
        "raciu_DJI_0418_540p                                                                     9022   \n",
        "riodejaneiro_youtube_1_540p                                                             6264   \n",
-       "rome_youtube_1_540p                                                                    14074   \n",
        "sanfrancisco_youtube_1_540p                                                             5635   \n",
+       "sheerness_youtube_1_540p                                                                4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                                           9001   \n",
-       "total                                                                                 160254   \n",
+       "total                                                                                 146872   \n",
        "\n",
        "                                                    semantic_mask2former_swin_mapillary_converted  \\\n",
        "scene                                                                                               \n",
@@ -1017,7 +1011,7 @@
        "herculane_DJI_0021_full                                                                      9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...                                          11066   \n",
        "norway_210821_DJI_0015_full                                                                  2983   \n",
-       "norway_DJI_0741_540p                                                                         9021   \n",
+       "norway_DJI_0708_540p                                                                         4763   \n",
        "olanesti_DJI_0416_full                                                                       9022   \n",
        "ovaselu_DJI_0372_540p                                                                        9022   \n",
        "paris_youtube_1_540p                                                                         8455   \n",
@@ -1025,10 +1019,10 @@
        "politehnica_DJI_0741_a2_540p                                                                 9021   \n",
        "raciu_DJI_0418_540p                                                                          9022   \n",
        "riodejaneiro_youtube_1_540p                                                                  6264   \n",
-       "rome_youtube_1_540p                                                                         14074   \n",
        "sanfrancisco_youtube_1_540p                                                                  5635   \n",
+       "sheerness_youtube_1_540p                                                                     4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                                                9001   \n",
-       "total                                                                                      160254   \n",
+       "total                                                                                      146872   \n",
        "\n",
        "                                                    semantic_output  \\\n",
        "scene                                                                 \n",
@@ -1039,7 +1033,7 @@
        "herculane_DJI_0021_full                                         847   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...             1452   \n",
        "norway_210821_DJI_0015_full                                    2941   \n",
-       "norway_DJI_0741_540p                                           9021   \n",
+       "norway_DJI_0708_540p                                           4763   \n",
        "olanesti_DJI_0416_full                                         1210   \n",
        "ovaselu_DJI_0372_540p                                          9022   \n",
        "paris_youtube_1_540p                                           8455   \n",
@@ -1047,10 +1041,10 @@
        "politehnica_DJI_0741_a2_540p                                   9021   \n",
        "raciu_DJI_0418_540p                                            9022   \n",
        "riodejaneiro_youtube_1_540p                                    6264   \n",
-       "rome_youtube_1_540p                                           14074   \n",
        "sanfrancisco_youtube_1_540p                                    5635   \n",
+       "sheerness_youtube_1_540p                                       4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                  9001   \n",
-       "total                                                         99685   \n",
+       "total                                                         86303   \n",
        "\n",
        "                                                    sky-and-water  \\\n",
        "scene                                                               \n",
@@ -1061,7 +1055,7 @@
        "herculane_DJI_0021_full                                      9022   \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...          11066   \n",
        "norway_210821_DJI_0015_full                                  2983   \n",
-       "norway_DJI_0741_540p                                         9021   \n",
+       "norway_DJI_0708_540p                                         4763   \n",
        "olanesti_DJI_0416_full                                       9022   \n",
        "ovaselu_DJI_0372_540p                                        9022   \n",
        "paris_youtube_1_540p                                         8455   \n",
@@ -1069,10 +1063,10 @@
        "politehnica_DJI_0741_a2_540p                                 9021   \n",
        "raciu_DJI_0418_540p                                          9022   \n",
        "riodejaneiro_youtube_1_540p                                  6264   \n",
-       "rome_youtube_1_540p                                         14074   \n",
        "sanfrancisco_youtube_1_540p                                  5635   \n",
+       "sheerness_youtube_1_540p                                     4950   \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                9001   \n",
-       "total                                                      160254   \n",
+       "total                                                      146872   \n",
        "\n",
        "                                                    transportation  vegetation  \n",
        "scene                                                                           \n",
@@ -1083,7 +1077,7 @@
        "herculane_DJI_0021_full                                       9022        9022  \n",
        "jupiter_DJI_0703_0704_0705_combined_sliced_1065...           11066       11066  \n",
        "norway_210821_DJI_0015_full                                   2983        2983  \n",
-       "norway_DJI_0741_540p                                          9021        9021  \n",
+       "norway_DJI_0708_540p                                          4763        4763  \n",
        "olanesti_DJI_0416_full                                        9022        9022  \n",
        "ovaselu_DJI_0372_540p                                         9022        9022  \n",
        "paris_youtube_1_540p                                          8455        8455  \n",
@@ -1091,10 +1085,10 @@
        "politehnica_DJI_0741_a2_540p                                  9021        9021  \n",
        "raciu_DJI_0418_540p                                           9022        9022  \n",
        "riodejaneiro_youtube_1_540p                                   6264        6264  \n",
-       "rome_youtube_1_540p                                          14074       14074  \n",
        "sanfrancisco_youtube_1_540p                                   5635        5635  \n",
+       "sheerness_youtube_1_540p                                      4950        4950  \n",
        "slanic_DJI_0956_0957_combined_sliced_780_9780                 9001        9001  \n",
-       "total                                                       160254      160254  "
+       "total                                                       146872      146872  "
       ]
      },
      "metadata": {},