fix broadcasting issue

scripts/semantic_mapper/semantic_mapper.py

@@ -275,7 +275,7 @@ class BuildingsFromM2FDepth(BinaryMapper, NpIORepresentation):
         buildings = super().merge_fn(dep_data[0:-1])
         depth = dep_data[-1]
         thr = 0.3 # np.percentile(depth.numpy(), 0.8)
-        buildings_depth = buildings * (depth <= thr)
+        buildings_depth = buildings * (depth[..., 0] <= thr)
         return self.disk_to_memory_fmt(buildings_depth.astype(bool))
 
 class SafeLandingAreas(BinaryMapper, NpIORepresentation):
@@ -318,7 +318,7 @@ class SafeLandingAreas(BinaryMapper, NpIORepresentation):
     def merge_fn(self, dep_data: list[MemoryData]) -> MemoryData:
         depth, normals = dep_data[0:2]
         v1, v2, v3 = normals.transpose(2, 0, 1)
-        where_safe = (v2 > 0.8) * ((v1 + v3) < 1.2) * (depth <= 0.9)
+        where_safe = (v2 > 0.8) * ((v1 + v3) < 1.2) * (depth[..., 0] <= 0.9)
         if self.include_semantics:
             mapi1, coco, mapi2 = dep_data[2:5]
             mapi1, coco, mapi2 = mapi1.argmax(-1), coco.argmax(-1), mapi2.argmax(-1)
@@ -477,12 +477,12 @@ if __name__ == "__main__":
                             statistics=statistics)
     orig_task_names = list(reader.task_types.keys())
 
-    # new_tasks = get_new_semantic_mapped_tasks()
-    # for task_name in reader.task_names:
-    #     if task_name not in orig_task_names:
-    #         reader.remove_task(task_name)
-    # for new_task in new_tasks.values():
-    #     reader.add_task(new_task, overwrite=True)
+    new_tasks = get_new_semantic_mapped_tasks()
+    for task_name in reader.task_names:
+        if task_name not in orig_task_names:
+            reader.remove_task(task_name)
+    for new_task in new_tasks.values():
+        reader.add_task(new_task, overwrite=True)
 
     print("== Random loaded item ==")
     ixs = np.random.permutation(range(len(reader))).tolist()