From b8a3963e0c51a93454ce9b6ba5d67cee0f1e43d9 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Mon, 21 Mar 2022 17:01:20 +0100
Subject: [PATCH 01/16] add depth absolute/inverse encoding

---
 aloscene/depth.py | 45 ++++++++++++++++++++++++++++++++++++++++++---
 1 file changed, 42 insertions(+), 3 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index 75107971..2cb283a2 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -1,6 +1,8 @@
+from logging import warning
 import matplotlib
+from matplotlib.pyplot import sca
 import torch
-
+import warnings
 import aloscene
 from aloscene import Mask
 from aloscene.renderer import View
@@ -22,18 +24,55 @@ class Depth(aloscene.tensors.SpatialAugmentedTensor):
     """
 
     @staticmethod
-    def __new__(cls, x, occlusion: Mask = None, *args, names=("C", "H", "W"), **kwargs):
+    def __new__(
+            cls, 
+            x, 
+            occlusion: Mask = None, 
+            is_inverse=False, 
+            scale=None, 
+            shift=None, 
+            *args, 
+            names=("C", "H", "W"), 
+            **kwargs):
+        if is_inverse and not (shift and scale):
+            raise AttributeError('inversed depth requires shift and scale arguments')
         if isinstance(x, str):
             x = load_depth(x)
             names = ("C", "H", "W")
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
         tensor.add_child("occlusion", occlusion, align_dim=["B", "T"], mergeable=True)
-
+        tensor.add_property('_scale', scale)
+        tensor.add_property('_shift', shift)
+        tensor.add_property('_is_inverse', is_inverse)
         return tensor
 
     def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
+    def encode_inverse(self, scale: float, shift: float):
+        """Shift and scales the depth values"""
+        depth = self.detach().cpu()
+        if depth._is_inverse:
+            depth = self.encode_absolute()
+        depth.add_property('_scale', scale)
+        depth.add_property('_shift', shift)
+        depth.add_property('_is_inverse', True)
+        depth = depth * scale + shift
+        return 1 / depth
+    
+    def encode_absolute(self):
+        """Undo inverse encoding"""
+        depth = self.detach().cpu()
+        if not depth._is_inverse:
+            warnings.warn('depth already encoded in absolute mode')
+            return depth
+        depth = 1 / depth
+        depth = depth / self.scale - self.shift
+        depth.add_property('_scale', None)
+        depth.add_property('_shift', None)
+        depth.add_property('_is_inverse', False)
+        return depth
+
     def append_occlusion(self, occlusion: Mask, name: str = None):
         """Attach an occlusion mask to the depth tensor.
 

From 7471160e0cb97727090215b40f356b2cef62c386 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Mon, 21 Mar 2022 17:02:29 +0100
Subject: [PATCH 02/16] add squeezed numpy conversion

---
 aloscene/tensors/augmented_tensor.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/aloscene/tensors/augmented_tensor.py b/aloscene/tensors/augmented_tensor.py
index b98a5676..47c1e4ae 100644
--- a/aloscene/tensors/augmented_tensor.py
+++ b/aloscene/tensors/augmented_tensor.py
@@ -1,7 +1,7 @@
-import aloscene
 import torch
-from typing import *
 import inspect
+import numpy as np
+from typing import *
 
 
 class AugmentedTensor(torch.Tensor):
@@ -699,6 +699,10 @@ def as_tensor(self):
         n_tensor.__class__ = torch.Tensor
         n_tensor.rename_(None)
         return n_tensor
+    
+    def to_squeezed_numpy(self):
+        """Returns squeezed numpy array"""
+        return self.squeeze().cpu().detach().numpy().astype(np.float16)
 
     def __repr__(self):
         _str = self.as_tensor().__repr__()

From 9c0e3e5a5bbcf3e3f2d46295de430fed55164d5d Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Tue, 22 Mar 2022 10:46:35 +0100
Subject: [PATCH 03/16] change shift and scale to optional

---
 aloscene/depth.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index 2cb283a2..78aa9f9f 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -49,7 +49,10 @@ def __new__(
     def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
-    def encode_inverse(self, scale: float, shift: float):
+    def encode_inverse(
+            self, 
+            scale: float = 1, 
+            shift: float = 0):
         """Shift and scales the depth values"""
         depth = self.detach().cpu()
         if depth._is_inverse:

From 598a492d760fcf4f6b7750c992a0987f13285756 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Tue, 22 Mar 2022 10:50:37 +0100
Subject: [PATCH 04/16] undo detach and cpu in depth inversion

---
 aloscene/depth.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index 78aa9f9f..7ab969a1 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -54,7 +54,7 @@ def encode_inverse(
             scale: float = 1, 
             shift: float = 0):
         """Shift and scales the depth values"""
-        depth = self.detach().cpu()
+        depth = self
         if depth._is_inverse:
             depth = self.encode_absolute()
         depth.add_property('_scale', scale)
@@ -65,7 +65,7 @@ def encode_inverse(
     
     def encode_absolute(self):
         """Undo inverse encoding"""
-        depth = self.detach().cpu()
+        depth = self
         if not depth._is_inverse:
             warnings.warn('depth already encoded in absolute mode')
             return depth

From b54c6e774aa0f0ea4735d003f89bf8993e2f1a17 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Tue, 22 Mar 2022 11:28:02 +0100
Subject: [PATCH 05/16] add encoding methods docstrings

---
 aloscene/depth.py | 35 +++++++++++++++++++++++++++++------
 1 file changed, 29 insertions(+), 6 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index 7ab969a1..d1d811b7 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -49,11 +49,25 @@ def __new__(
     def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
-    def encode_inverse(
-            self, 
-            scale: float = 1, 
-            shift: float = 0):
-        """Shift and scales the depth values"""
+    def encode_inverse(self, scale=1, shift=0):
+        """Scales and shifts the inverse depth
+        
+        Parameters
+        ----------
+            scale: (: float)
+                Multiplication factor. Default is 1.
+            
+            shift: (: float)
+                Addition intercept. Default is 0.
+        
+        Exemples
+        -------
+        >>> # Create a non inverted depth
+        >>> depth = aloscene.Depth(np.random.normal((1, 20, 20)))
+        >>> inverted_depth = depth.encode_inverse(scale=0.03, shift=1)
+        >>> depth.is_inverse, inverted_depth.is_inverse
+        >>> False, True
+        """
         depth = self
         if depth._is_inverse:
             depth = self.encode_absolute()
@@ -64,7 +78,16 @@ def encode_inverse(
         return 1 / depth
     
     def encode_absolute(self):
-        """Undo inverse encoding"""
+        """Encodes inverted depth to absolute depth
+        
+        Exemples
+        --------
+        >>> # Create an already inverted depth
+        >>> invert_depth = aloscene.Depth(np.random.normal((1, 20, 20)), scale=0.5, shift=1)
+        >>> depth = depth.encode_absolute(scale=0.03, shift=1)
+        >>> depth.is_inverse, inverted_depth.is_inverse
+        >>> False, True
+        """
         depth = self
         if not depth._is_inverse:
             warnings.warn('depth already encoded in absolute mode')

From c540f3ab1aaa0c95ebf046f8908d3fc5c1246484 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Tue, 22 Mar 2022 11:29:54 +0100
Subject: [PATCH 06/16] switch scale and shift to public

---
 aloscene/depth.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index d1d811b7..bbda2188 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -41,9 +41,9 @@ def __new__(
             names = ("C", "H", "W")
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
         tensor.add_child("occlusion", occlusion, align_dim=["B", "T"], mergeable=True)
-        tensor.add_property('_scale', scale)
-        tensor.add_property('_shift', shift)
-        tensor.add_property('_is_inverse', is_inverse)
+        tensor.add_property('scale', scale)
+        tensor.add_property('shift', shift)
+        tensor.add_property('is_inverse', is_inverse)
         return tensor
 
     def __init__(self, x, *args, **kwargs):
@@ -71,9 +71,9 @@ def encode_inverse(self, scale=1, shift=0):
         depth = self
         if depth._is_inverse:
             depth = self.encode_absolute()
-        depth.add_property('_scale', scale)
-        depth.add_property('_shift', shift)
-        depth.add_property('_is_inverse', True)
+        depth.add_property('scale', scale)
+        depth.add_property('shift', shift)
+        depth.add_property('is_inverse', True)
         depth = depth * scale + shift
         return 1 / depth
     

From 3c2bb5963e5515eb6d09795eb1e6d3afa73e719b Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Tue, 22 Mar 2022 12:06:31 +0100
Subject: [PATCH 07/16] add Depth docstring

---
 aloscene/depth.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index bbda2188..c70d646f 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -21,6 +21,12 @@ class Depth(aloscene.tensors.SpatialAugmentedTensor):
         loaded Depth tensor or path to the Depth file from which Depth will be loaded.
     occlusion : aloscene.Mask
         Occlusion mask for this Depth map. Default value : None.
+    is_inverse: bool
+        Either the depth is already or not inverted.
+    scale: float
+        Scale used to to shift depth. Pass this argument only if is_inverse is set to True
+    shift: float
+        Intercept used to shift depth. Pass this argument only if is_inverse is set to True
     """
 
     @staticmethod

From 9b943877b465a882c9d5cda123bfdd813fea18f1 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Tue, 22 Mar 2022 12:10:40 +0100
Subject: [PATCH 08/16] change as_numpy conversion order

---
 aloscene/tensors/augmented_tensor.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/aloscene/tensors/augmented_tensor.py b/aloscene/tensors/augmented_tensor.py
index 47c1e4ae..e7e7c2b8 100644
--- a/aloscene/tensors/augmented_tensor.py
+++ b/aloscene/tensors/augmented_tensor.py
@@ -700,9 +700,10 @@ def as_tensor(self):
         n_tensor.rename_(None)
         return n_tensor
     
-    def to_squeezed_numpy(self):
+    def as_numpy(self, dtype=np.float16):
         """Returns squeezed numpy array"""
-        return self.squeeze().cpu().detach().numpy().astype(np.float16)
+        tensor = self
+        return np.squeeze(tensor.detach().cpu().numpy()).astype(dtype)
 
     def __repr__(self):
         _str = self.as_tensor().__repr__()

From e7447d046166289e22c2fd79d9aece706c185208 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Tue, 22 Mar 2022 12:53:51 +0100
Subject: [PATCH 09/16] replace add_property with value set

---
 aloscene/depth.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index c70d646f..dfc52a42 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -77,9 +77,9 @@ def encode_inverse(self, scale=1, shift=0):
         depth = self
         if depth._is_inverse:
             depth = self.encode_absolute()
-        depth.add_property('scale', scale)
-        depth.add_property('shift', shift)
-        depth.add_property('is_inverse', True)
+        depth.scale = scale
+        depth.shift = shift
+        depth.is_inverse = True
         depth = depth * scale + shift
         return 1 / depth
     
@@ -100,9 +100,9 @@ def encode_absolute(self):
             return depth
         depth = 1 / depth
         depth = depth / self.scale - self.shift
-        depth.add_property('_scale', None)
-        depth.add_property('_shift', None)
-        depth.add_property('_is_inverse', False)
+        depth.scale = None
+        depth.shift = None
+        depth.is_inverse = False
         return depth
 
     def append_occlusion(self, occlusion: Mask, name: str = None):

From 715045afb0de606e7b99cc2e340b813984703055 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Wed, 23 Mar 2022 09:33:51 +0100
Subject: [PATCH 10/16] add as_numpy docstring

---
 aloscene/tensors/augmented_tensor.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/aloscene/tensors/augmented_tensor.py b/aloscene/tensors/augmented_tensor.py
index e7e7c2b8..058ab26c 100644
--- a/aloscene/tensors/augmented_tensor.py
+++ b/aloscene/tensors/augmented_tensor.py
@@ -701,7 +701,13 @@ def as_tensor(self):
         return n_tensor
     
     def as_numpy(self, dtype=np.float16):
-        """Returns squeezed numpy array"""
+        """Returns squeezed numpy array
+        
+        Parameters
+        ----------
+            dtype: (: np.dtype)
+                The output dtype. Default np.float16.
+        """
         tensor = self
         return np.squeeze(tensor.detach().cpu().numpy()).astype(dtype)
 

From 2cd0fdc3764e26c31ecd7a80c4eb24e8e4dc9d94 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Wed, 23 Mar 2022 09:35:27 +0100
Subject: [PATCH 11/16] fix: inverse shift and scale order

---
 aloscene/depth.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index dfc52a42..f7b634fe 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -75,7 +75,7 @@ def encode_inverse(self, scale=1, shift=0):
         >>> False, True
         """
         depth = self
-        if depth._is_inverse:
+        if depth.is_inverse:
             depth = self.encode_absolute()
         depth.scale = scale
         depth.shift = shift
@@ -95,11 +95,11 @@ def encode_absolute(self):
         >>> False, True
         """
         depth = self
-        if not depth._is_inverse:
+        if not depth.is_inverse:
             warnings.warn('depth already encoded in absolute mode')
             return depth
         depth = 1 / depth
-        depth = depth / self.scale - self.shift
+        depth = (depth - self.shift) / self.scale
         depth.scale = None
         depth.shift = None
         depth.is_inverse = False

From 4d089de8867fa35cca4649f8e81faa3104f188e3 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Wed, 23 Mar 2022 10:12:26 +0100
Subject: [PATCH 12/16] remove squeeze from as_numpy

---
 aloscene/tensors/augmented_tensor.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aloscene/tensors/augmented_tensor.py b/aloscene/tensors/augmented_tensor.py
index 058ab26c..a19b3a53 100644
--- a/aloscene/tensors/augmented_tensor.py
+++ b/aloscene/tensors/augmented_tensor.py
@@ -709,7 +709,7 @@ def as_numpy(self, dtype=np.float16):
                 The output dtype. Default np.float16.
         """
         tensor = self
-        return np.squeeze(tensor.detach().cpu().numpy()).astype(dtype)
+        return tensor.detach().cpu().numpy().astype(dtype)
 
     def __repr__(self):
         _str = self.as_tensor().__repr__()

From 6a47f463aa1786f03d2d51ea54ae4977b24305ea Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Wed, 23 Mar 2022 14:57:27 +0100
Subject: [PATCH 13/16] refactor: switch invert encoding with absolute

---
 aloscene/depth.py | 89 ++++++++++++++++++++++++-----------------------
 1 file changed, 45 insertions(+), 44 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index f7b634fe..d3a75f6d 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -1,4 +1,5 @@
 from logging import warning
+from shutil import ExecError
 import matplotlib
 from matplotlib.pyplot import sca
 import torch
@@ -21,12 +22,12 @@ class Depth(aloscene.tensors.SpatialAugmentedTensor):
         loaded Depth tensor or path to the Depth file from which Depth will be loaded.
     occlusion : aloscene.Mask
         Occlusion mask for this Depth map. Default value : None.
-    is_inverse: bool
-        Either the depth is already or not inverted.
+    is_bsolute: bool
+        Either depth values refer to real values or shifted and scaled ones. 
     scale: float
-        Scale used to to shift depth. Pass this argument only if is_inverse is set to True
+        Scale used to to shift depth. Pass this argument only if is_bsolute is set to True
     shift: float
-        Intercept used to shift depth. Pass this argument only if is_inverse is set to True
+        Intercept used to shift depth. Pass this argument only if is_bsolute is set to True
     """
 
     @staticmethod
@@ -34,14 +35,16 @@ def __new__(
             cls, 
             x, 
             occlusion: Mask = None, 
-            is_inverse=False, 
+            is_absolute=False, 
             scale=None, 
             shift=None, 
             *args, 
             names=("C", "H", "W"), 
             **kwargs):
-        if is_inverse and not (shift and scale):
-            raise AttributeError('inversed depth requires shift and scale arguments')
+        if is_absolute and not (shift and scale):
+            raise AttributeError('absolute depth requires shift and scale arguments')
+        if not is_absolute and (shift or scale):
+            raise AttributeError('depth not in inverse state, can not pass scale or shift')
         if isinstance(x, str):
             x = load_depth(x)
             names = ("C", "H", "W")
@@ -49,14 +52,35 @@ def __new__(
         tensor.add_child("occlusion", occlusion, align_dim=["B", "T"], mergeable=True)
         tensor.add_property('scale', scale)
         tensor.add_property('shift', shift)
-        tensor.add_property('is_inverse', is_inverse)
+        tensor.add_property('is_absolute', is_absolute)
         return tensor
 
     def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
-    def encode_inverse(self, scale=1, shift=0):
-        """Scales and shifts the inverse depth
+    def encode_inverse(self):
+        """Undo encode_absolute rtansformation
+        
+        Exemples
+        -------
+        >>> not_absolute_depth = Depth(torch.ones((1, 1, 1)), is_absolute=False)
+        >>> absolute_depth = not_absolute_depth.encode_absolute()
+        >>> undo_depth = absolute_depth.encode_inverse()
+        >>> (undo_depth == not_absolute_depth).item()
+        >>> True
+        """
+        depth = self.clone()
+        if not depth.is_absolute:
+            raise ExecError('can not inverse depth, already inversed')
+        depth = 1 / depth
+        depth = (depth - depth.shift) / depth.scale
+        depth.scale = None
+        depth.shift = None
+        depth.is_absolute = False
+        return depth
+    
+    def encode_absolute(self, scale=1, shift=0):
+        """Transforms inverted depth to absolute depth
         
         Parameters
         ----------
@@ -65,45 +89,22 @@ def encode_inverse(self, scale=1, shift=0):
             
             shift: (: float)
                 Addition intercept. Default is 0.
-        
+
         Exemples
-        -------
-        >>> # Create a non inverted depth
-        >>> depth = aloscene.Depth(np.random.normal((1, 20, 20)))
-        >>> inverted_depth = depth.encode_inverse(scale=0.03, shift=1)
-        >>> depth.is_inverse, inverted_depth.is_inverse
-        >>> False, True
+        --------
+        >>> not_absolute_depth = Depth(torch.ones((1, 20, 20)), is_absolute=False)
+        >>> absolute_depth = not_absolute_depth.encode_absolute()
+        >>> absolute_depth.is_absolute, not_absolute_depth.is_absolute
+        >>> True, False
         """
-        depth = self
-        if depth.is_inverse:
-            depth = self.encode_absolute()
+        depth = self.clone()
+        if depth.is_absolute:
+            raise ExecError('depth already in absolute state, call encode_inverse first')
+        depth = depth * scale + shift
         depth.scale = scale
         depth.shift = shift
-        depth.is_inverse = True
-        depth = depth * scale + shift
+        depth.is_absolute = True
         return 1 / depth
-    
-    def encode_absolute(self):
-        """Encodes inverted depth to absolute depth
-        
-        Exemples
-        --------
-        >>> # Create an already inverted depth
-        >>> invert_depth = aloscene.Depth(np.random.normal((1, 20, 20)), scale=0.5, shift=1)
-        >>> depth = depth.encode_absolute(scale=0.03, shift=1)
-        >>> depth.is_inverse, inverted_depth.is_inverse
-        >>> False, True
-        """
-        depth = self
-        if not depth.is_inverse:
-            warnings.warn('depth already encoded in absolute mode')
-            return depth
-        depth = 1 / depth
-        depth = (depth - self.shift) / self.scale
-        depth.scale = None
-        depth.shift = None
-        depth.is_inverse = False
-        return depth
 
     def append_occlusion(self, occlusion: Mask, name: str = None):
         """Attach an occlusion mask to the depth tensor.

From 1f488dba825c1e43bf752b361c03b59cb37958e0 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Thu, 24 Mar 2022 09:18:25 +0100
Subject: [PATCH 14/16] remove clone redundancy

---
 aloscene/depth.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index d3a75f6d..27a50d4b 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -69,7 +69,7 @@ def encode_inverse(self):
         >>> (undo_depth == not_absolute_depth).item()
         >>> True
         """
-        depth = self.clone()
+        depth = self
         if not depth.is_absolute:
             raise ExecError('can not inverse depth, already inversed')
         depth = 1 / depth
@@ -97,7 +97,7 @@ def encode_absolute(self, scale=1, shift=0):
         >>> absolute_depth.is_absolute, not_absolute_depth.is_absolute
         >>> True, False
         """
-        depth = self.clone()
+        depth = self
         if depth.is_absolute:
             raise ExecError('depth already in absolute state, call encode_inverse first')
         depth = depth * scale + shift

From 6621664bb93c16bab6112b41dd2e4dbb9a18f8a7 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Thu, 24 Mar 2022 10:00:43 +0100
Subject: [PATCH 15/16] fix: division by zero error

---
 aloscene/depth.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index 27a50d4b..690eeec8 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -101,6 +101,7 @@ def encode_absolute(self, scale=1, shift=0):
         if depth.is_absolute:
             raise ExecError('depth already in absolute state, call encode_inverse first')
         depth = depth * scale + shift
+        depth[depth < 1e-8] = 1e-8
         depth.scale = scale
         depth.shift = shift
         depth.is_absolute = True

From eb480893503238c70a83a3ab968be4c8aa63e427 Mon Sep 17 00:00:00 2001
From: Taha <taha.azzim@gmail.com>
Date: Thu, 24 Mar 2022 11:29:04 +0100
Subject: [PATCH 16/16] fix: adapt masking to Depth

---
 aloscene/depth.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/aloscene/depth.py b/aloscene/depth.py
index 690eeec8..c942a5ae 100644
--- a/aloscene/depth.py
+++ b/aloscene/depth.py
@@ -59,7 +59,7 @@ def __init__(self, x, *args, **kwargs):
         super().__init__(x)
 
     def encode_inverse(self):
-        """Undo encode_absolute rtansformation
+        """Undo encode_absolute tansformation
         
         Exemples
         -------
@@ -97,15 +97,15 @@ def encode_absolute(self, scale=1, shift=0):
         >>> absolute_depth.is_absolute, not_absolute_depth.is_absolute
         >>> True, False
         """
-        depth = self
+        depth, names = self.rename(None), self.names
         if depth.is_absolute:
             raise ExecError('depth already in absolute state, call encode_inverse first')
         depth = depth * scale + shift
-        depth[depth < 1e-8] = 1e-8
+        depth[torch.unsqueeze(depth < 1e-8, dim=0)] = 1e-8
         depth.scale = scale
         depth.shift = shift
         depth.is_absolute = True
-        return 1 / depth
+        return (1 / depth).rename(*names)
 
     def append_occlusion(self, occlusion: Mask, name: str = None):
         """Attach an occlusion mask to the depth tensor.