fixed depth norm

inference.py

@@ -432,7 +432,7 @@ def process_frames_depth(
             logging.debug("Computed depth for frame %d/%d", idx + 1, len(frames))
 
     # Compute global min/max (using percentiles to handle outliers)
-    all_depths = np.concatenate(all_values)
+    all_depths = np.concatenate(all_values).astype(np.float32, copy=False)
 
     # Filter out NaN and inf values
     valid_depths = all_depths[np.isfinite(all_depths)]
@@ -445,6 +445,11 @@ def process_frames_depth(
         global_min = float(np.percentile(valid_depths, 1))  # 1st percentile to clip outliers
         global_max = float(np.percentile(valid_depths, 99))  # 99th percentile
 
+        if not np.isfinite(global_min) or not np.isfinite(global_max):
+            logging.warning("Depth percentiles are non-finite - using min/max fallback")
+            global_min = float(valid_depths.min())
+            global_max = float(valid_depths.max())
+
         # Handle edge case where min == max
         if abs(global_max - global_min) < 1e-6:
             global_min = float(valid_depths.min())