Fix IndentationError and undefined depth_raw variable in inference.py

inference.py

@@ -240,6 +240,7 @@ def _attach_depth_metrics(
         if finite.size == 0:
             continue
 
+        depth_raw = float(np.median(finite))
         if depth_raw <= 1e-6:
             det["depth_est_m"] = None
             det["depth_valid"] = False
@@ -808,8 +809,8 @@ def process_frames_depth(
 
         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())
+            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: