From 30252a53f8605f9da76afd1e0317aea0a1350e19 Mon Sep 17 00:00:00 2001
From: pikaliov <pikaliov@gmail.com>
Date: Fri, 17 Apr 2026 21:00:02 +0300
Subject: [PATCH] Add 3 segmentation classes for UAV_VisLoc: bare soil,
 rooftop, sports field
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Analysis of scene 01 showed 29% background pixels, mainly caused by:
- Plowed/bare fields (no crop match) → add "bare soil and plowed field"
- Dark/textured roofs missed by "building" → add "roof and rooftop"
- Sports fields/playgrounds → add "sports field and playground"

Total: 11 → 14 classes. Palette extended with 3 new colors.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 scripts/run_uav_visloc.py | 17 ++++++++++++++---
 src/augmentor/io_utils.py |  3 +++
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/scripts/run_uav_visloc.py b/scripts/run_uav_visloc.py
index cb4ab81..9560dad 100644
--- a/scripts/run_uav_visloc.py
+++ b/scripts/run_uav_visloc.py
@@ -74,9 +74,20 @@ def main() -> None:
 
     input_conf = InputConfig(image_size=256)
     seg_conf = SegConfig(prompts=[
-        "background", "building", "road", "vegetation", "water",
-        "sand and gravel ground", "rocky terrain", "farmland",
-        "railway", "parking lot", "sidewalk",
+        "background",                   # 0
+        "building",                     # 1
+        "road",                         # 2
+        "vegetation",                   # 3
+        "water",                        # 4
+        "sand and gravel ground",       # 5
+        "rocky terrain",                # 6
+        "farmland",                     # 7
+        "railway",                      # 8
+        "parking lot",                  # 9
+        "sidewalk",                     # 10
+        "bare soil and plowed field",   # 11
+        "roof and rooftop",             # 12
+        "sports field and playground",  # 13
     ])
     models_conf = ModelsConfig(weights_dir=str(_PROJECT_ROOT / "in" / "weights"))
 
diff --git a/src/augmentor/io_utils.py b/src/augmentor/io_utils.py
index 5f7f94e..5c00d9f 100644
--- a/src/augmentor/io_utils.py
+++ b/src/augmentor/io_utils.py
@@ -94,6 +94,9 @@ _FIXED_PALETTE = np.array([
     [100,  60, 120],  # 8:  railway      — purple
     [255, 165,   0],  # 9:  parking lot  — orange
     [200, 200, 200],  # 10: sidewalk     — light gray
+    [140, 100,  50],  # 11: bare soil    — dark tan
+    [180,  60,  60],  # 12: rooftop      — dark red
+    [50,  200, 150],  # 13: sports field — teal
 ], dtype=np.uint8)