From 5c4a3a1371aaf1630f1899409d546adc891e7de1 Mon Sep 17 00:00:00 2001
From: pikaliov <pikaliov@gmail.com>
Date: Fri, 17 Apr 2026 21:12:43 +0300
Subject: [PATCH] Lower segmentation threshold to 0.1 for UAV_VisLoc
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Default 0.3 was too aggressive — dark water, muddy ground, and
uniform textures fell below confidence threshold. Lower to 0.1
to reduce false background pixels.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 scripts/run_uav_visloc.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/run_uav_visloc.py b/scripts/run_uav_visloc.py
index d7ab5c0..a5f5a08 100644
--- a/scripts/run_uav_visloc.py
+++ b/scripts/run_uav_visloc.py
@@ -73,7 +73,7 @@ def main() -> None:
     )
 
     input_conf = InputConfig(image_size=256)
-    seg_conf = SegConfig(prompts=[
+    seg_conf = SegConfig(threshold=0.1, prompts=[
         "background",                   # 0
         "building",                     # 1
         "road",                         # 2