Not consistent depth colormap between nerfacto and depth-nerfacto

[ManuConcepBrito]

Describe the bug
I was comparing the results from depth-nerfacto and nerfacto in tensorboard, but I realized there is not a consistent way of applying the colormaps to the output depths. In depth_nerfacto.py:

predicted_depth_colormap = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], near_plane=torch.min(ground_truth_depth), far_plane=torch.max(ground_truth_depth), )
And in nerfacto:

depth = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], )
If a value is not provided to apply_depth_colormap, the max and min values of the depth map are taken which results in squashing the histogram like in the following image (left is depth nerfacto and right is nerfacto):

Also, by clipping the colormap of depth nerfacto to the largest value, it prevents from showing further details

By setting something a fixed value for both nerfacto and depth-nerfacto for the far plane (5 meters) like:

depth = colormaps.apply_depth_colormap( outputs["depth"], accumulation=outputs["accumulation"], near_plane=0.0, far_plane=5.0, )

We get much more coherent results (left is depth nerfacto and right is nerfacto):

However, there should be a better or more flexible solution.

[machenmusik]

My first thought was sliders for near and far, with defaults, but I notice there are already sliders for range in there; not sure how they should interop...

[machenmusik]

It looks like if you change the depth colormap from default to, say, turbo, you can then manipulate the range sliders; range seems to default to [0, 1] but the sliders let one set it to [-2, 5].

Maybe you can try setting the sliders to [0, 5] and see if that is the same as your near/far plane settings in code? Because if so, we should probably change the default range to NOT be [0, 1].