bug fixed

handcrafted_solution.py

@@ -164,7 +164,7 @@ def get_smooth_uv_depth(vertices, depth, gest_seg_np, sfm_depth_np):
     vertex_depth = np.array(vertex_depth)
     return uv, vertex_depth
 
-'''
+
 from numba import njit, prange
 @njit(parallel=True)
 def fill_range(u, v, z, dilate_r, c, sfm_depth_np, sfm_color_np, H, W):
@@ -178,7 +178,7 @@ def fill_range(u, v, z, dilate_r, c, sfm_depth_np, sfm_color_np, H, W):
             if DUMP_IMG: 
               sfm_color_np[j, i] = c
   return sfm_depth_np, sfm_color_np
-'''
+
 
 def get_SfM_depth(points3D, depth_np, gest_seg_np, K, R, t, dilate_r = 5):
   '''Project 3D sfm pointcloud to the image plane '''
@@ -204,8 +204,8 @@ def get_SfM_depth(points3D, depth_np, gest_seg_np, K, R, t, dilate_r = 5):
   #print('dim of us uv zs rgb:', len(us), len(vs), len(zs), len(rgb))
   for u,v,z,c in zip(us,vs,zs, rgb):
     
-    #sfm_depth_np, sfm_color_np = fill_range(u, v, z, dilate_r, c, sfm_depth_np, sfm_color_np, H, W)
-
+    sfm_depth_np, sfm_color_np = fill_range(u, v, z, dilate_r, c, sfm_depth_np, sfm_color_np, H, W)
+    '''
     i_range = range(max(0, u - dilate_r), min(W, u + dilate_r))
     j_range = range(max(0, v - dilate_r), min(H, v + dilate_r)) 
     for i in i_range:
@@ -217,7 +217,7 @@ def get_SfM_depth(points3D, depth_np, gest_seg_np, K, R, t, dilate_r = 5):
             sfm_depth_np[j, i] = z
             if DUMP_IMG: 
               sfm_color_np[j, i] = c
-     
+    '''     
               
   #print(f'checked {checked} pts')
 
@@ -523,7 +523,7 @@ def delete_one_vert(vertices, vertices_3d, connections, vert_to_del):
 
 def prune_far(all_3d_vertices, connections_3d, prune_dist_thr=3000):
     '''Prune vertices that are far away from any the other vertices'''
-    if (len(all_3d_vertices) < 2) or len(connections_3d) < 1:
+    if (len(all_3d_vertices) < 3) or len(connections_3d) < 1:
       return all_3d_vertices, connections_3d
     
     isolated = []
@@ -543,6 +543,8 @@ def prune_far(all_3d_vertices, connections_3d, prune_dist_thr=3000):
       #print('isolated:', isolated_pt)
       pt_to_del = all_3d_vertices[isolated_pt]
       all_3d_vertices, connections_3d = delete_one_vert([], all_3d_vertices, connections_3d, pt_to_del)
+      if (len(all_3d_vertices) < 3) or len(connections_3d) < 1:
+        return all_3d_vertices, connections_3d
 
       distmat = cdist(all_3d_vertices, all_3d_vertices)    
       for i, v in enumerate(distmat):