empty conn; clean_pcd; 10 cores

handcrafted_solution.py

@@ -829,7 +829,7 @@ def predict(entry, visualize=False, prune_dist_thr=600, depth_scale=2.5, ) -> Tu
     XYZ = np.stack([p.xyz for p in points3D.values()])
     rgb = np.stack([p.rgb for p in points3D.values()])
     lowest_z = min(XYZ[:,2])
-    #XYZ, rgb, lowest_z = clean_PCD(XYZ, rgb)
+    XYZ, rgb, lowest_z = clean_PCD(XYZ, rgb)
     del points3D
     vert_edge_per_image = {}
     for i, (ade, gest, depth, K, R, t) in enumerate(zip(

script.py

@@ -146,7 +146,7 @@ if __name__ == "__main__":
     print('------------ Now you can do your solution ---------------')
     solution = []
     from concurrent.futures import ProcessPoolExecutor
-    with ProcessPoolExecutor(max_workers=16) as pool:
+    with ProcessPoolExecutor(max_workers=10) as pool:
         results = []
         for i, sample in enumerate(tqdm(dataset)):
             results.append(pool.submit(predict, sample, visualize=False))