avoid zero detection

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 '''
@@ -207,7 +207,7 @@ def get_SfM_depth(points3D, depth_np, gest_seg_np, K, R, t, dilate_r = 5):
   #checked = 0  
   #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)
     '''
     i_range = range(max(0, u - dilate_r), min(W, u + dilate_r))
@@ -221,7 +221,7 @@ 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')
 
@@ -602,6 +602,9 @@ def predict(entry, visualize=False, prune_dist_thr=600, depth_scale=2.5, ) -> Tu
             vert_edge_per_image[i] = np.empty((0, 2)), [], np.empty((0, 3))
             continue
         '''
+        if (len(vertices) < 1):
+          vert_edge_per_image[i] = np.empty((0, 2)), [], np.empty((0, 3))
+          continue
 
         #uv, depth_vert = get_uv_depth(vertices, depth_np)         
         sfm_depth_np = get_SfM_depth(points3D, depth_np, gest_seg_np, K, R, t, 5) # Sensitive. 10 is worse than 0 in testset
@@ -619,7 +622,7 @@ def predict(entry, visualize=False, prune_dist_thr=600, depth_scale=2.5, ) -> Tu
         
         vert_edge_per_image[i] = vertices, connections, vertices_3d
     #all_3d_vertices, connections_3d = merge_vertices_3d(vert_edge_per_image, 3.0) # TODO: 3cm looks too small    
-    all_3d_vertices, connections_3d = merge_vertices_3d(vert_edge_per_image, 100)
+    all_3d_vertices, connections_3d = merge_vertices_3d(vert_edge_per_image, 150)
     #print(f'after merge, {len(all_3d_vertices)} 3d vertices and {len(connections_3d)} 3d connections')
     #all_3d_vertices_clean, connections_3d_clean  = prune_not_connected(all_3d_vertices, connections_3d)    
     all_3d_vertices_clean, connections_3d_clean = prune_far(all_3d_vertices, connections_3d, prune_dist_thr=prune_dist_thr)