coarse to fine search on sfm depth

handcrafted_solution.py

@@ -156,9 +156,9 @@ def get_smooth_uv_depth(vertices, depth, gest_seg_np, sfm_depth_np, r=5):
     def get_local_min(x,y, H, W, depth, sfm_depth_np, r=r, PRINT=False):
       '''return a smooth version of detph in radius r'''      
       local_min = 9999999
-      PRINT = False
-      if np.isclose(x, 90.13846154, atol=10) and np.isclose(y, 1175.46495726, atol=10):
-        PRINT = True
+      #PRINT = False
+      #if np.isclose(x, 90.13846154, atol=10) and np.isclose(y, 1175.46495726, atol=10):
+      #  PRINT = True
       i_range = range(max(0, x - r), min(W, x + r))
       j_range = range(max(0, y - r), min(H, y + r))
       for i in i_range:
@@ -170,25 +170,41 @@ def get_smooth_uv_depth(vertices, depth, gest_seg_np, sfm_depth_np, r=5):
                   if PRINT: print(f'({j},{i})sfm:', sfm_depth_np[j, i])
                 else:
                   local_min = min(depth[j, i], local_min)
-                  if PRINT: print(f'({j},{i})dm:', depth[j, i])
+                  #if PRINT: print(f'({j},{i})dm:', depth[j, i])
               else:
                 local_min = min(depth[j, i], local_min)
-                if PRINT: print(f'({j},{i})dm:', depth[j, i])    
+                #if PRINT: print(f'({j},{i})dm:', depth[j, i])    
       return local_min
 
     def get_priotity_local_min(x,y, H, W, depth, sfm_depth_np, r=r):
       '''Search on sfm depth first. Search on depthmap only if no sfm depth 
       exists at all in the local region.
       '''
+      r = 5
       yslice = slice(max(0, y - r), min(H, y + r))
       xslice = slice(max(0, x - r), min(W, x + r))      
       local_area = sfm_depth_np[yslice, xslice]
       reduced_local_area = local_area[local_area!=0]
+      PRINT = False 
+      #if np.isclose(x, 2574.81093605, atol=10) and np.isclose(y, 1063.7265987, atol=10):
+      #  PRINT = True
+      
+      while (reduced_local_area.size == 0) and r<200:
+        #print('r=', r)
+        r*=2
+        yslice = slice(max(0, y - r), min(H, y + r))
+        xslice = slice(max(0, x - r), min(W, x + r))      
+        local_area = sfm_depth_np[yslice, xslice]
+        reduced_local_area = local_area[local_area!=0]            
+
       if reduced_local_area.size > 0:
+        #print('use sfm')
+        if PRINT: print(reduced_local_area)
         local_min = np.min(reduced_local_area)
         return local_min
       else:
-        return get_local_min(x,y, H, W, depth, sfm_depth_np, r)
+        #print('use both sfm and monocular')
+        return get_local_min(x,y, H, W, depth, sfm_depth_np, r, PRINT)
 
     def get_local_min_progressive(x,y, H, W, depth, sfm_depth_np, r=r):
       '''If sfm is available in small local region, use it. 
@@ -740,6 +756,7 @@ def predict(entry, visualize=False, prune_dist_thr=600, depth_scale=2.5, ) -> Tu
           depth_scale = 2.5
         elif i==2: # only visualize view 0,1
           continue 
+          
         if i!=0:
           continue
         '''