retire prune_tall_short; investigating the long process time of clelan_pcd

handcrafted_solution.py

@@ -252,7 +252,7 @@ def get_smooth_uv_depth(vertices, depth, gest_seg_np, sfm_depth_np, r=5):
     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):
@@ -266,7 +266,7 @@ 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(XYZ, rgb, depth_np, gest_seg_np, K, R, t, dilate_r = 5):
   '''Project 3D sfm pointcloud to the image plane '''
@@ -295,7 +295,7 @@ def get_SfM_depth(XYZ, rgb, 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))
@@ -309,7 +309,7 @@ def get_SfM_depth(XYZ, rgb, 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')
@@ -784,7 +784,8 @@ def clean_PCD(XYZ, rgb):
   largest_blob_size = 0
   largest_blob = 0
   lowest_z = 0
-  if len(unique_labels) > 100:
+  print('uni label:', len(unique_labels))
+  if len(unique_labels) > 30:
     return XYZ, rgb, lowest_z
 
   for k in unique_labels:
@@ -885,7 +886,7 @@ def predict(entry, visualize=False, prune_dist_thr=600, depth_scale=2.5, ) -> Tu
     #print(f'after merge, {len(all_3d_vertices)} 3d vertices and {len(connections_3d)} 3d connections')
     #print(f'after merge, 3d vertices: {all_3d_vertices} and 3d connections: {connections_3d}')
     #all_3d_vertices_clean, connections_3d_clean  = prune_not_connected(all_3d_vertices, connections_3d)    
-    all_3d_vertices, connections_3d  = prune_tall_short(all_3d_vertices, connections_3d, lowest_z, 1000, 0)
+    #all_3d_vertices, connections_3d  = prune_tall_short(all_3d_vertices, connections_3d, lowest_z, 1000, 0)
     
   
     if len(all_3d_vertices)>35: