apply more aggressive 2D connection and more agressive 3d vertex merging

handcrafted_solution.py

@@ -554,8 +554,8 @@ def predict(entry, visualize=False, prune_dist_thr=600, depth_scale=2.5, ) -> Tu
         # Metric3D
         depth_np = np.array(depth) / depth_scale # / 2.5 # 2.5 is the scale estimation coefficient # don't use 2.5...
         #vertices, connections = get_vertices_and_edges_from_segmentation(gest_seg_np, edge_th = 20.)
-        vertices, connections = get_vertices_and_edges_from_two_segmentations(ade_seg_np, gest_seg_np, edge_th = 20.)
-        #vertices, connections = get_vertices_and_edges_from_two_segmentations(ade_seg_np, gest_seg_np, edge_th = 50.)
+        #vertices, connections = get_vertices_and_edges_from_two_segmentations(ade_seg_np, gest_seg_np, edge_th = 20.)
+        vertices, connections = get_vertices_and_edges_from_two_segmentations(ade_seg_np, gest_seg_np, edge_th = 50.)
         
         if (len(vertices) < 2) or (len(connections) < 1):
             print (f'Not enough vertices ({len(vertices)}) or connections ({len(connections)}) in image {i}')
@@ -577,7 +577,8 @@ 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, 3.0) # TODO: 3cm looks too small    
+    all_3d_vertices, connections_3d = merge_vertices_3d(vert_edge_per_image, 30) 
     #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)