consider corner cases on gest

handcrafted_solution.py

@@ -760,6 +760,8 @@ def prune_tall_short(all_3d_vertices, connections_3d, prune_tall_thr=1000, prune
 def clean_gest(gest_seg_np):
   bg_color = np.array(gestalt_color_mapping['unclassified'])
   bg_mask = cv2.inRange(gest_seg_np,  bg_color-10, bg_color+10)
+  if bg_mask.sum() == 0 or bg_mask.sum() == gest_seg_np.shape[0]*gest_seg_np.shape[1]:
+    return gest_seg_np
   fg_mask = cv2.bitwise_not(bg_mask)  
   if fg_mask.sum() > 0:
     output = cv2.connectedComponentsWithStats(fg_mask, 8, cv2.CV_32S)
@@ -814,6 +816,7 @@ 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()])
     XYZ, rgb = clean_PCD(XYZ, rgb)
+    del points3D
     vert_edge_per_image = {}
     for i, (ade, gest, depth, K, R, t) in enumerate(zip(
                                                 good_entry['ade20k'],