empty conn; clean_pcd using OPTICS, excl noise; 16 cores

handcrafted_solution.py

@@ -801,11 +801,11 @@ def clean_PCD(XYZ, rgb):
   
   for k in unique_labels:
     class_member_mask = labels == k
-    
+    '''
     if k == -1:
       retain_class_mask = retain_class_mask | class_member_mask
       continue    
-    
+    '''
     ''' center prior is not valid    
     pt_k = XYZ[class_member_mask]
     Xmean = np.mean(pt_k[:,0])
@@ -817,7 +817,7 @@ def clean_PCD(XYZ, rgb):
       retain_class_mask = retain_class_mask | class_member_mask
       pt_k = XYZ[class_member_mask]
       lowest_z = min(pt_k[:,2])
-      #break      
+      break      
   
   XYZ = XYZ[retain_class_mask]
   rgb = rgb[retain_class_mask]