add more protections

handcrafted_solution.py

@@ -196,10 +196,12 @@ def get_SfM_depth(points3D, depth_np, gest_seg_np, K, R, t, dilate_r = 5):
   xyz = world_to_cam @ XYZ1.transpose()
   xyz = np.transpose(xyz)  
   #print('shape of xyz: ', xyz.shape)
-  valid_idx = ~np.isclose(xyz[:,2], 0, atol=1e-6) 
+  valid_idx = ~np.isclose(xyz[:,2], 0, atol=1e-2) & ~np.isnan(xyz[:,0]) & ~np.isnan(xyz[:,1]) & ~np.isnan(xyz[:,2]) 
   xyz = xyz[valid_idx, :]
   us, vs, zs = xyz[:,0]/xyz[:,2], xyz[:,1]/xyz[:,2], xyz[:,2]
-  #print('dim of us uv zs rgb:', len(us), len(vs), len(zs), len(rgb))
+  #print('dim of us uv zs rgb:', len(us), len(vs), len(zs), len(rgb))  
+  us = us[~np.isnan(us)]
+  vs = vs[~np.isnan(vs)]
   us = us.astype(np.int32)    
   vs = vs.astype(np.int32)
   #checked = 0  
@@ -615,8 +617,8 @@ def predict(entry, visualize=False, prune_dist_thr=600, depth_scale=2.5, ) -> Tu
     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)
-    #all_3d_vertices_clean, connections_3d_clean  = all_3d_vertices, connections_3d # don't prune -> cost:2.0
+    #all_3d_vertices_clean, connections_3d_clean = prune_far(all_3d_vertices, connections_3d, prune_dist_thr=prune_dist_thr)
+    all_3d_vertices_clean, connections_3d_clean  = all_3d_vertices, connections_3d # don't prune -> cost:2.0
     #print(f'after pruning, {len(all_3d_vertices_clean)} 3d clean vertices and {len(connections_3d_clean)} 3d clean connections')    
     if (len(all_3d_vertices_clean) < 2) or len(connections_3d_clean) < 1:
         print (f'Not enough vertices or connections in the 3D vertices')