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3D_Photo_Inpainting

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Saini

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0b9f920 almost 3 years ago

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	import os
	import numpy as np
	try:
	import cynetworkx as netx
	except ImportError:
	import networkx as netx
	import matplotlib.pyplot as plt
	from functools import partial
	from vispy import scene, io
	from vispy.scene import visuals
	from vispy.visuals.filters import Alpha
	import cv2
	from moviepy.editor import ImageSequenceClip
	from skimage.transform import resize
	import time
	import copy
	import torch
	import os
	from utils import path_planning, open_small_mask, clean_far_edge, refine_depth_around_edge
	from utils import refine_color_around_edge, filter_irrelevant_edge_new, require_depth_edge, clean_far_edge_new
	from utils import create_placeholder, refresh_node, find_largest_rect
	from mesh_tools import get_depth_from_maps, get_map_from_ccs, get_edge_from_nodes, get_depth_from_nodes, get_rgb_from_nodes, crop_maps_by_size, convert2tensor, recursive_add_edge, update_info, filter_edge, relabel_node, depth_inpainting
	from mesh_tools import refresh_bord_depth, enlarge_border, fill_dummy_bord, extrapolate, fill_missing_node, incomplete_node, get_valid_size, dilate_valid_size, size_operation
	import transforms3d
	import random
	from functools import reduce

	def create_mesh(depth, image, int_mtx, config):
	H, W, C = image.shape
	ext_H, ext_W = H + 2 * config['extrapolation_thickness'], W + 2 * config['extrapolation_thickness']
	LDI = netx.Graph(H=ext_H, W=ext_W, noext_H=H, noext_W=W, cam_param=int_mtx)
	xy2depth = {}
	int_mtx_pix = int_mtx * np.array([[W], [H], [1.]])
	LDI.graph['cam_param_pix'], LDI.graph['cam_param_pix_inv'] = int_mtx_pix, np.linalg.inv(int_mtx_pix)
	disp = 1. / (-depth)
	LDI.graph['hoffset'], LDI.graph['woffset'] = config['extrapolation_thickness'], config['extrapolation_thickness']
	LDI.graph['bord_up'], LDI.graph['bord_down'] = LDI.graph['hoffset'] + 0, LDI.graph['hoffset'] + H
	LDI.graph['bord_left'], LDI.graph['bord_right'] = LDI.graph['woffset'] + 0, LDI.graph['woffset'] + W
	for idx in range(H):
	for idy in range(W):
	x, y = idx + LDI.graph['hoffset'], idy + LDI.graph['woffset']
	LDI.add_node((x, y, -depth[idx, idy]),
	color=image[idx, idy],
	disp=disp[idx, idy],
	synthesis=False,
	cc_id=set())
	xy2depth[(x, y)] = [-depth[idx, idy]]
	for x, y, d in LDI.nodes:
	two_nes = [ne for ne in [(x+1, y), (x, y+1)] if ne[0] < LDI.graph['bord_down'] and ne[1] < LDI.graph['bord_right']]
	[LDI.add_edge((ne[0], ne[1], xy2depth[ne][0]), (x, y, d)) for ne in two_nes]
	LDI = calculate_fov(LDI)
	image = np.pad(image,
	pad_width=((config['extrapolation_thickness'], config['extrapolation_thickness']),
	(config['extrapolation_thickness'], config['extrapolation_thickness']),
	(0, 0)),
	mode='constant')
	depth = np.pad(depth,
	pad_width=((config['extrapolation_thickness'], config['extrapolation_thickness']),
	(config['extrapolation_thickness'], config['extrapolation_thickness'])),
	mode='constant')

	return LDI, xy2depth, image, depth


	def tear_edges(mesh, threshold = 0.00025, xy2depth=None):
	remove_edge_list = []
	remove_horizon, remove_vertical = np.zeros((2, mesh.graph['H'], mesh.graph['W']))
	mesh_nodes = mesh.nodes
	for edge in mesh.edges:
	if abs(mesh_nodes[edge[0]]['disp'] - mesh_nodes[edge[1]]['disp']) > threshold:
	remove_edge_list.append((edge[0], edge[1]))

	near, far = edge if abs(edge[0][2]) < abs(edge[1][2]) else edge[::-1]

	mesh_nodes[far]['near'] = [] if mesh_nodes[far].get('near') is None else mesh_nodes[far]['near'].append(near)
	mesh_nodes[near]['far'] = [] if mesh_nodes[near].get('far') is None else mesh_nodes[near]['far'].append(far)

	if near[0] == far[0]:
	remove_horizon[near[0], np.minimum(near[1], far[1])] = 1
	elif near[1] == far[1]:
	remove_vertical[np.minimum(near[0], far[0]), near[1]] = 1
	mesh.remove_edges_from(remove_edge_list)

	remove_edge_list = []

	dang_horizon = np.where(np.roll(remove_horizon, 1, 0) + np.roll(remove_horizon, -1, 0) - remove_horizon == 2)
	dang_vertical = np.where(np.roll(remove_vertical, 1, 1) + np.roll(remove_vertical, -1, 1) - remove_vertical == 2)

	horizon_condition = lambda x, y: mesh.graph['bord_up'] + 1 <= x < mesh.graph['bord_down'] - 1
	vertical_condition = lambda x, y: mesh.graph['bord_left'] + 1 <= y < mesh.graph['bord_right'] - 1

	prjto3d = lambda x, y: (x, y, xy2depth[(x, y)][0])

	node_existence = lambda x, y: mesh.has_node(prjto3d(x, y))

	for x, y in zip(dang_horizon[0], dang_horizon[1]):
	if horizon_condition(x, y) and node_existence(x, y) and node_existence(x, y+1):
	remove_edge_list.append((prjto3d(x, y), prjto3d(x, y+1)))
	for x, y in zip(dang_vertical[0], dang_vertical[1]):
	if vertical_condition(x, y) and node_existence(x, y) and node_existence(x+1, y):
	remove_edge_list.append((prjto3d(x, y), prjto3d(x+1, y)))
	mesh.remove_edges_from(remove_edge_list)

	return mesh

	def calculate_fov(mesh):
	k = mesh.graph['cam_param']
	mesh.graph['hFov'] = 2 * np.arctan(1. / (2*k[0, 0]))
	mesh.graph['vFov'] = 2 * np.arctan(1. / (2*k[1, 1]))
	mesh.graph['aspect'] = mesh.graph['noext_H'] / mesh.graph['noext_W']

	return mesh

	def calculate_fov_FB(mesh):
	mesh.graph['aspect'] = mesh.graph['H'] / mesh.graph['W']
	if mesh.graph['H'] > mesh.graph['W']:
	mesh.graph['hFov'] = 0.508015513
	half_short = np.tan(mesh.graph['hFov']/2.0)
	half_long = half_short * mesh.graph['aspect']
	mesh.graph['vFov'] = 2.0 * np.arctan(half_long)
	else:
	mesh.graph['vFov'] = 0.508015513
	half_short = np.tan(mesh.graph['vFov']/2.0)
	half_long = half_short / mesh.graph['aspect']
	mesh.graph['hFov'] = 2.0 * np.arctan(half_long)

	return mesh

	def reproject_3d_int_detail(sx, sy, z, k_00, k_02, k_11, k_12, w_offset, h_offset):
	abs_z = abs(z)
	return [abs_z * ((sy+0.5-w_offset) * k_00 + k_02), abs_z * ((sx+0.5-h_offset) * k_11 + k_12), abs_z]

	def reproject_3d_int_detail_FB(sx, sy, z, w_offset, h_offset, mesh):
	if mesh.graph.get('tan_hFov') is None:
	mesh.graph['tan_hFov'] = np.tan(mesh.graph['hFov'] / 2.)
	if mesh.graph.get('tan_vFov') is None:
	mesh.graph['tan_vFov'] = np.tan(mesh.graph['vFov'] / 2.)

	ray = np.array([(-1. + 2. * ((sy+0.5-w_offset)/(mesh.graph['W'] - 1))) * mesh.graph['tan_hFov'],
	(1. - 2. * (sx+0.5-h_offset)/(mesh.graph['H'] - 1)) * mesh.graph['tan_vFov'],
	-1])
	point_3d = ray * np.abs(z)

	return point_3d


	def reproject_3d_int(sx, sy, z, mesh):
	k = mesh.graph['cam_param_pix_inv'].copy()
	if k[0, 2] > 0:
	k = np.linalg.inv(k)
	ray = np.dot(k, np.array([sy-mesh.graph['woffset'], sx-mesh.graph['hoffset'], 1]).reshape(3, 1))

	point_3d = ray * np.abs(z)
	point_3d = point_3d.flatten()

	return point_3d

	def generate_init_node(mesh, config, min_node_in_cc):
	mesh_nodes = mesh.nodes

	info_on_pix = {}

	ccs = sorted(netx.connected_components(mesh), key = len, reverse=True)
	remove_nodes = []

	for cc in ccs:

	remove_flag = True if len(cc) < min_node_in_cc else False
	if remove_flag is False:
	for (nx, ny, nd) in cc:
	info_on_pix[(nx, ny)] = [{'depth':nd,
	'color':mesh_nodes[(nx, ny, nd)]['color'],
	'synthesis':False,
	'disp':mesh_nodes[(nx, ny, nd)]['disp']}]
	else:
	[remove_nodes.append((nx, ny, nd)) for (nx, ny, nd) in cc]

	for node in remove_nodes:
	far_nodes = [] if mesh_nodes[node].get('far') is None else mesh_nodes[node]['far']
	for far_node in far_nodes:
	if mesh.has_node(far_node) and mesh_nodes[far_node].get('near') is not None and node in mesh_nodes[far_node]['near']:
	mesh_nodes[far_node]['near'].remove(node)
	near_nodes = [] if mesh_nodes[node].get('near') is None else mesh_nodes[node]['near']
	for near_node in near_nodes:
	if mesh.has_node(near_node) and mesh_nodes[near_node].get('far') is not None and node in mesh_nodes[near_node]['far']:
	mesh_nodes[near_node]['far'].remove(node)

	[mesh.remove_node(node) for node in remove_nodes]

	return mesh, info_on_pix

	def get_neighbors(mesh, node):
	return [*mesh.neighbors(node)]

	def generate_face(mesh, info_on_pix, config):
	H, W = mesh.graph['H'], mesh.graph['W']
	str_faces = []
	num_node = len(mesh.nodes)
	ply_flag = config.get('save_ply')
	def out_fmt(input, cur_id_b, cur_id_self, cur_id_a, ply_flag):
	if ply_flag is True:
	input.append(' '.join(['3', cur_id_b, cur_id_self, cur_id_a]) + '\n')
	else:
	input.append([cur_id_b, cur_id_self, cur_id_a])
	mesh_nodes = mesh.nodes
	for node in mesh_nodes:
	cur_id_self = mesh_nodes[node]['cur_id']
	ne_nodes = get_neighbors(mesh, node)
	four_dir_nes = {'up': [], 'left': [],
	'down': [], 'right': []}
	for ne_node in ne_nodes:
	store_tuple = [ne_node, mesh_nodes[ne_node]['cur_id']]
	if ne_node[0] == node[0]:
	if ne_node[1] == ne_node[1] - 1:
	four_dir_nes['left'].append(store_tuple)
	else:
	four_dir_nes['right'].append(store_tuple)
	else:
	if ne_node[0] == ne_node[0] - 1:
	four_dir_nes['up'].append(store_tuple)
	else:
	four_dir_nes['down'].append(store_tuple)
	for node_a, cur_id_a in four_dir_nes['up']:
	for node_b, cur_id_b in four_dir_nes['right']:
	out_fmt(str_faces, cur_id_b, cur_id_self, cur_id_a, ply_flag)
	for node_a, cur_id_a in four_dir_nes['right']:
	for node_b, cur_id_b in four_dir_nes['down']:
	out_fmt(str_faces, cur_id_b, cur_id_self, cur_id_a, ply_flag)
	for node_a, cur_id_a in four_dir_nes['down']:
	for node_b, cur_id_b in four_dir_nes['left']:
	out_fmt(str_faces, cur_id_b, cur_id_self, cur_id_a, ply_flag)
	for node_a, cur_id_a in four_dir_nes['left']:
	for node_b, cur_id_b in four_dir_nes['up']:
	out_fmt(str_faces, cur_id_b, cur_id_self, cur_id_a, ply_flag)

	return str_faces

	def reassign_floating_island(mesh, info_on_pix, image, depth):
	H, W = mesh.graph['H'], mesh.graph['W'],
	mesh_nodes = mesh.nodes
	bord_up, bord_down = mesh.graph['bord_up'], mesh.graph['bord_down']
	bord_left, bord_right = mesh.graph['bord_left'], mesh.graph['bord_right']
	W = mesh.graph['W']
	lost_map = np.zeros((H, W))

	'''
	(5) is_inside(x, y, xmin, xmax, ymin, ymax) : Check if a pixel(x, y) is inside the border.
	(6) get_cross_nes(x, y) : Get the four cross neighbors of pixel(x, y).
	'''
	key_exist = lambda d, k: k in d
	is_inside = lambda x, y, xmin, xmax, ymin, ymax: xmin <= x < xmax and ymin <= y < ymax
	get_cross_nes = lambda x, y: [(x + 1, y), (x - 1, y), (x, y - 1), (x, y + 1)]
	'''
	(A) Highlight the pixels on isolated floating island.
	(B) Number those isolated floating islands with connected component analysis.
	(C) For each isolated island:
	(1) Find its longest surrounded depth edge.
	(2) Propogate depth from that depth edge to the pixels on the isolated island.
	(3) Build the connection between the depth edge and that isolated island.
	'''
	for x in range(H):
	for y in range(W):
	if is_inside(x, y, bord_up, bord_down, bord_left, bord_right) and not(key_exist(info_on_pix, (x, y))):
	lost_map[x, y] = 1
	_, label_lost_map = cv2.connectedComponents(lost_map.astype(np.uint8), connectivity=4)
	mask = np.zeros((H, W))
	mask[bord_up:bord_down, bord_left:bord_right] = 1
	label_lost_map = (label_lost_map * mask).astype(np.int)

	for i in range(1, label_lost_map.max()+1):
	lost_xs, lost_ys = np.where(label_lost_map == i)
	surr_edge_ids = {}
	for lost_x, lost_y in zip(lost_xs, lost_ys):
	if (lost_x, lost_y) == (295, 389) or (lost_x, lost_y) == (296, 389):
	import pdb; pdb.set_trace()
	for ne in get_cross_nes(lost_x, lost_y):
	if key_exist(info_on_pix, ne):
	for info in info_on_pix[ne]:
	ne_node = (ne[0], ne[1], info['depth'])
	if key_exist(mesh_nodes[ne_node], 'edge_id'):
	edge_id = mesh_nodes[ne_node]['edge_id']
	surr_edge_ids[edge_id] = surr_edge_ids[edge_id] + [ne_node] if \
	key_exist(surr_edge_ids, edge_id) else [ne_node]
	if len(surr_edge_ids) == 0:
	continue
	edge_id, edge_nodes = sorted([*surr_edge_ids.items()], key=lambda x: len(x[1]), reverse=True)[0]
	edge_depth_map = np.zeros((H, W))
	for node in edge_nodes:
	edge_depth_map[node[0], node[1]] = node[2]
	lost_xs, lost_ys = np.where(label_lost_map == i)
	while lost_xs.shape[0] > 0:
	lost_xs, lost_ys = np.where(label_lost_map == i)
	for lost_x, lost_y in zip(lost_xs, lost_ys):
	propagated_depth = []
	real_nes = []
	for ne in get_cross_nes(lost_x, lost_y):
	if not(is_inside(ne[0], ne[1], bord_up, bord_down, bord_left, bord_right)) or \
	edge_depth_map[ne[0], ne[1]] == 0:
	continue
	propagated_depth.append(edge_depth_map[ne[0], ne[1]])
	real_nes.append(ne)
	if len(real_nes) == 0:
	continue
	reassign_depth = np.mean(propagated_depth)
	label_lost_map[lost_x, lost_y] = 0
	edge_depth_map[lost_x, lost_y] = reassign_depth
	depth[lost_x, lost_y] = -reassign_depth
	mesh.add_node((lost_x, lost_y, reassign_depth), color=image[lost_x, lost_y],
	synthesis=False,
	disp=1./reassign_depth,
	cc_id=set())
	info_on_pix[(lost_x, lost_y)] = [{'depth':reassign_depth,
	'color':image[lost_x, lost_y],
	'synthesis':False,
	'disp':1./reassign_depth}]
	new_connections = [((lost_x, lost_y, reassign_depth),
	(ne[0], ne[1], edge_depth_map[ne[0], ne[1]])) for ne in real_nes]
	mesh.add_edges_from(new_connections)

	return mesh, info_on_pix, depth

	def remove_node_feat(mesh, *feats):
	mesh_nodes = mesh.nodes
	for node in mesh_nodes:
	for feat in feats:
	mesh_nodes[node][feat] = None

	return mesh

	def update_status(mesh, info_on_pix, depth=None):
	'''
	(2) clear_node_feat(G, *fts) : Clear all the node feature on graph G.
	(6) get_cross_nes(x, y) : Get the four cross neighbors of pixel(x, y).
	'''
	key_exist = lambda d, k: d.get(k) is not None
	is_inside = lambda x, y, xmin, xmax, ymin, ymax: xmin <= x < xmax and ymin <= y < ymax
	get_cross_nes = lambda x, y: [(x + 1, y), (x - 1, y), (x, y - 1), (x, y + 1)]
	append_element = lambda d, k, x: d[k] + [x] if key_exist(d, k) else [x]

	def clear_node_feat(G, fts):
	le_nodes = G.nodes
	for k in le_nodes:
	v = le_nodes[k]
	for ft in fts:
	if ft in v:
	v[ft] = None

	clear_node_feat(mesh, ['edge_id', 'far', 'near'])
	bord_up, bord_down = mesh.graph['bord_up'], mesh.graph['bord_down']
	bord_left, bord_right = mesh.graph['bord_left'], mesh.graph['bord_right']

	le_nodes = mesh.nodes

	for node_key in le_nodes:
	if mesh.neighbors(node_key).__length_hint__() == 4:
	continue
	four_nes = [xx for xx in get_cross_nes(node_key[0], node_key[1]) if
	is_inside(xx[0], xx[1], bord_up, bord_down, bord_left, bord_right) and
	xx in info_on_pix]
	[four_nes.remove((ne_node[0], ne_node[1])) for ne_node in mesh.neighbors(node_key)]
	for ne in four_nes:
	for info in info_on_pix[ne]:
	assert mesh.has_node((ne[0], ne[1], info['depth'])), "No node_key"
	ind_node = le_nodes[node_key]
	if abs(node_key[2]) > abs(info['depth']):
	ind_node['near'] = append_element(ind_node, 'near', (ne[0], ne[1], info['depth']))
	else:
	ind_node['far'] = append_element(ind_node, 'far', (ne[0], ne[1], info['depth']))
	if depth is not None:
	for key, value in info_on_pix.items():
	if depth[key[0], key[1]] != abs(value[0]['depth']):
	value[0]['disp'] = 1. / value[0]['depth']
	depth[key[0], key[1]] = abs(value[0]['depth'])

	return mesh, depth, info_on_pix
	else:
	return mesh

	def group_edges(LDI, config, image, remove_conflict_ordinal, spdb=False):

	'''
	(1) add_new_node(G, node) : add "node" to graph "G"
	(2) add_new_edge(G, node_a, node_b) : add edge "node_a--node_b" to graph "G"
	(3) exceed_thre(x, y, thre) : Check if difference between "x" and "y" exceed threshold "thre"
	(4) key_exist(d, k) : Check if key "k' exists in dictionary "d"
	(5) comm_opp_bg(G, x, y) : Check if node "x" and "y" in graph "G" treat the same opposite node as background
	(6) comm_opp_fg(G, x, y) : Check if node "x" and "y" in graph "G" treat the same opposite node as foreground
	'''
	add_new_node = lambda G, node: None if G.has_node(node) else G.add_node(node)
	add_new_edge = lambda G, node_a, node_b: None if G.has_edge(node_a, node_b) else G.add_edge(node_a, node_b)
	exceed_thre = lambda x, y, thre: (abs(x) - abs(y)) > thre
	key_exist = lambda d, k: d.get(k) is not None
	comm_opp_bg = lambda G, x, y: key_exist(G.nodes[x], 'far') and key_exist(G.nodes[y], 'far') and \
	not(set(G.nodes[x]['far']).isdisjoint(set(G.nodes[y]['far'])))
	comm_opp_fg = lambda G, x, y: key_exist(G.nodes[x], 'near') and key_exist(G.nodes[y], 'near') and \
	not(set(G.nodes[x]['near']).isdisjoint(set(G.nodes[y]['near'])))
	discont_graph = netx.Graph()
	'''
	(A) Skip the pixel at image boundary, we don't want to deal with them.
	(B) Identify discontinuity by the number of its neighbor(degree).
	If the degree < 4(up/right/buttom/left). We will go through following steps:
	(1) Add the discontinuity pixel "node" to graph "discont_graph".
	(2) Find "node"'s cross neighbor(up/right/buttom/left) "ne_node".
	- If the cross neighbor "ne_node" is a discontinuity pixel(degree("ne_node") < 4),
	(a) add it to graph "discont_graph" and build the connection between "ne_node" and "node".
	(b) label its cross neighbor as invalid pixels "inval_diag_candi" to avoid building
	connection between original discontinuity pixel "node" and "inval_diag_candi".
	- Otherwise, find "ne_node"'s cross neighbors, called diagonal candidate "diag_candi".
	- The "diag_candi" is diagonal to the original discontinuity pixel "node".
	- If "diag_candi" exists, go to step(3).
	(3) A diagonal candidate "diag_candi" will be :
	- added to the "discont_graph" if its degree < 4.
	- connected to the original discontinuity pixel "node" if it satisfied either
	one of following criterion:
	(a) the difference of disparity between "diag_candi" and "node" is smaller than default threshold.
	(b) the "diag_candi" and "node" face the same opposite pixel. (See. function "tear_edges")
	(c) Both of "diag_candi" and "node" must_connect to each other. (See. function "combine_end_node")
	(C) Aggregate each connected part in "discont_graph" into "discont_ccs" (A.K.A. depth edge).
	'''
	for node in LDI.nodes:
	if not(LDI.graph['bord_up'] + 1 <= node[0] <= LDI.graph['bord_down'] - 2 and \
	LDI.graph['bord_left'] + 1 <= node[1] <= LDI.graph['bord_right'] - 2):
	continue
	neighbors = [*LDI.neighbors(node)]
	if len(neighbors) < 4:
	add_new_node(discont_graph, node)
	diag_candi_anc, inval_diag_candi, discont_nes = set(), set(), set()
	for ne_node in neighbors:
	if len([*LDI.neighbors(ne_node)]) < 4:
	add_new_node(discont_graph, ne_node)
	add_new_edge(discont_graph, ne_node, node)
	discont_nes.add(ne_node)
	else:
	diag_candi_anc.add(ne_node)
	inval_diag_candi = set([inval_diagonal for ne_node in discont_nes for inval_diagonal in LDI.neighbors(ne_node) if \
	abs(inval_diagonal[0] - node[0]) < 2 and abs(inval_diagonal[1] - node[1]) < 2])
	for ne_node in diag_candi_anc:
	if ne_node[0] == node[0]:
	diagonal_xys = [[ne_node[0] + 1, ne_node[1]], [ne_node[0] - 1, ne_node[1]]]
	elif ne_node[1] == node[1]:
	diagonal_xys = [[ne_node[0], ne_node[1] + 1], [ne_node[0], ne_node[1] - 1]]
	for diag_candi in LDI.neighbors(ne_node):
	if [diag_candi[0], diag_candi[1]] in diagonal_xys and LDI.degree(diag_candi) < 4:
	if diag_candi not in inval_diag_candi:
	if not exceed_thre(1./node[2], 1./diag_candi[2], config['depth_threshold']) or \
	(comm_opp_bg(LDI, diag_candi, node) and comm_opp_fg(LDI, diag_candi, node)):
	add_new_node(discont_graph, diag_candi)
	add_new_edge(discont_graph, diag_candi, node)
	if key_exist(LDI.nodes[diag_candi], 'must_connect') and node in LDI.nodes[diag_candi]['must_connect'] and \
	key_exist(LDI.nodes[node], 'must_connect') and diag_candi in LDI.nodes[node]['must_connect']:
	add_new_node(discont_graph, diag_candi)
	add_new_edge(discont_graph, diag_candi, node)
	if spdb == True:
	import pdb; pdb.set_trace()
	discont_ccs = [*netx.connected_components(discont_graph)]
	'''
	In some corner case, a depth edge "discont_cc" will contain both
	foreground(FG) and background(BG) pixels. This violate the assumption that
	a depth edge can only composite by one type of pixel(FG or BG).
	We need to further divide this depth edge into several sub-part so that the
	assumption is satisfied.
	(A) A depth edge is invalid if both of its "far_flag"(BG) and
	"near_flag"(FG) are True.
	(B) If the depth edge is invalid, we need to do:
	(1) Find the role("oridinal") of each pixel on the depth edge.
	"-1" --> Its opposite pixels has smaller depth(near) than it.
	It is a backgorund pixel.
	"+1" --> Its opposite pixels has larger depth(far) than it.
	It is a foregorund pixel.
	"0" --> Some of opposite pixels has larger depth(far) than it,
	and some has smaller pixel than it.
	It is an ambiguous pixel.
	(2) For each pixel "discont_node", check if its neigbhors' roles are consistent.
	- If not, break the connection between the neighbor "ne_node" that has a role
	different from "discont_node".
	- If yes, remove all the role that are inconsistent to its neighbors "ne_node".
	(3) Connected component analysis to re-identified those divided depth edge.
	(C) Aggregate each connected part in "discont_graph" into "discont_ccs" (A.K.A. depth edge).
	'''
	if remove_conflict_ordinal:
	new_discont_ccs = []
	num_new_cc = 0
	for edge_id, discont_cc in enumerate(discont_ccs):
	near_flag = False
	far_flag = False
	for discont_node in discont_cc:
	near_flag = True if key_exist(LDI.nodes[discont_node], 'far') else near_flag
	far_flag = True if key_exist(LDI.nodes[discont_node], 'near') else far_flag
	if far_flag and near_flag:
	break
	if far_flag and near_flag:
	for discont_node in discont_cc:
	discont_graph.nodes[discont_node]['ordinal'] = \
	np.array([key_exist(LDI.nodes[discont_node], 'far'),
	key_exist(LDI.nodes[discont_node], 'near')]) * \
	np.array([-1, 1])
	discont_graph.nodes[discont_node]['ordinal'] = \
	np.sum(discont_graph.nodes[discont_node]['ordinal'])
	remove_nodes, remove_edges = [], []
	for discont_node in discont_cc:
	ordinal_relation = np.sum([discont_graph.nodes[xx]['ordinal'] \
	for xx in discont_graph.neighbors(discont_node)])
	near_side = discont_graph.nodes[discont_node]['ordinal'] <= 0
	if abs(ordinal_relation) < len([*discont_graph.neighbors(discont_node)]):
	remove_nodes.append(discont_node)
	for ne_node in discont_graph.neighbors(discont_node):
	remove_flag = (near_side and not(key_exist(LDI.nodes[ne_node], 'far'))) or \
	(not near_side and not(key_exist(LDI.nodes[ne_node], 'near')))
	remove_edges += [(discont_node, ne_node)] if remove_flag else []
	else:
	if near_side and key_exist(LDI.nodes[discont_node], 'near'):
	LDI.nodes[discont_node].pop('near')
	elif not(near_side) and key_exist(LDI.nodes[discont_node], 'far'):
	LDI.nodes[discont_node].pop('far')
	discont_graph.remove_edges_from(remove_edges)
	sub_mesh = discont_graph.subgraph(list(discont_cc)).copy()
	sub_discont_ccs = [*netx.connected_components(sub_mesh)]
	is_redun_near = lambda xx: len(xx) == 1 and xx[0] in remove_nodes and key_exist(LDI.nodes[xx[0]], 'far')
	for sub_discont_cc in sub_discont_ccs:
	if is_redun_near(list(sub_discont_cc)):
	LDI.nodes[list(sub_discont_cc)[0]].pop('far')
	new_discont_ccs.append(sub_discont_cc)
	else:
	new_discont_ccs.append(discont_cc)
	discont_ccs = new_discont_ccs
	new_discont_ccs = None
	if spdb == True:
	import pdb; pdb.set_trace()

	for edge_id, edge_cc in enumerate(discont_ccs):
	for node in edge_cc:
	LDI.nodes[node]['edge_id'] = edge_id

	return discont_ccs, LDI, discont_graph

	def combine_end_node(mesh, edge_mesh, edge_ccs, depth):
	import collections
	mesh_nodes = mesh.nodes
	connect_dict = dict()
	for valid_edge_id, valid_edge_cc in enumerate(edge_ccs):
	connect_info = []
	for valid_edge_node in valid_edge_cc:
	single_connect = set()
	for ne_node in mesh.neighbors(valid_edge_node):
	if mesh_nodes[ne_node].get('far') is not None:
	for fn in mesh_nodes[ne_node].get('far'):
	if mesh.has_node(fn) and mesh_nodes[fn].get('edge_id') is not None:
	single_connect.add(mesh_nodes[fn]['edge_id'])
	if mesh_nodes[ne_node].get('near') is not None:
	for fn in mesh_nodes[ne_node].get('near'):
	if mesh.has_node(fn) and mesh_nodes[fn].get('edge_id') is not None:
	single_connect.add(mesh_nodes[fn]['edge_id'])
	connect_info.extend([*single_connect])
	connect_dict[valid_edge_id] = collections.Counter(connect_info)

	end_maps = np.zeros((mesh.graph['H'], mesh.graph['W']))
	edge_maps = np.zeros((mesh.graph['H'], mesh.graph['W'])) - 1
	for valid_edge_id, valid_edge_cc in enumerate(edge_ccs):
	for valid_edge_node in valid_edge_cc:
	edge_maps[valid_edge_node[0], valid_edge_node[1]] = valid_edge_id
	if len([*edge_mesh.neighbors(valid_edge_node)]) == 1:
	num_ne = 1
	if num_ne == 1:
	end_maps[valid_edge_node[0], valid_edge_node[1]] = valid_edge_node[2]
	nxs, nys = np.where(end_maps != 0)
	invalid_nodes = set()
	for nx, ny in zip(nxs, nys):
	if mesh.has_node((nx, ny, end_maps[nx, ny])) is False:
	invalid_nodes.add((nx, ny))
	continue
	four_nes = [xx for xx in [(nx - 1, ny), (nx + 1, ny), (nx, ny - 1), (nx, ny + 1)] \
	if 0 <= xx[0] < mesh.graph['H'] and 0 <= xx[1] < mesh.graph['W'] and \
	end_maps[xx[0], xx[1]] != 0]
	mesh_nes = [*mesh.neighbors((nx, ny, end_maps[nx, ny]))]
	remove_num = 0
	for fne in four_nes:
	if (fne[0], fne[1], end_maps[fne[0], fne[1]]) in mesh_nes:
	remove_num += 1
	if remove_num == len(four_nes):
	invalid_nodes.add((nx, ny))
	for invalid_node in invalid_nodes:
	end_maps[invalid_node[0], invalid_node[1]] = 0

	nxs, nys = np.where(end_maps != 0)
	invalid_nodes = set()
	for nx, ny in zip(nxs, nys):
	if mesh_nodes[(nx, ny, end_maps[nx, ny])].get('edge_id') is None:
	continue
	else:
	self_id = mesh_nodes[(nx, ny, end_maps[nx, ny])].get('edge_id')
	self_connect = connect_dict[self_id] if connect_dict.get(self_id) is not None else dict()
	four_nes = [xx for xx in [(nx - 1, ny), (nx + 1, ny), (nx, ny - 1), (nx, ny + 1)] \
	if 0 <= xx[0] < mesh.graph['H'] and 0 <= xx[1] < mesh.graph['W'] and \
	end_maps[xx[0], xx[1]] != 0]
	for fne in four_nes:
	if mesh_nodes[(fne[0], fne[1], end_maps[fne[0], fne[1]])].get('edge_id') is None:
	continue
	else:
	ne_id = mesh_nodes[(fne[0], fne[1], end_maps[fne[0], fne[1]])]['edge_id']
	if self_connect.get(ne_id) is None or self_connect.get(ne_id) == 1:
	continue
	else:
	invalid_nodes.add((nx, ny))
	for invalid_node in invalid_nodes:
	end_maps[invalid_node[0], invalid_node[1]] = 0
	nxs, nys = np.where(end_maps != 0)
	invalid_nodes = set()
	for nx, ny in zip(nxs, nys):
	four_nes = [xx for xx in [(nx - 1, ny), (nx + 1, ny), (nx, ny - 1), (nx, ny + 1)] \
	if 0 <= xx[0] < mesh.graph['H'] and 0 <= xx[1] < mesh.graph['W'] and \
	end_maps[xx[0], xx[1]] != 0]
	for fne in four_nes:
	if mesh.has_node((fne[0], fne[1], end_maps[fne[0], fne[1]])):
	node_a, node_b = (fne[0], fne[1], end_maps[fne[0], fne[1]]), (nx, ny, end_maps[nx, ny])
	mesh.add_edge(node_a, node_b)
	mesh_nodes[node_b]['must_connect'] = set() if mesh_nodes[node_b].get('must_connect') is None else mesh_nodes[node_b]['must_connect']
	mesh_nodes[node_b]['must_connect'].add(node_a)
	mesh_nodes[node_b]['must_connect'] \|= set([xx for xx in [*edge_mesh.neighbors(node_a)] if \
	(xx[0] - node_b[0]) < 2 and (xx[1] - node_b[1]) < 2])
	mesh_nodes[node_a]['must_connect'] = set() if mesh_nodes[node_a].get('must_connect') is None else mesh_nodes[node_a]['must_connect']
	mesh_nodes[node_a]['must_connect'].add(node_b)
	mesh_nodes[node_a]['must_connect'] \|= set([xx for xx in [*edge_mesh.neighbors(node_b)] if \
	(xx[0] - node_a[0]) < 2 and (xx[1] - node_a[1]) < 2])
	invalid_nodes.add((nx, ny))
	for invalid_node in invalid_nodes:
	end_maps[invalid_node[0], invalid_node[1]] = 0

	return mesh

	def remove_redundant_edge(mesh, edge_mesh, edge_ccs, info_on_pix, config, redundant_number=1000, invalid=False, spdb=False):
	point_to_amount = {}
	point_to_id = {}
	end_maps = np.zeros((mesh.graph['H'], mesh.graph['W'])) - 1
	for valid_edge_id, valid_edge_cc in enumerate(edge_ccs):
	for valid_edge_node in valid_edge_cc:
	point_to_amount[valid_edge_node] = len(valid_edge_cc)
	point_to_id[valid_edge_node] = valid_edge_id
	if edge_mesh.has_node(valid_edge_node) is True:
	if len([*edge_mesh.neighbors(valid_edge_node)]) == 1:
	end_maps[valid_edge_node[0], valid_edge_node[1]] = valid_edge_id
	nxs, nys = np.where(end_maps > -1)
	point_to_adjoint = {}
	for nx, ny in zip(nxs, nys):
	adjoint_edges = set([end_maps[x, y] for x, y in [(nx + 1, ny), (nx - 1, ny), (nx, ny + 1), (nx, ny - 1)] if end_maps[x, y] != -1])
	point_to_adjoint[end_maps[nx, ny]] = (point_to_adjoint[end_maps[nx, ny]] \| adjoint_edges) if point_to_adjoint.get(end_maps[nx, ny]) is not None else adjoint_edges
	valid_edge_ccs = filter_edge(mesh, edge_ccs, config, invalid=invalid)
	edge_canvas = np.zeros((mesh.graph['H'], mesh.graph['W'])) - 1
	for valid_edge_id, valid_edge_cc in enumerate(valid_edge_ccs):
	for valid_edge_node in valid_edge_cc:
	edge_canvas[valid_edge_node[0], valid_edge_node[1]] = valid_edge_id
	if spdb is True:
	plt.imshow(edge_canvas); plt.show()
	import pdb; pdb.set_trace()
	for valid_edge_id, valid_edge_cc in enumerate(valid_edge_ccs):
	end_number = 0
	four_end_number = 0
	eight_end_number = 0
	db_eight_end_number = 0
	if len(valid_edge_cc) > redundant_number:
	continue
	for valid_edge_node in valid_edge_cc:
	if len([*edge_mesh.neighbors(valid_edge_node)]) == 3:
	break
	elif len([*edge_mesh.neighbors(valid_edge_node)]) == 1:
	hx, hy, hz = valid_edge_node
	if invalid is False:
	eight_nes = [(x, y) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1),
	(hx + 1, hy + 1), (hx - 1, hy - 1), (hx - 1, hy + 1), (hx + 1, hy - 1)] \
	if info_on_pix.get((x, y)) is not None and edge_canvas[x, y] != -1 and edge_canvas[x, y] != valid_edge_id]
	if len(eight_nes) == 0:
	end_number += 1
	if invalid is True:
	four_nes = []; eight_nes = []; db_eight_nes = []
	four_nes = [(x, y) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1)] \
	if info_on_pix.get((x, y)) is not None and edge_canvas[x, y] != -1 and edge_canvas[x, y] != valid_edge_id]
	eight_nes = [(x, y) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1), \
	(hx + 1, hy + 1), (hx - 1, hy - 1), (hx - 1, hy + 1), (hx + 1, hy - 1)] \
	if info_on_pix.get((x, y)) is not None and edge_canvas[x, y] != -1 and edge_canvas[x, y] != valid_edge_id]
	db_eight_nes = [(x, y) for x in range(hx - 2, hx + 3) for y in range(hy - 2, hy + 3) \
	if info_on_pix.get((x, y)) is not None and edge_canvas[x, y] != -1 and edge_canvas[x, y] != valid_edge_id and (x, y) != (hx, hy)]
	if len(four_nes) == 0 or len(eight_nes) == 0:
	end_number += 1
	if len(four_nes) == 0:
	four_end_number += 1
	if len(eight_nes) == 0:
	eight_end_number += 1
	if len(db_eight_nes) == 0:
	db_eight_end_number += 1
	elif len([*edge_mesh.neighbors(valid_edge_node)]) == 0:
	hx, hy, hz = valid_edge_node
	four_nes = [(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1)] \
	if info_on_pix.get((x, y)) is not None and \
	mesh.has_edge(valid_edge_node, (x, y, info_on_pix[(x, y)][0]['depth'])) is False]
	for ne in four_nes:
	try:
	if invalid is True or (point_to_amount.get(ne) is None or point_to_amount[ne] < redundant_number) or \
	point_to_id[ne] in point_to_adjoint.get(point_to_id[valid_edge_node], set()):
	mesh.add_edge(valid_edge_node, ne)
	except:
	import pdb; pdb.set_trace()
	if (invalid is not True and end_number >= 1) or (invalid is True and end_number >= 2 and eight_end_number >= 1 and db_eight_end_number >= 1):
	for valid_edge_node in valid_edge_cc:
	hx, hy, _ = valid_edge_node
	four_nes = [(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1)] \
	if info_on_pix.get((x, y)) is not None and \
	mesh.has_edge(valid_edge_node, (x, y, info_on_pix[(x, y)][0]['depth'])) is False and \
	(edge_canvas[x, y] == -1 or edge_canvas[x, y] == valid_edge_id)]
	for ne in four_nes:
	if invalid is True or (point_to_amount.get(ne) is None or point_to_amount[ne] < redundant_number) or \
	point_to_id[ne] in point_to_adjoint.get(point_to_id[valid_edge_node], set()):
	mesh.add_edge(valid_edge_node, ne)

	return mesh

	def judge_dangle(mark, mesh, node):
	if not (1 <= node[0] < mesh.graph['H']-1) or not(1 <= node[1] < mesh.graph['W']-1):
	return mark
	mesh_neighbors = [*mesh.neighbors(node)]
	mesh_neighbors = [xx for xx in mesh_neighbors if 0 < xx[0] < mesh.graph['H'] - 1 and 0 < xx[1] < mesh.graph['W'] - 1]
	if len(mesh_neighbors) >= 3:
	return mark
	elif len(mesh_neighbors) <= 1:
	mark[node[0], node[1]] = (len(mesh_neighbors) + 1)
	else:
	dan_ne_node_a = mesh_neighbors[0]
	dan_ne_node_b = mesh_neighbors[1]
	if abs(dan_ne_node_a[0] - dan_ne_node_b[0]) > 1 or \
	abs(dan_ne_node_a[1] - dan_ne_node_b[1]) > 1:
	mark[node[0], node[1]] = 3

	return mark

	def remove_dangling(mesh, edge_ccs, edge_mesh, info_on_pix, image, depth, config):

	tmp_edge_ccs = copy.deepcopy(edge_ccs)
	for edge_cc_id, valid_edge_cc in enumerate(tmp_edge_ccs):
	if len(valid_edge_cc) > 1 or len(valid_edge_cc) == 0:
	continue
	single_edge_node = [*valid_edge_cc][0]
	hx, hy, hz = single_edge_node
	eight_nes = set([(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1),
	(hx + 1, hy + 1), (hx - 1, hy - 1), (hx - 1, hy + 1), (hx + 1, hy - 1)] \
	if info_on_pix.get((x, y)) is not None])
	four_nes = [(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1)] \
	if info_on_pix.get((x, y)) is not None]
	sub_mesh = mesh.subgraph(eight_nes).copy()
	ccs = netx.connected_components(sub_mesh)
	four_ccs = []
	for cc_id, _cc in enumerate(ccs):
	four_ccs.append(set())
	for cc_node in _cc:
	if abs(cc_node[0] - hx) + abs(cc_node[1] - hy) < 2:
	four_ccs[cc_id].add(cc_node)
	largest_cc = sorted(four_ccs, key=lambda x: (len(x), -np.sum([abs(xx[2] - hz) for xx in x])))[-1]
	if len(largest_cc) < 2:
	for ne in four_nes:
	mesh.add_edge(single_edge_node, ne)
	else:
	mesh.remove_edges_from([(single_edge_node, ne) for ne in mesh.neighbors(single_edge_node)])
	new_depth = np.mean([xx[2] for xx in largest_cc])
	info_on_pix[(hx, hy)][0]['depth'] = new_depth
	info_on_pix[(hx, hy)][0]['disp'] = 1./new_depth
	new_node = (hx, hy, new_depth)
	mesh = refresh_node(single_edge_node, mesh.node[single_edge_node], new_node, dict(), mesh)
	edge_ccs[edge_cc_id] = set([new_node])
	for ne in largest_cc:
	mesh.add_edge(new_node, ne)

	mark = np.zeros((mesh.graph['H'], mesh.graph['W']))
	for edge_idx, edge_cc in enumerate(edge_ccs):
	for edge_node in edge_cc:
	if not (mesh.graph['bord_up'] <= edge_node[0] < mesh.graph['bord_down']-1) or \
	not (mesh.graph['bord_left'] <= edge_node[1] < mesh.graph['bord_right']-1):
	continue
	mesh_neighbors = [*mesh.neighbors(edge_node)]
	mesh_neighbors = [xx for xx in mesh_neighbors \
	if mesh.graph['bord_up'] < xx[0] < mesh.graph['bord_down'] - 1 and \
	mesh.graph['bord_left'] < xx[1] < mesh.graph['bord_right'] - 1]
	if len([*mesh.neighbors(edge_node)]) >= 3:
	continue
	elif len([*mesh.neighbors(edge_node)]) <= 1:
	mark[edge_node[0], edge_node[1]] += (len([*mesh.neighbors(edge_node)]) + 1)
	else:
	dan_ne_node_a = [*mesh.neighbors(edge_node)][0]
	dan_ne_node_b = [*mesh.neighbors(edge_node)][1]
	if abs(dan_ne_node_a[0] - dan_ne_node_b[0]) > 1 or \
	abs(dan_ne_node_a[1] - dan_ne_node_b[1]) > 1:
	mark[edge_node[0], edge_node[1]] += 3
	mxs, mys = np.where(mark == 1)
	conn_0_nodes = [(x[0], x[1], info_on_pix[(x[0], x[1])][0]['depth']) for x in zip(mxs, mys) \
	if mesh.has_node((x[0], x[1], info_on_pix[(x[0], x[1])][0]['depth']))]
	mxs, mys = np.where(mark == 2)
	conn_1_nodes = [(x[0], x[1], info_on_pix[(x[0], x[1])][0]['depth']) for x in zip(mxs, mys) \
	if mesh.has_node((x[0], x[1], info_on_pix[(x[0], x[1])][0]['depth']))]
	for node in conn_0_nodes:
	hx, hy = node[0], node[1]
	four_nes = [(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1)] \
	if info_on_pix.get((x, y)) is not None]
	re_depth = {'value' : 0, 'count': 0}
	for ne in four_nes:
	mesh.add_edge(node, ne)
	re_depth['value'] += cc_node[2]
	re_depth['count'] += 1.
	re_depth = re_depth['value'] / re_depth['count']
	mapping_dict = {node: (node[0], node[1], re_depth)}
	info_on_pix, mesh, edge_mesh = update_info(mapping_dict, info_on_pix, mesh, edge_mesh)
	depth[node[0], node[1]] = abs(re_depth)
	mark[node[0], node[1]] = 0
	for node in conn_1_nodes:
	hx, hy = node[0], node[1]
	eight_nes = set([(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1),
	(hx + 1, hy + 1), (hx - 1, hy - 1), (hx - 1, hy + 1), (hx + 1, hy - 1)] \
	if info_on_pix.get((x, y)) is not None])
	self_nes = set([ne2 for ne1 in mesh.neighbors(node) for ne2 in mesh.neighbors(ne1) if ne2 in eight_nes])
	eight_nes = [*(eight_nes - self_nes)]
	sub_mesh = mesh.subgraph(eight_nes).copy()
	ccs = netx.connected_components(sub_mesh)
	largest_cc = sorted(ccs, key=lambda x: (len(x), -np.sum([abs(xx[0] - node[0]) + abs(xx[1] - node[1]) for xx in x])))[-1]

	mesh.remove_edges_from([(xx, node) for xx in mesh.neighbors(node)])
	re_depth = {'value' : 0, 'count': 0}
	for cc_node in largest_cc:
	if cc_node[0] == node[0] and cc_node[1] == node[1]:
	continue
	re_depth['value'] += cc_node[2]
	re_depth['count'] += 1.
	if abs(cc_node[0] - node[0]) + abs(cc_node[1] - node[1]) < 2:
	mesh.add_edge(cc_node, node)
	try:
	re_depth = re_depth['value'] / re_depth['count']
	except:
	re_depth = node[2]
	renode = (node[0], node[1], re_depth)
	mapping_dict = {node: renode}
	info_on_pix, mesh, edge_mesh = update_info(mapping_dict, info_on_pix, mesh, edge_mesh)
	depth[node[0], node[1]] = abs(re_depth)
	mark[node[0], node[1]] = 0
	edge_mesh, mesh, mark, info_on_pix = recursive_add_edge(edge_mesh, mesh, info_on_pix, renode, mark)
	mxs, mys = np.where(mark == 3)
	conn_2_nodes = [(x[0], x[1], info_on_pix[(x[0], x[1])][0]['depth']) for x in zip(mxs, mys) \
	if mesh.has_node((x[0], x[1], info_on_pix[(x[0], x[1])][0]['depth'])) and \
	mesh.degree((x[0], x[1], info_on_pix[(x[0], x[1])][0]['depth'])) == 2]
	sub_mesh = mesh.subgraph(conn_2_nodes).copy()
	ccs = netx.connected_components(sub_mesh)
	for cc in ccs:
	candidate_nodes = [xx for xx in cc if sub_mesh.degree(xx) == 1]
	for node in candidate_nodes:
	if mesh.has_node(node) is False:
	continue
	ne_node = [xx for xx in mesh.neighbors(node) if xx not in cc][0]
	hx, hy = node[0], node[1]
	eight_nes = set([(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1),
	(hx + 1, hy + 1), (hx - 1, hy - 1), (hx - 1, hy + 1), (hx + 1, hy - 1)] \
	if info_on_pix.get((x, y)) is not None and (x, y, info_on_pix[(x, y)][0]['depth']) not in cc])
	ne_sub_mesh = mesh.subgraph(eight_nes).copy()
	ne_ccs = netx.connected_components(ne_sub_mesh)
	try:
	ne_cc = [ne_cc for ne_cc in ne_ccs if ne_node in ne_cc][0]
	except:
	import pdb; pdb.set_trace()
	largest_cc = [xx for xx in ne_cc if abs(xx[0] - node[0]) + abs(xx[1] - node[1]) == 1]
	mesh.remove_edges_from([(xx, node) for xx in mesh.neighbors(node)])
	re_depth = {'value' : 0, 'count': 0}
	for cc_node in largest_cc:
	re_depth['value'] += cc_node[2]
	re_depth['count'] += 1.
	mesh.add_edge(cc_node, node)
	try:
	re_depth = re_depth['value'] / re_depth['count']
	except:
	re_depth = node[2]
	renode = (node[0], node[1], re_depth)
	mapping_dict = {node: renode}
	info_on_pix, mesh, edge_mesh = update_info(mapping_dict, info_on_pix, mesh, edge_mesh)
	depth[node[0], node[1]] = abs(re_depth)
	mark[node[0], node[1]] = 0
	edge_mesh, mesh, mark, info_on_pix = recursive_add_edge(edge_mesh, mesh, info_on_pix, renode, mark)
	break
	if len(cc) == 1:
	node = [node for node in cc][0]
	hx, hy = node[0], node[1]
	nine_nes = set([(x, y, info_on_pix[(x, y)][0]['depth']) for x, y in [(hx, hy), (hx + 1, hy), (hx - 1, hy), (hx, hy + 1), (hx, hy - 1),
	(hx + 1, hy + 1), (hx - 1, hy - 1), (hx - 1, hy + 1), (hx + 1, hy - 1)] \
	if info_on_pix.get((x, y)) is not None and mesh.has_node((x, y, info_on_pix[(x, y)][0]['depth']))])
	ne_sub_mesh = mesh.subgraph(nine_nes).copy()
	ne_ccs = netx.connected_components(ne_sub_mesh)
	for ne_cc in ne_ccs:
	if node in ne_cc:
	re_depth = {'value' : 0, 'count': 0}
	for ne in ne_cc:
	if abs(ne[0] - node[0]) + abs(ne[1] - node[1]) == 1:
	mesh.add_edge(node, ne)
	re_depth['value'] += ne[2]
	re_depth['count'] += 1.
	re_depth = re_depth['value'] / re_depth['count']
	mapping_dict = {node: (node[0], node[1], re_depth)}
	info_on_pix, mesh, edge_mesh = update_info(mapping_dict, info_on_pix, mesh, edge_mesh)
	depth[node[0], node[1]] = abs(re_depth)
	mark[node[0], node[1]] = 0


	return mesh, info_on_pix, edge_mesh, depth, mark

	def context_and_holes(mesh, edge_ccs, config, specific_edge_id, specific_edge_loc, depth_feat_model,
	connect_points_ccs=None, inpaint_iter=0, filter_edge=False, vis_edge_id=None):
	edge_maps = np.zeros((mesh.graph['H'], mesh.graph['W'])) - 1
	mask_info = {}
	for edge_id, edge_cc in enumerate(edge_ccs):
	for edge_node in edge_cc:
	edge_maps[edge_node[0], edge_node[1]] = edge_id

	context_ccs = [set() for x in range(len(edge_ccs))]
	extend_context_ccs = [set() for x in range(len(edge_ccs))]
	extend_erode_context_ccs = [set() for x in range(len(edge_ccs))]
	extend_edge_ccs = [set() for x in range(len(edge_ccs))]
	accomp_extend_context_ccs = [set() for x in range(len(edge_ccs))]
	erode_context_ccs = [set() for x in range(len(edge_ccs))]
	broken_mask_ccs = [set() for x in range(len(edge_ccs))]
	invalid_extend_edge_ccs = [set() for x in range(len(edge_ccs))]
	intouched_ccs = [set() for x in range(len(edge_ccs))]
	redundant_ccs = [set() for x in range(len(edge_ccs))]
	if inpaint_iter == 0:
	background_thickness = config['background_thickness']
	context_thickness = config['context_thickness']
	else:
	background_thickness = config['background_thickness_2']
	context_thickness = config['context_thickness_2']

	mesh_nodes = mesh.nodes
	for edge_id, edge_cc in enumerate(edge_ccs):
	if context_thickness == 0 or (len(specific_edge_id) > 0 and edge_id not in specific_edge_id):
	continue
	edge_group = {}
	for edge_node in edge_cc:
	far_nodes = mesh_nodes[edge_node].get('far')
	if far_nodes is None:
	continue
	for far_node in far_nodes:
	if far_node in edge_cc:
	continue
	context_ccs[edge_id].add(far_node)
	if mesh_nodes[far_node].get('edge_id') is not None:
	if edge_group.get(mesh_nodes[far_node]['edge_id']) is None:
	edge_group[mesh_nodes[far_node]['edge_id']] = set()
	edge_group[mesh_nodes[far_node]['edge_id']].add(far_node)
	if len(edge_cc) > 2:
	for edge_key in [*edge_group.keys()]:
	if len(edge_group[edge_key]) == 1:
	context_ccs[edge_id].remove([*edge_group[edge_key]][0])
	for edge_id, edge_cc in enumerate(edge_ccs):
	if inpaint_iter != 0:
	continue
	tmp_intouched_nodes = set()
	for edge_node in edge_cc:
	raw_intouched_nodes = set(mesh_nodes[edge_node].get('near')) if mesh_nodes[edge_node].get('near') is not None else set()
	tmp_intouched_nodes \|= set([xx for xx in raw_intouched_nodes if mesh_nodes[xx].get('edge_id') is not None and \
	len(context_ccs[mesh_nodes[xx].get('edge_id')]) > 0])
	intouched_ccs[edge_id] \|= tmp_intouched_nodes
	tmp_intouched_nodes = None
	mask_ccs = copy.deepcopy(edge_ccs)
	forbidden_len = 3
	forbidden_map = np.ones((mesh.graph['H'] - forbidden_len, mesh.graph['W'] - forbidden_len))
	forbidden_map = np.pad(forbidden_map, ((forbidden_len, forbidden_len), (forbidden_len, forbidden_len)), mode='constant').astype(np.bool)
	cur_tmp_mask_map = np.zeros_like(forbidden_map).astype(np.bool)
	passive_background = 10 if 10 is not None else background_thickness
	passive_context = 1 if 1 is not None else context_thickness

	for edge_id, edge_cc in enumerate(edge_ccs):
	cur_mask_cc = None; cur_mask_cc = []
	cur_context_cc = None; cur_context_cc = []
	cur_accomp_near_cc = None; cur_accomp_near_cc = []
	cur_invalid_extend_edge_cc = None; cur_invalid_extend_edge_cc = []
	cur_comp_far_cc = None; cur_comp_far_cc = []
	tmp_erode = []
	if len(context_ccs[edge_id]) == 0 or (len(specific_edge_id) > 0 and edge_id not in specific_edge_id):
	continue
	for i in range(max(background_thickness, context_thickness)):
	cur_tmp_mask_map.fill(False)
	if i == 0:
	tmp_mask_nodes = copy.deepcopy(mask_ccs[edge_id])
	tmp_intersect_nodes = []
	tmp_intersect_context_nodes = []
	mask_map = np.zeros((mesh.graph['H'], mesh.graph['W']), dtype=np.bool)
	context_depth = np.zeros((mesh.graph['H'], mesh.graph['W']))
	comp_cnt_depth = np.zeros((mesh.graph['H'], mesh.graph['W']))
	connect_map = np.zeros((mesh.graph['H'], mesh.graph['W']))
	for node in tmp_mask_nodes:
	mask_map[node[0], node[1]] = True
	depth_count = 0
	if mesh_nodes[node].get('far') is not None:
	for comp_cnt_node in mesh_nodes[node]['far']:
	comp_cnt_depth[node[0], node[1]] += abs(comp_cnt_node[2])
	depth_count += 1
	if depth_count > 0:
	comp_cnt_depth[node[0], node[1]] = comp_cnt_depth[node[0], node[1]] / depth_count
	connect_node = []
	if mesh_nodes[node].get('connect_point_id') is not None:
	connect_node.append(mesh_nodes[node]['connect_point_id'])
	connect_point_id = np.bincount(connect_node).argmax() if len(connect_node) > 0 else -1
	if connect_point_id > -1 and connect_points_ccs is not None:
	for xx in connect_points_ccs[connect_point_id]:
	if connect_map[xx[0], xx[1]] == 0:
	connect_map[xx[0], xx[1]] = xx[2]
	if mesh_nodes[node].get('connect_point_exception') is not None:
	for xx in mesh_nodes[node]['connect_point_exception']:
	if connect_map[xx[0], xx[1]] == 0:
	connect_map[xx[0], xx[1]] = xx[2]
	tmp_context_nodes = [*context_ccs[edge_id]]
	tmp_erode.append([*context_ccs[edge_id]])
	context_map = np.zeros((mesh.graph['H'], mesh.graph['W']), dtype=np.bool)
	if (context_map.astype(np.uint8) * mask_map.astype(np.uint8)).max() > 0:
	import pdb; pdb.set_trace()
	for node in tmp_context_nodes:
	context_map[node[0], node[1]] = True
	context_depth[node[0], node[1]] = node[2]
	context_map[mask_map == True] = False
	if (context_map.astype(np.uint8) * mask_map.astype(np.uint8)).max() > 0:
	import pdb; pdb.set_trace()
	tmp_intouched_nodes = [*intouched_ccs[edge_id]]
	intouched_map = np.zeros((mesh.graph['H'], mesh.graph['W']), dtype=np.bool)
	for node in tmp_intouched_nodes: intouched_map[node[0], node[1]] = True
	intouched_map[mask_map == True] = False
	tmp_redundant_nodes = set()
	tmp_noncont_nodes = set()
	noncont_map = np.zeros((mesh.graph['H'], mesh.graph['W']), dtype=np.bool)
	intersect_map = np.zeros((mesh.graph['H'], mesh.graph['W']), dtype=np.bool)
	intersect_context_map = np.zeros((mesh.graph['H'], mesh.graph['W']), dtype=np.bool)
	if i > passive_background and inpaint_iter == 0:
	new_tmp_intersect_nodes = None
	new_tmp_intersect_nodes = []
	for node in tmp_intersect_nodes:
	nes = mesh.neighbors(node)
	for ne in nes:
	if bool(context_map[ne[0], ne[1]]) is False and \
	bool(mask_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True and \
	bool(intouched_map[ne[0], ne[1]]) is False and\
	bool(intersect_map[ne[0], ne[1]]) is False and\
	bool(intersect_context_map[ne[0], ne[1]]) is False:
	break_flag = False
	if (i - passive_background) % 2 == 0 and (i - passive_background) % 8 != 0:
	four_nes = [xx for xx in[[ne[0] - 1, ne[1]], [ne[0] + 1, ne[1]], [ne[0], ne[1] - 1], [ne[0], ne[1] + 1]] \
	if 0 <= xx[0] < mesh.graph['H'] and 0 <= xx[1] < mesh.graph['W']]
	for fne in four_nes:
	if bool(mask_map[fne[0], fne[1]]) is True:
	break_flag = True
	break
	if break_flag is True:
	continue
	intersect_map[ne[0], ne[1]] = True
	new_tmp_intersect_nodes.append(ne)
	tmp_intersect_nodes = None
	tmp_intersect_nodes = new_tmp_intersect_nodes

	if i > passive_context and inpaint_iter == 1:
	new_tmp_intersect_context_nodes = None
	new_tmp_intersect_context_nodes = []
	for node in tmp_intersect_context_nodes:
	nes = mesh.neighbors(node)
	for ne in nes:
	if bool(context_map[ne[0], ne[1]]) is False and \
	bool(mask_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True and \
	bool(intouched_map[ne[0], ne[1]]) is False and\
	bool(intersect_map[ne[0], ne[1]]) is False and \
	bool(intersect_context_map[ne[0], ne[1]]) is False:
	intersect_context_map[ne[0], ne[1]] = True
	new_tmp_intersect_context_nodes.append(ne)
	tmp_intersect_context_nodes = None
	tmp_intersect_context_nodes = new_tmp_intersect_context_nodes

	new_tmp_mask_nodes = None
	new_tmp_mask_nodes = []
	for node in tmp_mask_nodes:
	four_nes = {xx:[] for xx in [(node[0] - 1, node[1]), (node[0] + 1, node[1]), (node[0], node[1] - 1), (node[0], node[1] + 1)] if \
	0 <= xx[0] < connect_map.shape[0] and 0 <= xx[1] < connect_map.shape[1]}
	if inpaint_iter > 0:
	for ne in four_nes.keys():
	if connect_map[ne[0], ne[1]] == True:
	tmp_context_nodes.append((ne[0], ne[1], connect_map[ne[0], ne[1]]))
	context_map[ne[0], ne[1]] = True
	nes = mesh.neighbors(node)
	if inpaint_iter > 0:
	for ne in nes: four_nes[(ne[0], ne[1])].append(ne[2])
	nes = []
	for kfne, vfnes in four_nes.items(): vfnes.sort(key = lambda xx: abs(xx), reverse=True)
	for kfne, vfnes in four_nes.items():
	for vfne in vfnes: nes.append((kfne[0], kfne[1], vfne))
	for ne in nes:
	if bool(context_map[ne[0], ne[1]]) is False and \
	bool(mask_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True and \
	bool(intouched_map[ne[0], ne[1]]) is False and \
	bool(intersect_map[ne[0], ne[1]]) is False and \
	bool(intersect_context_map[ne[0], ne[1]]) is False:
	if i == passive_background and inpaint_iter == 0:
	if np.any(context_map[max(ne[0] - 1, 0):min(ne[0] + 2, mesh.graph['H']), max(ne[1] - 1, 0):min(ne[1] + 2, mesh.graph['W'])]) == True:
	intersect_map[ne[0], ne[1]] = True
	tmp_intersect_nodes.append(ne)
	continue
	if i < background_thickness:
	if inpaint_iter == 0:
	cur_mask_cc.append(ne)
	elif mesh_nodes[ne].get('inpaint_id') == 1:
	cur_mask_cc.append(ne)
	else:
	continue
	mask_ccs[edge_id].add(ne)
	if inpaint_iter == 0:
	if comp_cnt_depth[node[0], node[1]] > 0 and comp_cnt_depth[ne[0], ne[1]] == 0:
	comp_cnt_depth[ne[0], ne[1]] = comp_cnt_depth[node[0], node[1]]
	if mesh_nodes[ne].get('far') is not None:
	for comp_far_node in mesh_nodes[ne]['far']:
	cur_comp_far_cc.append(comp_far_node)
	cur_accomp_near_cc.append(ne)
	cur_invalid_extend_edge_cc.append(comp_far_node)
	if mesh_nodes[ne].get('edge_id') is not None and \
	len(context_ccs[mesh_nodes[ne].get('edge_id')]) > 0:
	intouched_fars = set(mesh_nodes[ne].get('far')) if mesh_nodes[ne].get('far') is not None else set()
	accum_intouched_fars = set(intouched_fars)
	for intouched_far in intouched_fars:
	accum_intouched_fars \|= set([*mesh.neighbors(intouched_far)])
	for intouched_far in accum_intouched_fars:
	if bool(mask_map[intouched_far[0], intouched_far[1]]) is True or \
	bool(context_map[intouched_far[0], intouched_far[1]]) is True:
	continue
	tmp_redundant_nodes.add(intouched_far)
	intouched_map[intouched_far[0], intouched_far[1]] = True
	if mesh_nodes[ne].get('near') is not None:
	intouched_nears = set(mesh_nodes[ne].get('near'))
	for intouched_near in intouched_nears:
	if bool(mask_map[intouched_near[0], intouched_near[1]]) is True or \
	bool(context_map[intouched_near[0], intouched_near[1]]) is True:
	continue
	tmp_redundant_nodes.add(intouched_near)
	intouched_map[intouched_near[0], intouched_near[1]] = True
	if not (mesh_nodes[ne].get('inpaint_id') != 1 and inpaint_iter == 1):
	new_tmp_mask_nodes.append(ne)
	mask_map[ne[0], ne[1]] = True
	tmp_mask_nodes = new_tmp_mask_nodes

	new_tmp_context_nodes = None
	new_tmp_context_nodes = []
	for node in tmp_context_nodes:
	nes = mesh.neighbors(node)
	if inpaint_iter > 0:
	four_nes = {(node[0] - 1, node[1]):[], (node[0] + 1, node[1]):[], (node[0], node[1] - 1):[], (node[0], node[1] + 1):[]}
	for ne in nes: four_nes[(ne[0], ne[1])].append(ne[2])
	nes = []
	for kfne, vfnes in four_nes.items(): vfnes.sort(key = lambda xx: abs(xx), reverse=True)
	for kfne, vfnes in four_nes.items():
	for vfne in vfnes: nes.append((kfne[0], kfne[1], vfne))
	for ne in nes:
	mask_flag = (bool(mask_map[ne[0], ne[1]]) is False)
	if bool(context_map[ne[0], ne[1]]) is False and mask_flag and \
	bool(forbidden_map[ne[0], ne[1]]) is True and bool(noncont_map[ne[0], ne[1]]) is False and \
	bool(intersect_context_map[ne[0], ne[1]]) is False:
	if i == passive_context and inpaint_iter == 1:
	mnes = mesh.neighbors(ne)
	if any([mask_map[mne[0], mne[1]] == True for mne in mnes]) is True:
	intersect_context_map[ne[0], ne[1]] = True
	tmp_intersect_context_nodes.append(ne)
	continue
	if False and mesh_nodes[ne].get('near') is not None and mesh_nodes[ne].get('edge_id') != edge_id:
	noncont_nears = set(mesh_nodes[ne].get('near'))
	for noncont_near in noncont_nears:
	if bool(context_map[noncont_near[0], noncont_near[1]]) is False:
	tmp_noncont_nodes.add(noncont_near)
	noncont_map[noncont_near[0], noncont_near[1]] = True
	new_tmp_context_nodes.append(ne)
	context_map[ne[0], ne[1]] = True
	context_depth[ne[0], ne[1]] = ne[2]
	cur_context_cc.extend(new_tmp_context_nodes)
	tmp_erode.append(new_tmp_context_nodes)
	tmp_context_nodes = None
	tmp_context_nodes = new_tmp_context_nodes
	new_tmp_intouched_nodes = None; new_tmp_intouched_nodes = []

	for node in tmp_intouched_nodes:
	if bool(context_map[node[0], node[1]]) is True or bool(mask_map[node[0], node[1]]) is True:
	continue
	nes = mesh.neighbors(node)

	for ne in nes:
	if bool(context_map[ne[0], ne[1]]) is False and \
	bool(mask_map[ne[0], ne[1]]) is False and \
	bool(intouched_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True:
	new_tmp_intouched_nodes.append(ne)
	intouched_map[ne[0], ne[1]] = True
	tmp_intouched_nodes = None
	tmp_intouched_nodes = set(new_tmp_intouched_nodes)
	new_tmp_redundant_nodes = None; new_tmp_redundant_nodes = []
	for node in tmp_redundant_nodes:
	if bool(context_map[node[0], node[1]]) is True or \
	bool(mask_map[node[0], node[1]]) is True:
	continue
	nes = mesh.neighbors(node)

	for ne in nes:
	if bool(context_map[ne[0], ne[1]]) is False and \
	bool(mask_map[ne[0], ne[1]]) is False and \
	bool(intouched_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True:
	new_tmp_redundant_nodes.append(ne)
	intouched_map[ne[0], ne[1]] = True
	tmp_redundant_nodes = None
	tmp_redundant_nodes = set(new_tmp_redundant_nodes)
	new_tmp_noncont_nodes = None; new_tmp_noncont_nodes = []
	for node in tmp_noncont_nodes:
	if bool(context_map[node[0], node[1]]) is True or \
	bool(mask_map[node[0], node[1]]) is True:
	continue
	nes = mesh.neighbors(node)
	rmv_flag = False
	for ne in nes:
	if bool(context_map[ne[0], ne[1]]) is False and \
	bool(mask_map[ne[0], ne[1]]) is False and \
	bool(noncont_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True:
	patch_context_map = context_map[max(ne[0] - 1, 0):min(ne[0] + 2, context_map.shape[0]),
	max(ne[1] - 1, 0):min(ne[1] + 2, context_map.shape[1])]
	if bool(np.any(patch_context_map)) is True:
	new_tmp_noncont_nodes.append(ne)
	noncont_map[ne[0], ne[1]] = True
	tmp_noncont_nodes = None
	tmp_noncont_nodes = set(new_tmp_noncont_nodes)
	if inpaint_iter == 0:
	depth_dict = get_depth_from_maps(context_map, mask_map, context_depth, mesh.graph['H'], mesh.graph['W'], log_depth=config['log_depth'])
	mask_size = get_valid_size(depth_dict['mask'])
	mask_size = dilate_valid_size(mask_size, depth_dict['mask'], dilate=[20, 20])
	context_size = get_valid_size(depth_dict['context'])
	context_size = dilate_valid_size(context_size, depth_dict['context'], dilate=[20, 20])
	union_size = size_operation(mask_size, context_size, operation='+')
	depth_dict = depth_inpainting(None, None, None, None, mesh, config, union_size, depth_feat_model, None, given_depth_dict=depth_dict, spdb=False)
	near_depth_map, raw_near_depth_map = np.zeros((mesh.graph['H'], mesh.graph['W'])), np.zeros((mesh.graph['H'], mesh.graph['W']))
	filtered_comp_far_cc, filtered_accomp_near_cc = set(), set()
	for node in cur_accomp_near_cc:
	near_depth_map[node[0], node[1]] = depth_dict['output'][node[0], node[1]]
	raw_near_depth_map[node[0], node[1]] = node[2]
	for node in cur_comp_far_cc:
	four_nes = [xx for xx in [(node[0] - 1, node[1]), (node[0] + 1, node[1]), (node[0], node[1] - 1), (node[0], node[1] + 1)] \
	if 0 <= xx[0] < mesh.graph['H'] and 0 <= xx[1] < mesh.graph['W'] and \
	near_depth_map[xx[0], xx[1]] != 0 and \
	abs(near_depth_map[xx[0], xx[1]]) < abs(node[2])]
	if len(four_nes) > 0:
	filtered_comp_far_cc.add(node)
	for ne in four_nes:
	filtered_accomp_near_cc.add((ne[0], ne[1], -abs(raw_near_depth_map[ne[0], ne[1]])))
	cur_comp_far_cc, cur_accomp_near_cc = filtered_comp_far_cc, filtered_accomp_near_cc
	mask_ccs[edge_id] \|= set(cur_mask_cc)
	context_ccs[edge_id] \|= set(cur_context_cc)
	accomp_extend_context_ccs[edge_id] \|= set(cur_accomp_near_cc).intersection(cur_mask_cc)
	extend_edge_ccs[edge_id] \|= set(cur_accomp_near_cc).intersection(cur_mask_cc)
	extend_context_ccs[edge_id] \|= set(cur_comp_far_cc)
	invalid_extend_edge_ccs[edge_id] \|= set(cur_invalid_extend_edge_cc)
	erode_size = [0]
	for tmp in tmp_erode:
	erode_size.append(len(tmp))
	if len(erode_size) > 1:
	erode_size[-1] += erode_size[-2]
	if inpaint_iter == 0:
	tmp_width = config['depth_edge_dilate']
	else:
	tmp_width = 0
	while float(erode_size[tmp_width]) / (erode_size[-1] + 1e-6) > 0.3:
	tmp_width = tmp_width - 1
	try:
	if tmp_width == 0:
	erode_context_ccs[edge_id] = set([])
	else:
	erode_context_ccs[edge_id] = set(reduce(lambda x, y : x + y, [] + tmp_erode[:tmp_width]))
	except:
	import pdb; pdb.set_trace()
	erode_context_cc = copy.deepcopy(erode_context_ccs[edge_id])
	for erode_context_node in erode_context_cc:
	if (inpaint_iter != 0 and (mesh_nodes[erode_context_node].get('inpaint_id') is None or
	mesh_nodes[erode_context_node].get('inpaint_id') == 0)):
	erode_context_ccs[edge_id].remove(erode_context_node)
	else:
	context_ccs[edge_id].remove(erode_context_node)
	context_map = np.zeros((mesh.graph['H'], mesh.graph['W']))
	for context_node in context_ccs[edge_id]:
	context_map[context_node[0], context_node[1]] = 1
	extend_context_ccs[edge_id] = extend_context_ccs[edge_id] - mask_ccs[edge_id] - accomp_extend_context_ccs[edge_id]
	if inpaint_iter == 0:
	all_ecnt_cc = set()
	for ecnt_id, ecnt_cc in enumerate(extend_context_ccs):
	constraint_context_ids = set()
	constraint_context_cc = set()
	constraint_erode_context_cc = set()
	tmp_mask_cc = set()
	accum_context_cc = None; accum_context_cc = []
	for ecnt_node in accomp_extend_context_ccs[ecnt_id]:
	if edge_maps[ecnt_node[0], ecnt_node[1]] > -1:
	constraint_context_ids.add(int(round(edge_maps[ecnt_node[0], ecnt_node[1]])))
	constraint_erode_context_cc = erode_context_ccs[ecnt_id]
	for constraint_context_id in constraint_context_ids:
	constraint_context_cc = constraint_context_cc \| context_ccs[constraint_context_id] \| erode_context_ccs[constraint_context_id]
	constraint_erode_context_cc = constraint_erode_context_cc \| erode_context_ccs[constraint_context_id]
	for i in range(background_thickness):
	if i == 0:
	tmp_context_nodes = copy.deepcopy(ecnt_cc)
	tmp_invalid_context_nodes = copy.deepcopy(invalid_extend_edge_ccs[ecnt_id])
	tmp_mask_nodes = copy.deepcopy(accomp_extend_context_ccs[ecnt_id])
	tmp_context_map = np.zeros((mesh.graph['H'], mesh.graph['W'])).astype(np.bool)
	tmp_mask_map = np.zeros((mesh.graph['H'], mesh.graph['W'])).astype(np.bool)
	tmp_invalid_context_map = np.zeros((mesh.graph['H'], mesh.graph['W'])).astype(np.bool)
	for node in tmp_mask_nodes:
	tmp_mask_map[node[0], node[1]] = True
	for node in context_ccs[ecnt_id]:
	tmp_context_map[node[0], node[1]] = True
	for node in erode_context_ccs[ecnt_id]:
	tmp_context_map[node[0], node[1]] = True
	for node in extend_context_ccs[ecnt_id]:
	tmp_context_map[node[0], node[1]] = True
	for node in invalid_extend_edge_ccs[ecnt_id]:
	tmp_invalid_context_map[node[0], node[1]] = True
	init_invalid_context_map = tmp_invalid_context_map.copy()
	init_context_map = tmp
	if (tmp_mask_map.astype(np.uint8) * tmp_context_map.astype(np.uint8)).max() > 0:
	import pdb; pdb.set_trace()
	if vis_edge_id is not None and ecnt_id == vis_edge_id:
	f, ((ax1, ax2)) = plt.subplots(1, 2, sharex=True, sharey=True)
	ax1.imshow(tmp_context_map * 1); ax2.imshow(init_invalid_context_map * 1 + tmp_context_map * 2)
	plt.show()
	import pdb; pdb.set_trace()
	else:
	tmp_context_nodes = new_tmp_context_nodes
	new_tmp_context_nodes = None
	tmp_mask_nodes = new_tmp_mask_nodes
	new_tmp_mask_nodes = None
	tmp_invalid_context_nodes = new_tmp_invalid_context_nodes
	new_tmp_invalid_context_nodes = None
	new_tmp_context_nodes = None
	new_tmp_context_nodes = []
	new_tmp_invalid_context_nodes = None
	new_tmp_invalid_context_nodes = []
	new_tmp_mask_nodes = set([])
	for node in tmp_context_nodes:
	for ne in mesh.neighbors(node):
	if ne in constraint_context_cc and \
	bool(tmp_mask_map[ne[0], ne[1]]) is False and \
	bool(tmp_context_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True:
	new_tmp_context_nodes.append(ne)
	tmp_context_map[ne[0], ne[1]] = True
	accum_context_cc.extend(new_tmp_context_nodes)
	for node in tmp_invalid_context_nodes:
	for ne in mesh.neighbors(node):
	if bool(tmp_mask_map[ne[0], ne[1]]) is False and \
	bool(tmp_context_map[ne[0], ne[1]]) is False and \
	bool(tmp_invalid_context_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True:
	tmp_invalid_context_map[ne[0], ne[1]] = True
	new_tmp_invalid_context_nodes.append(ne)
	for node in tmp_mask_nodes:
	for ne in mesh.neighbors(node):
	if bool(tmp_mask_map[ne[0], ne[1]]) is False and \
	bool(tmp_context_map[ne[0], ne[1]]) is False and \
	bool(tmp_invalid_context_map[ne[0], ne[1]]) is False and \
	bool(forbidden_map[ne[0], ne[1]]) is True:
	new_tmp_mask_nodes.add(ne)
	tmp_mask_map[ne[0], ne[1]] = True
	init_invalid_context_map[tmp_context_map] = False
	_, tmp_label_map = cv2.connectedComponents((init_invalid_context_map \| tmp_context_map).astype(np.uint8), connectivity=8)
	tmp_label_ids = set(np.unique(tmp_label_map[init_invalid_context_map]))
	if (tmp_mask_map.astype(np.uint8) * tmp_context_map.astype(np.uint8)).max() > 0:
	import pdb; pdb.set_trace()
	if vis_edge_id is not None and ecnt_id == vis_edge_id:
	f, ((ax1, ax2)) = plt.subplots(1, 2, sharex=True, sharey=True)
	ax1.imshow(tmp_label_map); ax2.imshow(init_invalid_context_map * 1 + tmp_context_map * 2)
	plt.show()
	import pdb; pdb.set_trace()
	extend_context_ccs[ecnt_id] \|= set(accum_context_cc)
	extend_context_ccs[ecnt_id] = extend_context_ccs[ecnt_id] - mask_ccs[ecnt_id]
	extend_erode_context_ccs[ecnt_id] = extend_context_ccs[ecnt_id] & constraint_erode_context_cc
	extend_context_ccs[ecnt_id] = extend_context_ccs[ecnt_id] - extend_erode_context_ccs[ecnt_id] - erode_context_ccs[ecnt_id]
	tmp_context_cc = context_ccs[ecnt_id] - extend_erode_context_ccs[ecnt_id] - erode_context_ccs[ecnt_id]
	if len(tmp_context_cc) > 0:
	context_ccs[ecnt_id] = tmp_context_cc
	tmp_mask_cc = tmp_mask_cc - context_ccs[ecnt_id] - erode_context_ccs[ecnt_id]
	mask_ccs[ecnt_id] = mask_ccs[ecnt_id] \| tmp_mask_cc

	return context_ccs, mask_ccs, broken_mask_ccs, edge_ccs, erode_context_ccs, invalid_extend_edge_ccs, edge_maps, extend_context_ccs, extend_edge_ccs, extend_erode_context_ccs

	def DL_inpaint_edge(mesh,
	info_on_pix,
	config,
	image,
	depth,
	context_ccs,
	erode_context_ccs,
	extend_context_ccs,
	extend_erode_context_ccs,
	mask_ccs,
	broken_mask_ccs,
	edge_ccs,
	extend_edge_ccs,
	init_mask_connect,
	edge_maps,
	rgb_model=None,
	depth_edge_model=None,
	depth_edge_model_init=None,
	depth_feat_model=None,
	specific_edge_id=-1,
	specific_edge_loc=None,
	inpaint_iter=0):

	if isinstance(config["gpu_ids"], int) and (config["gpu_ids"] >= 0):
	device = config["gpu_ids"]
	else:
	device = "cpu"

	edge_map = np.zeros_like(depth)
	new_edge_ccs = [set() for _ in range(len(edge_ccs))]
	edge_maps_with_id = edge_maps
	edge_condition = lambda x, m: m.nodes[x].get('far') is not None and len(m.nodes[x].get('far')) > 0
	edge_map = get_map_from_ccs(edge_ccs, mesh.graph['H'], mesh.graph['W'], mesh, edge_condition)
	np_depth, np_image = depth.copy(), image.copy()
	image_c = image.shape[-1]
	image = torch.FloatTensor(image.transpose(2, 0, 1)).unsqueeze(0).to(device)
	if depth.ndim < 3:
	depth = depth[..., None]
	depth = torch.FloatTensor(depth.transpose(2, 0, 1)).unsqueeze(0).to(device)
	mesh.graph['max_edge_id'] = len(edge_ccs)
	connnect_points_ccs = [set() for _ in range(len(edge_ccs))]
	gp_time, tmp_mesh_time, bilateral_time = 0, 0, 0
	edges_infos = dict()
	edges_in_mask = [set() for _ in range(len(edge_ccs))]
	tmp_specific_edge_id = []
	for edge_id, (context_cc, mask_cc, erode_context_cc, extend_context_cc, edge_cc) in enumerate(zip(context_ccs, mask_ccs, erode_context_ccs, extend_context_ccs, edge_ccs)):
	if len(specific_edge_id) > 0:
	if edge_id not in specific_edge_id:
	continue
	if len(context_cc) < 1 or len(mask_cc) < 1:
	continue
	edge_dict = get_edge_from_nodes(context_cc \| extend_context_cc, erode_context_cc \| extend_erode_context_ccs[edge_id], mask_cc, edge_cc, extend_edge_ccs[edge_id],
	mesh.graph['H'], mesh.graph['W'], mesh)
	edge_dict['edge'], end_depth_maps, _ = \
	filter_irrelevant_edge_new(edge_dict['self_edge'], edge_dict['comp_edge'],
	edge_map,
	edge_maps_with_id,
	edge_id,
	edge_dict['context'],
	edge_dict['depth'], mesh, context_cc \| erode_context_cc \| extend_context_cc \| extend_erode_context_ccs[edge_id], spdb=False)
	if specific_edge_loc is not None and \
	(specific_edge_loc is not None and edge_dict['mask'][specific_edge_loc[0], specific_edge_loc[1]] == 0):
	continue
	mask_size = get_valid_size(edge_dict['mask'])
	mask_size = dilate_valid_size(mask_size, edge_dict['mask'], dilate=[20, 20])
	context_size = get_valid_size(edge_dict['context'])
	context_size = dilate_valid_size(context_size, edge_dict['context'], dilate=[20, 20])
	union_size = size_operation(mask_size, context_size, operation='+')
	patch_edge_dict = dict()
	patch_edge_dict['mask'], patch_edge_dict['context'], patch_edge_dict['rgb'], \
	patch_edge_dict['disp'], patch_edge_dict['edge'] = \
	crop_maps_by_size(union_size, edge_dict['mask'], edge_dict['context'],
	edge_dict['rgb'], edge_dict['disp'], edge_dict['edge'])
	x_anchor, y_anchor = [union_size['x_min'], union_size['x_max']], [union_size['y_min'], union_size['y_max']]
	tensor_edge_dict = convert2tensor(patch_edge_dict)
	input_edge_feat = torch.cat((tensor_edge_dict['rgb'],
	tensor_edge_dict['disp'],
	tensor_edge_dict['edge'],
	1 - tensor_edge_dict['context'],
	tensor_edge_dict['mask']), dim=1)
	if require_depth_edge(patch_edge_dict['edge'], patch_edge_dict['mask']) and inpaint_iter == 0:
	with torch.no_grad():
	depth_edge_output = depth_edge_model.forward_3P(tensor_edge_dict['mask'],
	tensor_edge_dict['context'],
	tensor_edge_dict['rgb'],
	tensor_edge_dict['disp'],
	tensor_edge_dict['edge'],
	unit_length=128,
	cuda=device)
	depth_edge_output = depth_edge_output.cpu()
	tensor_edge_dict['output'] = (depth_edge_output> config['ext_edge_threshold']).float() * tensor_edge_dict['mask'] + tensor_edge_dict['edge']
	else:
	tensor_edge_dict['output'] = tensor_edge_dict['edge']
	depth_edge_output = tensor_edge_dict['edge'] + 0
	patch_edge_dict['output'] = tensor_edge_dict['output'].squeeze().data.cpu().numpy()
	edge_dict['output'] = np.zeros((mesh.graph['H'], mesh.graph['W']))
	edge_dict['output'][union_size['x_min']:union_size['x_max'], union_size['y_min']:union_size['y_max']] = \
	patch_edge_dict['output']
	if require_depth_edge(patch_edge_dict['edge'], patch_edge_dict['mask']) and inpaint_iter == 0:
	if ((depth_edge_output> config['ext_edge_threshold']).float() * tensor_edge_dict['mask']).max() > 0:
	try:
	edge_dict['fpath_map'], edge_dict['npath_map'], break_flag, npaths, fpaths, invalid_edge_id = \
	clean_far_edge_new(edge_dict['output'], end_depth_maps, edge_dict['mask'], edge_dict['context'], mesh, info_on_pix, edge_dict['self_edge'], inpaint_iter, config)
	except:
	import pdb; pdb.set_trace()
	pre_npath_map = edge_dict['npath_map'].copy()
	if config.get('repeat_inpaint_edge') is True:
	for _ in range(2):
	tmp_input_edge = ((edge_dict['npath_map'] > -1) + edge_dict['edge']).clip(0, 1)
	patch_tmp_input_edge = crop_maps_by_size(union_size, tmp_input_edge)[0]
	tensor_input_edge = torch.FloatTensor(patch_tmp_input_edge)[None, None, ...]
	depth_edge_output = depth_edge_model.forward_3P(tensor_edge_dict['mask'],
	tensor_edge_dict['context'],
	tensor_edge_dict['rgb'],
	tensor_edge_dict['disp'],
	tensor_input_edge,
	unit_length=128,
	cuda=device)
	depth_edge_output = depth_edge_output.cpu()
	depth_edge_output = (depth_edge_output> config['ext_edge_threshold']).float() * tensor_edge_dict['mask'] + tensor_edge_dict['edge']
	depth_edge_output = depth_edge_output.squeeze().data.cpu().numpy()
	full_depth_edge_output = np.zeros((mesh.graph['H'], mesh.graph['W']))
	full_depth_edge_output[union_size['x_min']:union_size['x_max'], union_size['y_min']:union_size['y_max']] = \
	depth_edge_output
	edge_dict['fpath_map'], edge_dict['npath_map'], break_flag, npaths, fpaths, invalid_edge_id = \
	clean_far_edge_new(full_depth_edge_output, end_depth_maps, edge_dict['mask'], edge_dict['context'], mesh, info_on_pix, edge_dict['self_edge'], inpaint_iter, config)
	for nid in npaths.keys():
	npath, fpath = npaths[nid], fpaths[nid]
	start_mx, start_my, end_mx, end_my = -1, -1, -1, -1
	if end_depth_maps[npath[0][0], npath[0][1]] != 0:
	start_mx, start_my = npath[0][0], npath[0][1]
	if end_depth_maps[npath[-1][0], npath[-1][1]] != 0:
	end_mx, end_my = npath[-1][0], npath[-1][1]
	if start_mx == -1:
	import pdb; pdb.set_trace()
	valid_end_pt = () if end_mx == -1 else (end_mx, end_my, info_on_pix[(end_mx, end_my)][0]['depth'])
	new_edge_info = dict(fpath=fpath,
	npath=npath,
	cont_end_pts=valid_end_pt,
	mask_id=edge_id,
	comp_edge_id=nid,
	depth=end_depth_maps[start_mx, start_my])
	if edges_infos.get((start_mx, start_my)) is None:
	edges_infos[(start_mx, start_my)] = []
	edges_infos[(start_mx, start_my)].append(new_edge_info)
	edges_in_mask[edge_id].add((start_mx, start_my))
	if len(valid_end_pt) > 0:
	new_edge_info = dict(fpath=fpath[::-1],
	npath=npath[::-1],
	cont_end_pts=(start_mx, start_my, info_on_pix[(start_mx, start_my)][0]['depth']),
	mask_id=edge_id,
	comp_edge_id=nid,
	depth=end_depth_maps[end_mx, end_my])
	if edges_infos.get((end_mx, end_my)) is None:
	edges_infos[(end_mx, end_my)] = []
	edges_infos[(end_mx, end_my)].append(new_edge_info)
	edges_in_mask[edge_id].add((end_mx, end_my))
	for edge_id, (context_cc, mask_cc, erode_context_cc, extend_context_cc, edge_cc) in enumerate(zip(context_ccs, mask_ccs, erode_context_ccs, extend_context_ccs, edge_ccs)):
	if len(specific_edge_id) > 0:
	if edge_id not in specific_edge_id:
	continue
	if len(context_cc) < 1 or len(mask_cc) < 1:
	continue
	edge_dict = get_edge_from_nodes(context_cc \| extend_context_cc, erode_context_cc \| extend_erode_context_ccs[edge_id], mask_cc, edge_cc, extend_edge_ccs[edge_id],
	mesh.graph['H'], mesh.graph['W'], mesh)
	if specific_edge_loc is not None and \
	(specific_edge_loc is not None and edge_dict['mask'][specific_edge_loc[0], specific_edge_loc[1]] == 0):
	continue
	else:
	tmp_specific_edge_id.append(edge_id)
	edge_dict['edge'], end_depth_maps, _ = \
	filter_irrelevant_edge_new(edge_dict['self_edge'], edge_dict['comp_edge'],
	edge_map,
	edge_maps_with_id,
	edge_id,
	edge_dict['context'],
	edge_dict['depth'], mesh, context_cc \| erode_context_cc \| extend_context_cc \| extend_erode_context_ccs[edge_id], spdb=False)
	discard_map = np.zeros_like(edge_dict['edge'])
	mask_size = get_valid_size(edge_dict['mask'])
	mask_size = dilate_valid_size(mask_size, edge_dict['mask'], dilate=[20, 20])
	context_size = get_valid_size(edge_dict['context'])
	context_size = dilate_valid_size(context_size, edge_dict['context'], dilate=[20, 20])
	union_size = size_operation(mask_size, context_size, operation='+')
	patch_edge_dict = dict()
	patch_edge_dict['mask'], patch_edge_dict['context'], patch_edge_dict['rgb'], \
	patch_edge_dict['disp'], patch_edge_dict['edge'] = \
	crop_maps_by_size(union_size, edge_dict['mask'], edge_dict['context'],
	edge_dict['rgb'], edge_dict['disp'], edge_dict['edge'])
	x_anchor, y_anchor = [union_size['x_min'], union_size['x_max']], [union_size['y_min'], union_size['y_max']]
	tensor_edge_dict = convert2tensor(patch_edge_dict)
	input_edge_feat = torch.cat((tensor_edge_dict['rgb'],
	tensor_edge_dict['disp'],
	tensor_edge_dict['edge'],
	1 - tensor_edge_dict['context'],
	tensor_edge_dict['mask']), dim=1)
	edge_dict['output'] = edge_dict['edge'].copy()

	if require_depth_edge(patch_edge_dict['edge'], patch_edge_dict['mask']) and inpaint_iter == 0:
	edge_dict['fpath_map'], edge_dict['npath_map'] = edge_dict['fpath_map'] * 0 - 1, edge_dict['npath_map'] * 0 - 1
	end_pts = edges_in_mask[edge_id]
	for end_pt in end_pts:
	cur_edge_infos = edges_infos[(end_pt[0], end_pt[1])]
	cur_info = [xx for xx in cur_edge_infos if xx['mask_id'] == edge_id][0]
	other_infos = [xx for xx in cur_edge_infos if xx['mask_id'] != edge_id and len(xx['cont_end_pts']) > 0]
	if len(cur_info['cont_end_pts']) > 0 or (len(cur_info['cont_end_pts']) == 0 and len(other_infos) == 0):
	for fnode in cur_info['fpath']:
	edge_dict['fpath_map'][fnode[0], fnode[1]] = cur_info['comp_edge_id']
	for fnode in cur_info['npath']:
	edge_dict['npath_map'][fnode[0], fnode[1]] = cur_info['comp_edge_id']
	fnmap = edge_dict['fpath_map'] * 1
	fnmap[edge_dict['npath_map'] != -1] = edge_dict['npath_map'][edge_dict['npath_map'] != -1]
	for end_pt in end_pts:
	cur_edge_infos = edges_infos[(end_pt[0], end_pt[1])]
	cur_info = [xx for xx in cur_edge_infos if xx['mask_id'] == edge_id][0]
	cur_depth = cur_info['depth']
	other_infos = [xx for xx in cur_edge_infos if xx['mask_id'] != edge_id and len(xx['cont_end_pts']) > 0]
	comp_edge_id = cur_info['comp_edge_id']
	if len(cur_info['cont_end_pts']) == 0 and len(other_infos) > 0:
	other_infos = sorted(other_infos, key=lambda aa: abs(abs(aa['cont_end_pts'][2]) - abs(cur_depth)))
	for other_info in other_infos:
	tmp_fmap, tmp_nmap = np.zeros((mesh.graph['H'], mesh.graph['W'])) - 1, np.zeros((mesh.graph['H'], mesh.graph['W'])) - 1
	for fnode in other_info['fpath']:
	if fnmap[fnode[0], fnode[1]] != -1:
	tmp_fmap = tmp_fmap * 0 - 1
	break
	else:
	tmp_fmap[fnode[0], fnode[1]] = comp_edge_id
	if fnmap[fnode[0], fnode[1]] != -1:
	continue
	for fnode in other_info['npath']:
	if fnmap[fnode[0], fnode[1]] != -1:
	tmp_nmap = tmp_nmap * 0 - 1
	break
	else:
	tmp_nmap[fnode[0], fnode[1]] = comp_edge_id
	if fnmap[fnode[0], fnode[1]] != -1:
	continue
	break
	if min(tmp_fmap.max(), tmp_nmap.max()) != -1:
	edge_dict['fpath_map'] = tmp_fmap
	edge_dict['fpath_map'][edge_dict['valid_area'] == 0] = -1
	edge_dict['npath_map'] = tmp_nmap
	edge_dict['npath_map'][edge_dict['valid_area'] == 0] = -1
	discard_map = ((tmp_nmap != -1).astype(np.uint8) + (tmp_fmap != -1).astype(np.uint8)) * edge_dict['mask']
	else:
	for fnode in cur_info['fpath']:
	edge_dict['fpath_map'][fnode[0], fnode[1]] = cur_info['comp_edge_id']
	for fnode in cur_info['npath']:
	edge_dict['npath_map'][fnode[0], fnode[1]] = cur_info['comp_edge_id']
	if edge_dict['npath_map'].min() == 0 or edge_dict['fpath_map'].min() == 0:
	import pdb; pdb.set_trace()
	edge_dict['output'] = (edge_dict['npath_map'] > -1) * edge_dict['mask'] + edge_dict['context'] * edge_dict['edge']
	mesh, _, _, _ = create_placeholder(edge_dict['context'], edge_dict['mask'],
	edge_dict['depth'], edge_dict['fpath_map'],
	edge_dict['npath_map'], mesh, inpaint_iter,
	edge_ccs,
	extend_edge_ccs[edge_id],
	edge_maps_with_id,
	edge_id)

	dxs, dys = np.where(discard_map != 0)
	for dx, dy in zip(dxs, dys):
	mesh.nodes[(dx, dy)]['inpaint_twice'] = False
	depth_dict = depth_inpainting(context_cc, extend_context_cc, erode_context_cc \| extend_erode_context_ccs[edge_id], mask_cc, mesh, config, union_size, depth_feat_model, edge_dict['output'])
	refine_depth_output = depth_dict['output']*depth_dict['mask']
	for near_id in np.unique(edge_dict['npath_map'])[1:]:
	refine_depth_output = refine_depth_around_edge(refine_depth_output.copy(),
	(edge_dict['fpath_map'] == near_id).astype(np.uint8) * edge_dict['mask'],
	(edge_dict['fpath_map'] == near_id).astype(np.uint8),
	(edge_dict['npath_map'] == near_id).astype(np.uint8) * edge_dict['mask'],
	depth_dict['mask'].copy(),
	depth_dict['output'] * depth_dict['context'],
	config)
	depth_dict['output'][depth_dict['mask'] > 0] = refine_depth_output[depth_dict['mask'] > 0]
	rgb_dict = get_rgb_from_nodes(context_cc \| extend_context_cc,
	erode_context_cc \| extend_erode_context_ccs[edge_id], mask_cc, mesh.graph['H'], mesh.graph['W'], mesh)
	if np.all(rgb_dict['mask'] == edge_dict['mask']) is False:
	import pdb; pdb.set_trace()
	rgb_dict['edge'] = edge_dict['output']
	patch_rgb_dict = dict()
	patch_rgb_dict['mask'], patch_rgb_dict['context'], patch_rgb_dict['rgb'], \
	patch_rgb_dict['edge'] = crop_maps_by_size(union_size, rgb_dict['mask'],
	rgb_dict['context'], rgb_dict['rgb'],
	rgb_dict['edge'])
	tensor_rgb_dict = convert2tensor(patch_rgb_dict)
	resize_rgb_dict = {k: v.clone() for k, v in tensor_rgb_dict.items()}
	max_hw = np.array([*patch_rgb_dict['mask'].shape[-2:]]).max()
	init_frac = config['largest_size'] / (np.array([patch_rgb_dict['mask'].shape[-2:]]).prod() * 0.5)
	resize_hw = [patch_rgb_dict['mask'].shape[-2] * init_frac, patch_rgb_dict['mask'].shape[-1] * init_frac]
	resize_max_hw = max(resize_hw)
	frac = (np.floor(resize_max_hw / 128.) * 128.) / max_hw
	if frac < 1:
	resize_mark = torch.nn.functional.interpolate(torch.cat((resize_rgb_dict['mask'],
	resize_rgb_dict['context']),
	dim=1),
	scale_factor=frac,
	mode='area')
	resize_rgb_dict['mask'] = (resize_mark[:, 0:1] > 0).float()
	resize_rgb_dict['context'] = (resize_mark[:, 1:2] == 1).float()
	resize_rgb_dict['context'][resize_rgb_dict['mask'] > 0] = 0
	resize_rgb_dict['rgb'] = torch.nn.functional.interpolate(resize_rgb_dict['rgb'],
	scale_factor=frac,
	mode='area')
	resize_rgb_dict['rgb'] = resize_rgb_dict['rgb'] * resize_rgb_dict['context']
	resize_rgb_dict['edge'] = torch.nn.functional.interpolate(resize_rgb_dict['edge'],
	scale_factor=frac,
	mode='area')
	resize_rgb_dict['edge'] = (resize_rgb_dict['edge'] > 0).float() * 0
	resize_rgb_dict['edge'] = resize_rgb_dict['edge'] * (resize_rgb_dict['context'] + resize_rgb_dict['mask'])
	rgb_input_feat = torch.cat((resize_rgb_dict['rgb'], resize_rgb_dict['edge']), dim=1)
	rgb_input_feat[:, 3] = 1 - rgb_input_feat[:, 3]
	resize_mask = open_small_mask(resize_rgb_dict['mask'], resize_rgb_dict['context'], 3, 41)
	specified_hole = resize_mask
	with torch.no_grad():
	rgb_output = rgb_model.forward_3P(specified_hole,
	resize_rgb_dict['context'],
	resize_rgb_dict['rgb'],
	resize_rgb_dict['edge'],
	unit_length=128,
	cuda=device)
	rgb_output = rgb_output.cpu()
	if config.get('gray_image') is True:
	rgb_output = rgb_output.mean(1, keepdim=True).repeat((1,3,1,1))
	rgb_output = rgb_output.cpu()
	resize_rgb_dict['output'] = rgb_output * resize_rgb_dict['mask'] + resize_rgb_dict['rgb']
	tensor_rgb_dict['output'] = resize_rgb_dict['output']
	if frac < 1:
	tensor_rgb_dict['output'] = torch.nn.functional.interpolate(tensor_rgb_dict['output'],
	size=tensor_rgb_dict['mask'].shape[-2:],
	mode='bicubic')
	tensor_rgb_dict['output'] = tensor_rgb_dict['output'] * \
	tensor_rgb_dict['mask'] + (tensor_rgb_dict['rgb'] * tensor_rgb_dict['context'])
	patch_rgb_dict['output'] = tensor_rgb_dict['output'].data.cpu().numpy().squeeze().transpose(1,2,0)
	rgb_dict['output'] = np.zeros((mesh.graph['H'], mesh.graph['W'], 3))
	rgb_dict['output'][union_size['x_min']:union_size['x_max'], union_size['y_min']:union_size['y_max']] = \
	patch_rgb_dict['output']

	if require_depth_edge(patch_edge_dict['edge'], patch_edge_dict['mask']) or inpaint_iter > 0:
	edge_occlusion = True
	else:
	edge_occlusion = False
	for node in erode_context_cc:
	if rgb_dict['mask'][node[0], node[1]] > 0:
	for info in info_on_pix[(node[0], node[1])]:
	if abs(info['depth']) == abs(node[2]):
	info['update_color'] = (rgb_dict['output'][node[0], node[1]] * 255).astype(np.uint8)
	if frac < 1.:
	depth_edge_dilate_2_color_flag = False
	else:
	depth_edge_dilate_2_color_flag = True
	hxs, hys = np.where((rgb_dict['mask'] > 0) & (rgb_dict['erode'] == 0))
	for hx, hy in zip(hxs, hys):
	real_depth = None
	if abs(depth_dict['output'][hx, hy]) <= abs(np_depth[hx, hy]):
	depth_dict['output'][hx, hy] = np_depth[hx, hy] + 0.01
	node = (hx, hy, -depth_dict['output'][hx, hy])
	if info_on_pix.get((node[0], node[1])) is not None:
	for info in info_on_pix.get((node[0], node[1])):
	if info.get('inpaint_id') is None or abs(info['inpaint_id'] < mesh.nodes[(hx, hy)]['inpaint_id']):
	pre_depth = info['depth'] if info.get('real_depth') is None else info['real_depth']
	if abs(node[2]) < abs(pre_depth):
	node = (node[0], node[1], -(abs(pre_depth) + 0.001))
	if mesh.has_node(node):
	real_depth = node[2]
	while True:
	if mesh.has_node(node):
	node = (node[0], node[1], -(abs(node[2]) + 0.001))
	else:
	break
	if real_depth == node[2]:
	real_depth = None
	cur_disp = 1./node[2]
	if not(mesh.has_node(node)):
	if not mesh.has_node((node[0], node[1])):
	print("2D node not found.")
	import pdb; pdb.set_trace()
	if inpaint_iter == 1:
	paint = (rgb_dict['output'][hx, hy] * 255).astype(np.uint8)
	else:
	paint = (rgb_dict['output'][hx, hy] * 255).astype(np.uint8)
	ndict = dict(color=paint,
	synthesis=True,
	disp=cur_disp,
	cc_id=set([edge_id]),
	overlap_number=1.0,
	refine_depth=False,
	edge_occlusion=edge_occlusion,
	depth_edge_dilate_2_color_flag=depth_edge_dilate_2_color_flag,
	real_depth=real_depth)
	mesh, _, _ = refresh_node((node[0], node[1]), mesh.nodes[(node[0], node[1])], node, ndict, mesh, stime=True)
	if inpaint_iter == 0 and mesh.degree(node) < 4:
	connnect_points_ccs[edge_id].add(node)
	if info_on_pix.get((hx, hy)) is None:
	info_on_pix[(hx, hy)] = []
	new_info = {'depth':node[2],
	'color': paint,
	'synthesis':True,
	'disp':cur_disp,
	'cc_id':set([edge_id]),
	'inpaint_id':inpaint_iter + 1,
	'edge_occlusion':edge_occlusion,
	'overlap_number':1.0,
	'real_depth': real_depth}
	info_on_pix[(hx, hy)].append(new_info)
	specific_edge_id = tmp_specific_edge_id
	for erode_id, erode_context_cc in enumerate(erode_context_ccs):
	if len(specific_edge_id) > 0 and erode_id not in specific_edge_id:
	continue
	for erode_node in erode_context_cc:
	for info in info_on_pix[(erode_node[0], erode_node[1])]:
	if info['depth'] == erode_node[2]:
	info['color'] = info['update_color']
	mesh.nodes[erode_node]['color'] = info['update_color']
	np_image[(erode_node[0], erode_node[1])] = info['update_color']
	new_edge_ccs = [set() for _ in range(mesh.graph['max_edge_id'] + 1)]
	for node in mesh.nodes:
	if len(node) == 2:
	mesh.remove_node(node)
	continue
	if mesh.nodes[node].get('edge_id') is not None and mesh.nodes[node].get('inpaint_id') == inpaint_iter + 1:
	if mesh.nodes[node].get('inpaint_twice') is False:
	continue
	try:
	new_edge_ccs[mesh.nodes[node].get('edge_id')].add(node)
	except:
	import pdb; pdb.set_trace()
	specific_mask_nodes = None
	if inpaint_iter == 0:
	mesh, info_on_pix = refine_color_around_edge(mesh, info_on_pix, new_edge_ccs, config, False)

	return mesh, info_on_pix, specific_mask_nodes, new_edge_ccs, connnect_points_ccs, np_image


	def write_ply(image,
	depth,
	int_mtx,
	ply_name,
	config,
	rgb_model,
	depth_edge_model,
	depth_edge_model_init,
	depth_feat_model):
	depth = depth.astype(np.float64)
	input_mesh, xy2depth, image, depth = create_mesh(depth, image, int_mtx, config)

	H, W = input_mesh.graph['H'], input_mesh.graph['W']
	input_mesh = tear_edges(input_mesh, config['depth_threshold'], xy2depth)
	input_mesh, info_on_pix = generate_init_node(input_mesh, config, min_node_in_cc=200)
	edge_ccs, input_mesh, edge_mesh = group_edges(input_mesh, config, image, remove_conflict_ordinal=False)
	edge_canvas = np.zeros((H, W)) - 1

	input_mesh, info_on_pix, depth = reassign_floating_island(input_mesh, info_on_pix, image, depth)
	input_mesh = update_status(input_mesh, info_on_pix)
	specific_edge_id = []
	edge_ccs, input_mesh, edge_mesh = group_edges(input_mesh, config, image, remove_conflict_ordinal=True)
	pre_depth = depth.copy()
	input_mesh, info_on_pix, edge_mesh, depth, aft_mark = remove_dangling(input_mesh, edge_ccs, edge_mesh, info_on_pix, image, depth, config)

	input_mesh, depth, info_on_pix = update_status(input_mesh, info_on_pix, depth)
	edge_ccs, input_mesh, edge_mesh = group_edges(input_mesh, config, image, remove_conflict_ordinal=True)
	edge_canvas = np.zeros((H, W)) - 1

	mesh, info_on_pix, depth = fill_missing_node(input_mesh, info_on_pix, image, depth)
	if config['extrapolate_border'] is True:
	pre_depth = depth.copy()
	input_mesh, info_on_pix, depth = refresh_bord_depth(input_mesh, info_on_pix, image, depth)
	input_mesh = remove_node_feat(input_mesh, 'edge_id')
	aft_depth = depth.copy()
	input_mesh, info_on_pix, depth, image = enlarge_border(input_mesh, info_on_pix, depth, image, config)
	noext_H, noext_W = H, W
	H, W = image.shape[:2]
	input_mesh, info_on_pix = fill_dummy_bord(input_mesh, info_on_pix, image, depth, config)
	edge_ccs, input_mesh, edge_mesh = \
	group_edges(input_mesh, config, image, remove_conflict_ordinal=True)
	input_mesh = combine_end_node(input_mesh, edge_mesh, edge_ccs, depth)
	input_mesh, depth, info_on_pix = update_status(input_mesh, info_on_pix, depth)
	edge_ccs, input_mesh, edge_mesh = \
	group_edges(input_mesh, config, image, remove_conflict_ordinal=True, spdb=False)
	input_mesh = remove_redundant_edge(input_mesh, edge_mesh, edge_ccs, info_on_pix, config, redundant_number=config['redundant_number'], spdb=False)
	input_mesh, depth, info_on_pix = update_status(input_mesh, info_on_pix, depth)
	edge_ccs, input_mesh, edge_mesh = group_edges(input_mesh, config, image, remove_conflict_ordinal=True)
	input_mesh = combine_end_node(input_mesh, edge_mesh, edge_ccs, depth)
	input_mesh = remove_redundant_edge(input_mesh, edge_mesh, edge_ccs, info_on_pix, config, redundant_number=config['redundant_number'], invalid=True, spdb=False)
	input_mesh, depth, info_on_pix = update_status(input_mesh, info_on_pix, depth)
	edge_ccs, input_mesh, edge_mesh = group_edges(input_mesh, config, image, remove_conflict_ordinal=True)
	input_mesh = combine_end_node(input_mesh, edge_mesh, edge_ccs, depth)
	input_mesh, depth, info_on_pix = update_status(input_mesh, info_on_pix, depth)
	edge_ccs, input_mesh, edge_mesh = group_edges(input_mesh, config, image, remove_conflict_ordinal=True)
	edge_condition = lambda x, m: m.nodes[x].get('far') is not None and len(m.nodes[x].get('far')) > 0
	edge_map = get_map_from_ccs(edge_ccs, input_mesh.graph['H'], input_mesh.graph['W'], input_mesh, edge_condition)
	other_edge_with_id = get_map_from_ccs(edge_ccs, input_mesh.graph['H'], input_mesh.graph['W'], real_id=True)
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="up")
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="left")
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="down")
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="right")
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="right-up")
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="right-down")
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="left-up")
	info_on_pix, input_mesh, image, depth, edge_ccs = extrapolate(input_mesh, info_on_pix, image, depth, other_edge_with_id, edge_map, edge_ccs,
	depth_edge_model, depth_feat_model, rgb_model, config, direc="left-down")
	specific_edge_loc = None
	specific_edge_id = []
	vis_edge_id = None
	context_ccs, mask_ccs, broken_mask_ccs, edge_ccs, erode_context_ccs, \
	init_mask_connect, edge_maps, extend_context_ccs, extend_edge_ccs, extend_erode_context_ccs = \
	context_and_holes(input_mesh,
	edge_ccs,
	config,
	specific_edge_id,
	specific_edge_loc,
	depth_feat_model,
	inpaint_iter=0,
	vis_edge_id=vis_edge_id)
	edge_canvas = np.zeros((H, W))
	mask = np.zeros((H, W))
	context = np.zeros((H, W))
	vis_edge_ccs = filter_edge(input_mesh, edge_ccs, config)
	edge_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W'])) - 1
	specific_edge_loc = None
	FG_edge_maps = edge_maps.copy()
	edge_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W'])) - 1
	# for cc_id, cc in enumerate(edge_ccs):
	# for node in cc:
	# edge_canvas[node[0], node[1]] = cc_id
	# f, ((ax0, ax1, ax2)) = plt.subplots(1, 3, sharex=True, sharey=True); ax0.imshow(1./depth); ax1.imshow(image); ax2.imshow(edge_canvas); plt.show()
	input_mesh, info_on_pix, specific_edge_nodes, new_edge_ccs, connect_points_ccs, image = DL_inpaint_edge(input_mesh,
	info_on_pix,
	config,
	image,
	depth,
	context_ccs,
	erode_context_ccs,
	extend_context_ccs,
	extend_erode_context_ccs,
	mask_ccs,
	broken_mask_ccs,
	edge_ccs,
	extend_edge_ccs,
	init_mask_connect,
	edge_maps,
	rgb_model,
	depth_edge_model,
	depth_edge_model_init,
	depth_feat_model,
	specific_edge_id,
	specific_edge_loc,
	inpaint_iter=0)
	specific_edge_id = []
	edge_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W']))
	connect_points_ccs = [set() for _ in connect_points_ccs]
	context_ccs, mask_ccs, broken_mask_ccs, edge_ccs, erode_context_ccs, init_mask_connect, \
	edge_maps, extend_context_ccs, extend_edge_ccs, extend_erode_context_ccs = \
	context_and_holes(input_mesh, new_edge_ccs, config, specific_edge_id, specific_edge_loc, depth_feat_model, connect_points_ccs, inpaint_iter=1)
	mask_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W']))
	context_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W']))
	erode_context_ccs_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W']))
	edge_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W']))
	# edge_canvas = np.zeros((input_mesh.graph['H'], input_mesh.graph['W'])) - 1
	# for cc_id, cc in enumerate(edge_ccs):
	# for node in cc:
	# edge_canvas[node[0], node[1]] = cc_id
	specific_edge_id = []
	input_mesh, info_on_pix, specific_edge_nodes, new_edge_ccs, _, image = DL_inpaint_edge(input_mesh,
	info_on_pix,
	config,
	image,
	depth,
	context_ccs,
	erode_context_ccs,
	extend_context_ccs,
	extend_erode_context_ccs,
	mask_ccs,
	broken_mask_ccs,
	edge_ccs,
	extend_edge_ccs,
	init_mask_connect,
	edge_maps,
	rgb_model,
	depth_edge_model,
	depth_edge_model_init,
	depth_feat_model,
	specific_edge_id,
	specific_edge_loc,
	inpaint_iter=1)
	vertex_id = 0
	input_mesh.graph['H'], input_mesh.graph['W'] = input_mesh.graph['noext_H'], input_mesh.graph['noext_W']
	background_canvas = np.zeros((input_mesh.graph['H'],
	input_mesh.graph['W'],
	3))
	ply_flag = config.get('save_ply')
	if ply_flag is True:
	node_str_list = []
	else:
	node_str_color = []
	node_str_point = []
	out_fmt = lambda x, x_flag: str(x) if x_flag is True else x
	point_time = 0
	hlight_time = 0
	cur_id_time = 0
	node_str_time = 0
	generate_face_time = 0
	point_list = []
	k_00, k_02, k_11, k_12 = \
	input_mesh.graph['cam_param_pix_inv'][0, 0], input_mesh.graph['cam_param_pix_inv'][0, 2], \
	input_mesh.graph['cam_param_pix_inv'][1, 1], input_mesh.graph['cam_param_pix_inv'][1, 2]
	w_offset = input_mesh.graph['woffset']
	h_offset = input_mesh.graph['hoffset']
	for pix_xy, pix_list in info_on_pix.items():
	for pix_idx, pix_info in enumerate(pix_list):
	pix_depth = pix_info['depth'] if pix_info.get('real_depth') is None else pix_info['real_depth']
	str_pt = [out_fmt(x, ply_flag) for x in reproject_3d_int_detail(pix_xy[0], pix_xy[1], pix_depth,
	k_00, k_02, k_11, k_12, w_offset, h_offset)]
	if input_mesh.has_node((pix_xy[0], pix_xy[1], pix_info['depth'])) is False:
	return False
	continue
	if pix_info.get('overlap_number') is not None:
	str_color = [out_fmt(x, ply_flag) for x in (pix_info['color']/pix_info['overlap_number']).astype(np.uint8).tolist()]
	else:
	str_color = [out_fmt(x, ply_flag) for x in pix_info['color'].tolist()]
	if pix_info.get('edge_occlusion') is True:
	str_color.append(out_fmt(4, ply_flag))
	else:
	if pix_info.get('inpaint_id') is None:
	str_color.append(out_fmt(1, ply_flag))
	else:
	str_color.append(out_fmt(pix_info.get('inpaint_id') + 1, ply_flag))
	if pix_info.get('modified_border') is True or pix_info.get('ext_pixel') is True:
	if len(str_color) == 4:
	str_color[-1] = out_fmt(5, ply_flag)
	else:
	str_color.append(out_fmt(5, ply_flag))
	pix_info['cur_id'] = vertex_id
	input_mesh.nodes[(pix_xy[0], pix_xy[1], pix_info['depth'])]['cur_id'] = out_fmt(vertex_id, ply_flag)
	vertex_id += 1
	if ply_flag is True:
	node_str_list.append(' '.join(str_pt) + ' ' + ' '.join(str_color) + '\n')
	else:
	node_str_color.append(str_color)
	node_str_point.append(str_pt)
	str_faces = generate_face(input_mesh, info_on_pix, config)
	if config['save_ply'] is True:
	print("Writing mesh file %s ..." % ply_name)
	with open(ply_name, 'w') as ply_fi:
	ply_fi.write('ply\n' + 'format ascii 1.0\n')
	ply_fi.write('comment H ' + str(int(input_mesh.graph['H'])) + '\n')
	ply_fi.write('comment W ' + str(int(input_mesh.graph['W'])) + '\n')
	ply_fi.write('comment hFov ' + str(float(input_mesh.graph['hFov'])) + '\n')
	ply_fi.write('comment vFov ' + str(float(input_mesh.graph['vFov'])) + '\n')
	ply_fi.write('element vertex ' + str(len(node_str_list)) + '\n')
	ply_fi.write('property float x\n' + \
	'property float y\n' + \
	'property float z\n' + \
	'property uchar red\n' + \
	'property uchar green\n' + \
	'property uchar blue\n' + \
	'property uchar alpha\n')
	ply_fi.write('element face ' + str(len(str_faces)) + '\n')
	ply_fi.write('property list uchar int vertex_index\n')
	ply_fi.write('end_header\n')
	ply_fi.writelines(node_str_list)
	ply_fi.writelines(str_faces)
	ply_fi.close()
	return input_mesh
	else:
	H = int(input_mesh.graph['H'])
	W = int(input_mesh.graph['W'])
	hFov = input_mesh.graph['hFov']
	vFov = input_mesh.graph['vFov']
	node_str_color = np.array(node_str_color).astype(np.float32)
	node_str_color[..., :3] = node_str_color[..., :3] / 255.
	node_str_point = np.array(node_str_point)
	str_faces = np.array(str_faces)

	return node_str_point, node_str_color, str_faces, H, W, hFov, vFov

	def read_ply(mesh_fi):
	ply_fi = open(mesh_fi, 'r')
	Height = None
	Width = None
	hFov = None
	vFov = None
	while True:
	line = ply_fi.readline().split('\n')[0]
	if line.startswith('element vertex'):
	num_vertex = int(line.split(' ')[-1])
	elif line.startswith('element face'):
	num_face = int(line.split(' ')[-1])
	elif line.startswith('comment'):
	if line.split(' ')[1] == 'H':
	Height = int(line.split(' ')[-1].split('\n')[0])
	if line.split(' ')[1] == 'W':
	Width = int(line.split(' ')[-1].split('\n')[0])
	if line.split(' ')[1] == 'hFov':
	hFov = float(line.split(' ')[-1].split('\n')[0])
	if line.split(' ')[1] == 'vFov':
	vFov = float(line.split(' ')[-1].split('\n')[0])
	elif line.startswith('end_header'):
	break
	contents = ply_fi.readlines()
	vertex_infos = contents[:num_vertex]
	face_infos = contents[num_vertex:]
	verts = []
	colors = []
	faces = []
	for v_info in vertex_infos:
	str_info = [float(v) for v in v_info.split('\n')[0].split(' ')]
	if len(str_info) == 6:
	vx, vy, vz, r, g, b = str_info
	else:
	vx, vy, vz, r, g, b, hi = str_info
	verts.append([vx, vy, vz])
	colors.append([r, g, b, hi])
	verts = np.array(verts)
	try:
	colors = np.array(colors)
	colors[..., :3] = colors[..., :3]/255.
	except:
	import pdb
	pdb.set_trace()

	for f_info in face_infos:
	_, v1, v2, v3 = [int(f) for f in f_info.split('\n')[0].split(' ')]
	faces.append([v1, v2, v3])
	faces = np.array(faces)


	return verts, colors, faces, Height, Width, hFov, vFov


	class Canvas_view():
	def __init__(self,
	fov,
	verts,
	faces,
	colors,
	canvas_size,
	factor=1,
	bgcolor='gray',
	proj='perspective',
	):
	self.canvas = scene.SceneCanvas(bgcolor=bgcolor, size=(canvas_sizefactor, canvas_sizefactor))
	self.view = self.canvas.central_widget.add_view()
	self.view.camera = 'perspective'
	self.view.camera.fov = fov
	self.mesh = visuals.Mesh(shading=None)
	self.mesh.attach(Alpha(1.0))
	self.view.add(self.mesh)
	self.tr = self.view.camera.transform
	self.mesh.set_data(vertices=verts, faces=faces, vertex_colors=colors[:, :3])
	self.translate([0,0,0])
	self.rotate(axis=[1,0,0], angle=180)
	self.view_changed()

	def translate(self, trans=[0,0,0]):
	self.tr.translate(trans)

	def rotate(self, axis=[1,0,0], angle=0):
	self.tr.rotate(axis=axis, angle=angle)

	def view_changed(self):
	self.view.camera.view_changed()

	def render(self):
	return self.canvas.render()

	def reinit_mesh(self, verts, faces, colors):
	self.mesh.set_data(vertices=verts, faces=faces, vertex_colors=colors[:, :3])

	def reinit_camera(self, fov):
	self.view.camera.fov = fov
	self.view.camera.view_changed()


	def output_3d_photo(verts, colors, faces, Height, Width, hFov, vFov, tgt_poses, video_traj_types, ref_pose,
	output_dir, ref_image, int_mtx, config, image, videos_poses, video_basename, original_H=None, original_W=None,
	border=None, depth=None, normal_canvas=None, all_canvas=None, mean_loc_depth=None):

	cam_mesh = netx.Graph()
	cam_mesh.graph['H'] = Height
	cam_mesh.graph['W'] = Width
	cam_mesh.graph['original_H'] = original_H
	cam_mesh.graph['original_W'] = original_W
	int_mtx_real_x = int_mtx[0] * Width
	int_mtx_real_y = int_mtx[1] * Height
	cam_mesh.graph['hFov'] = 2 * np.arctan((1. / 2.) * ((cam_mesh.graph['original_W']) / int_mtx_real_x[0]))
	cam_mesh.graph['vFov'] = 2 * np.arctan((1. / 2.) * ((cam_mesh.graph['original_H']) / int_mtx_real_y[1]))
	colors = colors[..., :3]

	fov_in_rad = max(cam_mesh.graph['vFov'], cam_mesh.graph['hFov'])
	fov = (fov_in_rad * 180 / np.pi)
	print("fov: " + str(fov))
	init_factor = 1
	if config.get('anti_flickering') is True:
	init_factor = 3
	if (cam_mesh.graph['original_H'] is not None) and (cam_mesh.graph['original_W'] is not None):
	canvas_w = cam_mesh.graph['original_W']
	canvas_h = cam_mesh.graph['original_H']
	else:
	canvas_w = cam_mesh.graph['W']
	canvas_h = cam_mesh.graph['H']
	canvas_size = max(canvas_h, canvas_w)
	if normal_canvas is None:
	normal_canvas = Canvas_view(fov,
	verts,
	faces,
	colors,
	canvas_size=canvas_size,
	factor=init_factor,
	bgcolor='gray',
	proj='perspective')
	else:
	normal_canvas.reinit_mesh(verts, faces, colors)
	normal_canvas.reinit_camera(fov)
	img = normal_canvas.render()
	backup_img, backup_all_img, all_img_wo_bound = img.copy(), img.copy() * 0, img.copy() * 0
	img = cv2.resize(img, (int(img.shape[1] / init_factor), int(img.shape[0] / init_factor)), interpolation=cv2.INTER_AREA)
	if border is None:
	border = [0, img.shape[0], 0, img.shape[1]]
	H, W = cam_mesh.graph['H'], cam_mesh.graph['W']
	if (cam_mesh.graph['original_H'] is not None) and (cam_mesh.graph['original_W'] is not None):
	aspect_ratio = cam_mesh.graph['original_H'] / cam_mesh.graph['original_W']
	else:
	aspect_ratio = cam_mesh.graph['H'] / cam_mesh.graph['W']
	if aspect_ratio > 1:
	img_h_len = cam_mesh.graph['H'] if cam_mesh.graph.get('original_H') is None else cam_mesh.graph['original_H']
	img_w_len = img_h_len / aspect_ratio
	anchor = [0,
	img.shape[0],
	int(max(0, int((img.shape[1])//2 - img_w_len//2))),
	int(min(int((img.shape[1])//2 + img_w_len//2), (img.shape[1])-1))]
	elif aspect_ratio <= 1:
	img_w_len = cam_mesh.graph['W'] if cam_mesh.graph.get('original_W') is None else cam_mesh.graph['original_W']
	img_h_len = img_w_len * aspect_ratio
	anchor = [int(max(0, int((img.shape[0])//2 - img_h_len//2))),
	int(min(int((img.shape[0])//2 + img_h_len//2), (img.shape[0])-1)),
	0,
	img.shape[1]]
	anchor = np.array(anchor)
	plane_width = np.tan(fov_in_rad/2.) * np.abs(mean_loc_depth)
	for video_pose, video_traj_type in zip(videos_poses, video_traj_types):
	stereos = []
	tops = []; buttoms = []; lefts = []; rights = []
	for tp_id, tp in enumerate(video_pose):
	rel_pose = np.linalg.inv(np.dot(tp, np.linalg.inv(ref_pose)))
	axis, angle = transforms3d.axangles.mat2axangle(rel_pose[0:3, 0:3])
	normal_canvas.rotate(axis=axis, angle=(angle*180)/np.pi)
	normal_canvas.translate(rel_pose[:3,3])
	new_mean_loc_depth = mean_loc_depth - float(rel_pose[2, 3])
	if 'dolly' in video_traj_type:
	new_fov = float((np.arctan2(plane_width, np.array([np.abs(new_mean_loc_depth)])) * 180. / np.pi) * 2)
	normal_canvas.reinit_camera(new_fov)
	else:
	normal_canvas.reinit_camera(fov)
	normal_canvas.view_changed()
	img = normal_canvas.render()
	img = cv2.GaussianBlur(img,(int(init_factor//2 * 2 + 1), int(init_factor//2 * 2 + 1)), 0)
	img = cv2.resize(img, (int(img.shape[1] / init_factor), int(img.shape[0] / init_factor)), interpolation=cv2.INTER_AREA)
	img = img[anchor[0]:anchor[1], anchor[2]:anchor[3]]
	img = img[int(border[0]):int(border[1]), int(border[2]):int(border[3])]

	if any(np.array(config['crop_border']) > 0.0):
	H_c, W_c, _ = img.shape
	o_t = int(H_c * config['crop_border'][0])
	o_l = int(W_c * config['crop_border'][1])
	o_b = int(H_c * config['crop_border'][2])
	o_r = int(W_c * config['crop_border'][3])
	img = img[o_t:H_c-o_b, o_l:W_c-o_r]
	img = cv2.resize(img, (W_c, H_c), interpolation=cv2.INTER_CUBIC)

	"""
	img = cv2.resize(img, (int(img.shape[1] / init_factor), int(img.shape[0] / init_factor)), interpolation=cv2.INTER_CUBIC)
	img = img[anchor[0]:anchor[1], anchor[2]:anchor[3]]
	img = img[int(border[0]):int(border[1]), int(border[2]):int(border[3])]

	if config['crop_border'] is True:
	top, buttom, left, right = find_largest_rect(img, bg_color=(128, 128, 128))
	tops.append(top); buttoms.append(buttom); lefts.append(left); rights.append(right)
	"""
	stereos.append(img[..., :3])
	normal_canvas.translate(-rel_pose[:3,3])
	normal_canvas.rotate(axis=axis, angle=-(angle*180)/np.pi)
	normal_canvas.view_changed()
	"""
	if config['crop_border'] is True:
	atop, abuttom = min(max(tops), img.shape[0]//2 - 10), max(min(buttoms), img.shape[0]//2 + 10)
	aleft, aright = min(max(lefts), img.shape[1]//2 - 10), max(min(rights), img.shape[1]//2 + 10)
	atop -= atop % 2; abuttom -= abuttom % 2; aleft -= aleft % 2; aright -= aright % 2
	else:
	atop = 0; abuttom = img.shape[0] - img.shape[0] % 2; aleft = 0; aright = img.shape[1] - img.shape[1] % 2
	"""
	atop = 0; abuttom = img.shape[0] - img.shape[0] % 2; aleft = 0; aright = img.shape[1] - img.shape[1] % 2
	crop_stereos = []
	for stereo in stereos:
	crop_stereos.append((stereo[atop:abuttom, aleft:aright, :3] * 1).astype(np.uint8))
	stereos = crop_stereos
	clip = ImageSequenceClip(stereos, fps=config['fps'])
	if isinstance(video_basename, list):
	video_basename = video_basename[0]
	clip.write_videofile(os.path.join(output_dir, video_basename + '_' + video_traj_type + '.mp4'), fps=config['fps'])



	return normal_canvas, all_canvas