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README.md

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----
-license: mit
----
+# Handcrafted solution example for the S23DR competition
+
+This repo provides an example of a simple algorithm to reconstruct wireframe and submit to S23DR competition.
+
+
+The repo consistst of the following parts:
+
+- `script.py` - the main file, which is run by the competition space. It should produce `submission.parquet` as the result of the run.
+- `hoho.py` - the file for parsing the dataset at the inference time. Do NOT change it.
+- `handcrafted_solution.py` - contains the actual implementation of the algorithm
+- other `*.py` files - helper i/o and visualization utilities
+- `packages/` - the directory to put python wheels for the custom packages you want to install and use. 
+
+## Solution description
+
+The solution is simple. 
+
+1. Using provided (but noisy) semantic segmentation called `gestalt`, it takes the centroids of the vertex classes - `apex` and `eave_end_point` and projects them to 3D using provided (also noisy) monocular depth. 
+2. The vertices are connected using the same segmentation, by checking for edges classes to be present - `['eave', 'ridge', 'rake', 'valley']`. 
+3. All the "per-image" vertex predictions are merged in 3D space if their distance is less than threshold.
+4. All vertices, which have zero connections, are removed. 
+
+
+## Example on the training set
+
+See in [notebooks/example_on_training.ipynb](notebooks/example_on_training.ipynb)
+
+---
+license: apache-2.0
+---
+

handcrafted_solution.py

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+# Description: This file contains the handcrafted solution for the task of wireframe reconstruction 
+
+import io
+from PIL import Image as PImage
+import numpy as np
+from collections import defaultdict
+import cv2
+from typing import Tuple, List
+from scipy.spatial.distance import cdist
+
+from hoho.read_write_colmap import read_cameras_binary, read_images_binary, read_points3D_binary
+from hoho.color_mappings import gestalt_color_mapping, ade20k_color_mapping
+
+
+def empty_solution():
+    '''Return a minimal valid solution, i.e. 2 vertices and 1 edge.'''
+    return np.zeros((2,3)), [(0, 1)]
+    
+
+def convert_entry_to_human_readable(entry):
+    out = {}
+    already_good = ['__key__', 'wf_vertices', 'wf_edges', 'edge_semantics', 'mesh_vertices', 'mesh_faces', 'face_semantics', 'K', 'R', 't']
+    for k, v in entry.items():
+        if k in already_good:
+            out[k] = v
+            continue
+        if k == 'points3d':
+            out[k] = read_points3D_binary(fid=io.BytesIO(v))
+        if k == 'cameras':
+            out[k] = read_cameras_binary(fid=io.BytesIO(v))
+        if k == 'images':
+            out[k] = read_images_binary(fid=io.BytesIO(v))
+        if k in ['ade20k', 'gestalt']:
+            out[k] =  [PImage.open(io.BytesIO(x)).convert('RGB') for x in v]
+        if k == 'depthcm':
+            out[k] = [PImage.open(io.BytesIO(x)) for x in entry['depthcm']]
+    return out
+
+
+def get_vertices_and_edges_from_segmentation(gest_seg_np, edge_th = 50.0):
+    '''Get the vertices and edges from the gestalt segmentation mask of the house'''
+    vertices = []
+    connections = []
+    # Apex
+    apex_color = np.array(gestalt_color_mapping['apex'])
+    apex_mask = cv2.inRange(gest_seg_np,  apex_color-0.5, apex_color+0.5)
+    if apex_mask.sum() > 0:
+        output = cv2.connectedComponentsWithStats(apex_mask, 8, cv2.CV_32S)
+        (numLabels, labels, stats, centroids) = output
+        stats, centroids = stats[1:], centroids[1:]
+        
+        for i in range(numLabels-1):
+            vert = {"xy": centroids[i], "type": "apex"}
+            vertices.append(vert)
+    
+    eave_end_color = np.array(gestalt_color_mapping['eave_end_point'])
+    eave_end_mask = cv2.inRange(gest_seg_np,  eave_end_color-0.5, eave_end_color+0.5)
+    if eave_end_mask.sum() > 0:
+        output = cv2.connectedComponentsWithStats(eave_end_mask, 8, cv2.CV_32S)
+        (numLabels, labels, stats, centroids) = output
+        stats, centroids = stats[1:], centroids[1:]
+        
+        for i in range(numLabels-1):
+            vert = {"xy": centroids[i], "type": "eave_end_point"}
+            vertices.append(vert) 
+    # Connectivity
+    apex_pts = []
+    apex_pts_idxs = []
+    for j, v in enumerate(vertices):
+        apex_pts.append(v['xy'])
+        apex_pts_idxs.append(j)
+    apex_pts = np.array(apex_pts)
+            
+    # Ridge connects two apex points
+    for edge_class in ['eave', 'ridge', 'rake', 'valley']:
+        edge_color = np.array(gestalt_color_mapping[edge_class])
+        mask = cv2.morphologyEx(cv2.inRange(gest_seg_np,
+                                            edge_color-0.5,
+                                            edge_color+0.5),
+                                cv2.MORPH_DILATE, np.ones((11, 11)))
+        line_img = np.copy(gest_seg_np) * 0
+        if mask.sum() > 0:
+            output = cv2.connectedComponentsWithStats(mask, 8, cv2.CV_32S)
+            (numLabels, labels, stats, centroids) = output
+            stats, centroids = stats[1:], centroids[1:]
+            edges = []
+            for i in range(1, numLabels):
+                y,x = np.where(labels == i)
+                xleft_idx = np.argmin(x)
+                x_left = x[xleft_idx]
+                y_left = y[xleft_idx]
+                xright_idx = np.argmax(x)
+                x_right = x[xright_idx]
+                y_right = y[xright_idx]
+                edges.append((x_left, y_left, x_right, y_right))
+                cv2.line(line_img, (x_left, y_left), (x_right, y_right), (255, 255, 255), 2)
+            edges = np.array(edges)
+            if (len(apex_pts) < 2) or len(edges) <1:
+                continue
+            pts_to_edges_dist = np.minimum(cdist(apex_pts, edges[:,:2]), cdist(apex_pts, edges[:,2:]))
+            connectivity_mask = pts_to_edges_dist <= edge_th
+            edge_connects = connectivity_mask.sum(axis=0)
+            for edge_idx, edgesum in enumerate(edge_connects):
+                if edgesum>=2:
+                    connected_verts = np.where(connectivity_mask[:,edge_idx])[0]
+                    for a_i, a in enumerate(connected_verts):
+                        for b in connected_verts[a_i+1:]:
+                            connections.append((a, b))
+    return vertices, connections
+
+def get_uv_depth(vertices, depth):
+    '''Get the depth of the vertices from the depth image'''
+    uv = []
+    for v in vertices:
+        uv.append(v['xy'])
+    uv = np.array(uv)
+    uv_int = uv.astype(np.int32)
+    H, W = depth.shape[:2]
+    uv_int[:, 0] = np.clip( uv_int[:, 0], 0, W-1)
+    uv_int[:, 1] = np.clip( uv_int[:, 1], 0, H-1)
+    vertex_depth = depth[(uv_int[:, 1] , uv_int[:, 0])]
+    return uv, vertex_depth
+
+
+def merge_vertices_3d(vert_edge_per_image, th=0.1):
+    '''Merge vertices that are close to each other in 3D space and are of same types'''
+    all_3d_vertices = []
+    connections_3d = []
+    all_indexes = []
+    cur_start = 0
+    types = []
+    for cimg_idx, (vertices, connections, vertices_3d) in vert_edge_per_image.items():
+        types += [int(v['type']=='apex') for v in vertices]
+        all_3d_vertices.append(vertices_3d)
+        connections_3d+=[(x+cur_start,y+cur_start) for (x,y) in connections]
+        cur_start+=len(vertices_3d)
+    all_3d_vertices = np.concatenate(all_3d_vertices, axis=0)
+    #print (connections_3d)
+    distmat = cdist(all_3d_vertices, all_3d_vertices)
+    types = np.array(types).reshape(-1,1)
+    same_types = cdist(types, types)
+    mask_to_merge = (distmat <= th) & (same_types==0)
+    new_vertices = []
+    new_connections = []
+    to_merge = sorted(list(set([tuple(a.nonzero()[0].tolist()) for a in mask_to_merge])))
+    to_merge_final = defaultdict(list)
+    for i in range(len(all_3d_vertices)):
+        for j in to_merge:
+            if i in j:
+                to_merge_final[i]+=j
+    for k, v in to_merge_final.items():
+        to_merge_final[k] = list(set(v))
+    already_there = set() 
+    merged = []
+    for k, v in to_merge_final.items():
+        if k in already_there:
+            continue
+        merged.append(v)
+        for vv in v:
+            already_there.add(vv)
+    old_idx_to_new = {}
+    count=0
+    for idxs in merged:
+        new_vertices.append(all_3d_vertices[idxs].mean(axis=0))
+        for idx in idxs:
+            old_idx_to_new[idx] = count
+        count +=1
+    #print (connections_3d)
+    new_vertices=np.array(new_vertices)
+    #print (connections_3d)
+    for conn in connections_3d:
+        new_con = sorted((old_idx_to_new[conn[0]], old_idx_to_new[conn[1]]))
+        if new_con[0] == new_con[1]:
+            continue
+        if new_con not in new_connections:
+            new_connections.append(new_con)
+    #print (f'{len(new_vertices)} left after merging {len(all_3d_vertices)} with {th=}')
+    return new_vertices, new_connections
+
+def prune_not_connected(all_3d_vertices, connections_3d):
+    '''Prune vertices that are not connected to any other vertex'''
+    connected = defaultdict(list)
+    for c in connections_3d:
+        connected[c[0]].append(c)
+        connected[c[1]].append(c)
+    new_indexes = {}
+    new_verts = []
+    connected_out = []
+    for k,v in connected.items():
+        vert = all_3d_vertices[k]
+        if tuple(vert) not in new_verts:
+            new_verts.append(tuple(vert))
+            new_indexes[k]=len(new_verts) -1
+    for k,v in connected.items():
+        for vv in v:
+            connected_out.append((new_indexes[vv[0]],new_indexes[vv[1]]))
+    connected_out=list(set(connected_out))                   
+    
+    return np.array(new_verts), connected_out
+
+
+def predict(entry, visualize=False) -> Tuple[np.ndarray, List[int]]:
+    good_entry = convert_entry_to_human_readable(entry)
+    vert_edge_per_image = {}
+    for i, (gest, depth, K, R, t) in enumerate(zip(good_entry['gestalt'],
+                                                good_entry['depthcm'], 
+                                                good_entry['K'],
+                                                good_entry['R'],
+                                                good_entry['t'] 
+                                                )):
+        gest_seg = gest.resize(depth.size)
+        gest_seg_np = np.array(gest_seg).astype(np.uint8)
+        # Metric3D
+        depth_np = np.array(depth) / 2.5 # 2.5 is the scale estimation coefficient
+        vertices, connections = get_vertices_and_edges_from_segmentation(gest_seg_np, edge_th = 5.)
+        if (len(vertices) < 2) or (len(connections) < 1):
+            print (f'Not enough vertices or connections in image {i}')
+            vert_edge_per_image[i] = np.empty((0, 2)), [], np.empty((0, 3))
+            continue
+        uv, depth_vert = get_uv_depth(vertices, depth_np)
+        # Normalize the uv to the camera intrinsics
+        xy_local = np.ones((len(uv), 3))
+        xy_local[:, 0] = (uv[:, 0] - K[0,2]) / K[0,0]
+        xy_local[:, 1] = (uv[:, 1] - K[1,2]) / K[1,1]
+        # Get the 3D vertices
+        vertices_3d_local = depth_vert[...,None] * (xy_local/np.linalg.norm(xy_local, axis=1)[...,None])
+        world_to_cam = np.eye(4)
+        world_to_cam[:3, :3] = R
+        world_to_cam[:3, 3] = t.reshape(-1)
+        cam_to_world =  np.linalg.inv(world_to_cam)
+        vertices_3d = cv2.transform(cv2.convertPointsToHomogeneous(vertices_3d_local), cam_to_world)
+        vertices_3d = cv2.convertPointsFromHomogeneous(vertices_3d).reshape(-1, 3)
+        vert_edge_per_image[i] = vertices, connections, vertices_3d
+    all_3d_vertices, connections_3d = merge_vertices_3d(vert_edge_per_image, 3.0)
+    all_3d_vertices_clean, connections_3d_clean  = prune_not_connected(all_3d_vertices, connections_3d)
+    if (len(all_3d_vertices_clean) < 2) or len(connections_3d_clean) < 1:
+        print (f'Not enough vertices or connections in the 3D vertices')
+        return (good_entry['__key__'], *empty_solution())
+    if visualize:
+        from hoho.viz3d import plot_estimate_and_gt
+        plot_estimate_and_gt(   all_3d_vertices_clean, 
+                                connections_3d_clean, 
+                                good_entry['wf_vertices'],
+                                good_entry['wf_edges'])
+    return good_entry['__key__'], all_3d_vertices_clean, connections_3d_clean 

script.py

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+### This is example of the script that will be run in the test environment.
+### Some parts of the code are compulsory and you should NOT CHANGE THEM.
+### They are between '''---compulsory---''' comments.
+### You can change the rest of the code to define and test your solution.
+### However, you should not change the signature of the provided function.
+### The script would save "submission.parquet" file in the current directory.
+### The actual logic of the solution is implemented in the `handcrafted_solution.py` file.
+### The `handcrafted_solution.py` file is a placeholder for your solution.
+### You should implement the logic of your solution in that file.
+### You can use any additional files and subdirectories to organize your code.
+
+'''---compulsory---'''
+# import subprocess
+# from pathlib import Path         
+# def install_package_from_local_file(package_name, folder='packages'):
+#     """
+#     Installs a package from a local .whl file or a directory containing .whl files using pip.
+
+#     Parameters:
+#     path_to_file_or_directory (str): The path to the .whl file or the directory containing .whl files.
+#     """
+#     try:
+#         pth = str(Path(folder) / package_name)
+#         subprocess.check_call([subprocess.sys.executable, "-m", "pip", "install", 
+#                                "--no-index",  # Do not use package index
+#                                "--find-links", pth,  # Look for packages in the specified directory or at the file
+#                                package_name])  # Specify the package to install
+#         print(f"Package installed successfully from {pth}")
+#     except subprocess.CalledProcessError as e:
+#         print(f"Failed to install package from {pth}. Error: {e}")
+		
+# install_package_from_local_file('hoho')
+
+import hoho; hoho.setup() # YOU MUST CALL hoho.setup() BEFORE ANYTHING ELSE
+# import subprocess
+# import importlib
+# from pathlib import Path
+# import subprocess
+
+
+# ### The function below is useful for installing additional python wheels.        
+# def install_package_from_local_file(package_name, folder='packages'):
+#     """
+#     Installs a package from a local .whl file or a directory containing .whl files using pip.
+
+#     Parameters:
+#     path_to_file_or_directory (str): The path to the .whl file or the directory containing .whl files.
+#     """
+#     try:
+#         pth = str(Path(folder) / package_name)
+#         subprocess.check_call([subprocess.sys.executable, "-m", "pip", "install", 
+#                                "--no-index",  # Do not use package index
+#                                "--find-links", pth,  # Look for packages in the specified directory or at the file
+#                                package_name])  # Specify the package to install
+#         print(f"Package installed successfully from {pth}")
+#     except subprocess.CalledProcessError as e:
+#         print(f"Failed to install package from {pth}. Error: {e}")
+		
+
+# pip download webdataset -d packages/webdataset --platform manylinux1_x86_64 --python-version 38 --only-binary=:all:
+# install_package_from_local_file('webdataset')
+# install_package_from_local_file('tqdm')
+
+### Here you can import any library or module you want.
+### The code below is used to read and parse the input dataset.
+### Please, do not modify it.
+
+import webdataset as wds
+from tqdm import tqdm
+from typing import Dict
+import pandas as pd
+from transformers import AutoTokenizer
+import os
+import time
+import io
+from PIL import Image as PImage
+import numpy as np
+
+from hoho.read_write_colmap import read_cameras_binary, read_images_binary, read_points3D_binary
+from hoho import proc, Sample
+
+def convert_entry_to_human_readable(entry):
+	out = {}
+	already_good = ['__key__', 'wf_vertices', 'wf_edges', 'edge_semantics', 'mesh_vertices', 'mesh_faces', 'face_semantics', 'K', 'R', 't']
+	for k, v in entry.items():
+		if k in already_good:
+			out[k] = v
+			continue
+		if k == 'points3d':
+			out[k] = read_points3D_binary(fid=io.BytesIO(v))
+		if k == 'cameras':
+			out[k] = read_cameras_binary(fid=io.BytesIO(v))
+		if k == 'images':
+			out[k] = read_images_binary(fid=io.BytesIO(v))
+		if k in ['ade20k', 'gestalt']:
+			out[k] =  [PImage.open(io.BytesIO(x)).convert('RGB') for x in v]
+		if k == 'depthcm':
+			out[k] = [PImage.open(io.BytesIO(x)) for x in entry['depthcm']]
+	return out
+
+'''---end of compulsory---'''
+
+### The part below is used to define and test your solution.
+import subprocess
+import sys
+import os
+
+import numpy as np
+# os.environ['MKL_THREADING_LAYER'] = 'GNU'
+# os.environ['MKL_SERVICE_FORCE_INTEL'] = '1'
+
+# def download_packages(packages, folder='packages/torch'):
+# 	"""
+# 	Downloads packages as .whl files into the specified folder using pip.
+
+# 	Parameters:
+# 	packages (list): List of packages to download with versions.
+# 	folder (str): The folder where the .whl files will be saved.
+# 	"""
+# 	Path(folder).mkdir(parents=True, exist_ok=True)
+# 	try:
+# 		subprocess.check_call([sys.executable, "-m", "pip", "download",
+# 							   "--platform", "manylinux1_x86_64",
+# 							   "--python-version", "38",
+# 							   "--only-binary=:all:",
+# 							   "-d", folder] + packages)
+# 		print(f"Packages downloaded successfully into {folder}")
+# 	except subprocess.CalledProcessError as e:
+# 		print(f"Failed to download packages. Error: {e}")
+
+def download_packages(packages, folder):
+    # Create the directory if it doesn't exist
+    if not os.path.exists(folder):
+        os.makedirs(folder)
+    
+    try:
+        subprocess.check_call([
+            'pip', 'download',
+            '--dest', folder,
+            '-f', 'https://download.pytorch.org/whl/cu121'
+        ] + packages)
+        print(f"Packages downloaded successfully to {folder}")
+    except subprocess.CalledProcessError as e:
+        print(f"Failed to download packages. Error: {e}")
+
+def install_package_from_local_file(package_name, folder='packages'):
+	"""
+	Installs a package from a local .whl file or a directory containing .whl files using pip.
+
+	Parameters:
+	package_name (str): The name of the package to install.
+	folder (str): The folder where the .whl files are located.
+	"""
+	try:
+		pth = str(Path(folder) / package_name)
+		subprocess.check_call([sys.executable, "-m", "pip", "install", 
+							   "--no-index",  # Do not use package index
+							   "--find-links", pth,  # Look for packages in the specified directory or at the file
+							   package_name])  # Specify the package to install
+		print(f"Package installed successfully from {pth}")
+	except subprocess.CalledProcessError as e:
+		print(f"Failed to install package from {pth}. Error: {e}")
+
+def setup_environment():
+	# Download required packages
+	# pip install torch==1.13.1+cu116 torchvision==0.14.1+cu116 torchaudio==0.13.1 --extra-index-url https://download.pytorch.org/whl/cu116
+	# pip install torch==2.3.0 torchvision==0.18.0 torchaudio==2.3.0 --index-url https://download.pytorch.org/whl/cu121
+	# pip install torch==2.1.0 torchvision==0.16.0 torchaudio==2.1.0 --index-url https://download.pytorch.org/whl/cu121
+	# packages_to_download = ['torch==1.13.1', 'torchvision==0.14.1', 'torchaudio==0.13.1']
+	# packages_to_download = ['torch==2.1.0', 'torchvision==0.16.0', 'torchaudio==2.1.0']
+	# download_packages(packages_to_download, folder='packages/torch')
+
+	packages_to_download = ['torch==2.1.0', 'torchvision==0.16.0', 'torchaudio==2.1.0']
+	download_folder = 'packages/torch'
+
+	# Download the packages
+	download_packages(packages_to_download, download_folder)
+
+	# Install packages from local files
+	install_package_from_local_file('torch', folder='packages')
+	# install_package_from_local_file('packages/torch/torchvision-0.14.1-cp38-cp38-manylinux1_x86_64.whl', folder='packages/torch')
+	# install_package_from_local_file('packages/torch/torchaudio-0.13.1-cp38-cp38-manylinux1_x86_64.whl', folder='packages/torch')
+	# install_package_from_local_file('scikit-learn', folder='packages')
+	# install_package_from_local_file('open3d', folder='packages')
+	# install_package_from_local_file('easydict', folder='packages')
+	
+	# download_packages(['scikit-learn'], folder='packages/scikit-learn')
+	# download_packages(['open3d'], folder='packages/open3d')
+	# download_packages(['easydict'], folder='packages/easydict')
+
+	# pc_util_path = os.path.join(os.getcwd(), 'pc_util')
+	# if os.path.isdir(pc_util_path):
+	# 	os.chdir(pc_util_path)
+	# 	subprocess.check_call([sys.executable, "setup.py", "install"])
+	# else:
+	# 	print(f"Directory {pc_util_path} does not exist")
+	
+from pathlib import Path
+def save_submission(submission, path):
+	"""
+	Saves the submission to a specified path.
+
+	Parameters:
+	submission (List[Dict[]]): The submission to save.
+	path (str): The path to save the submission to.
+	"""
+	sub = pd.DataFrame(submission, columns=["__key__", "wf_vertices", "wf_edges"])
+	sub.to_parquet(path)
+	print(f"Submission saved to {path}")
+
+if __name__ == "__main__":
+	setup_environment()
+
+	from handcrafted_solution import predict
+	print ("------------ Loading dataset------------ ")
+	params = hoho.get_params()
+	dataset = hoho.get_dataset(decode=None, split='all', dataset_type='webdataset')
+
+	print('------------ Now you can do your solution ---------------')
+	solution = []
+	from concurrent.futures import ProcessPoolExecutor
+	with ProcessPoolExecutor(max_workers=8) as pool:
+		results = []
+		for i, sample in enumerate(tqdm(dataset)):
+			results.append(pool.submit(predict, sample, visualize=False))
+		
+		for i, result in enumerate(tqdm(results)):
+			key, pred_vertices, pred_edges = result.result()
+			solution.append({
+							'__key__': key,
+							'wf_vertices': pred_vertices.tolist(),
+							'wf_edges': pred_edges
+						})
+			if i % 100 == 0:
+				# incrementally save the results in case we run out of time
+				print(f"Processed {i} samples")
+				# save_submission(solution, Path(params['output_path']) / "submission.parquet")
+	print('------------ Saving results ---------------')
+	save_submission(solution, Path(params['output_path']) / "submission.parquet")
+	print("------------ Done ------------ ")