├── .gitignore ├── DataRW ├── ScanNetRW.py └── ScannotateDatasetMasks.py ├── LICENSE ├── PytorchGeoNodes ├── BlenderShapeProgram.py ├── GeometryNodes.py ├── Nodes │ ├── Edge.py │ ├── Node.py │ ├── NodeCombXYZ.py │ ├── NodeGroup.py │ ├── NodeGroupInput.py │ ├── NodeGroupInputNested.py │ ├── NodeGroupOutput.py │ ├── NodeInputsDict.py │ ├── NodeInstanceOnPoints.py │ ├── NodeJoinGeometry.py │ ├── NodeMath.py │ ├── NodeMeshPrimitiveCube.py │ ├── NodeMeshPrimitiveCylinder.py │ ├── NodeMeshPrimitiveLine.py │ ├── NodeRealizeInstances.py │ ├── NodeSwitch.py │ ├── NodeTransformGeometry.py │ ├── NodeVectMath.py │ ├── PrimitiveGeometry.py │ ├── PrimitiveMesh.py │ ├── __init__.py │ ├── node_types.py │ ├── primitives │ │ ├── cube_16.mtl │ │ ├── cube_16.obj │ │ ├── cube_32.mtl │ │ ├── cube_32.obj │ │ ├── cube_6.mtl │ │ ├── cube_6.obj │ │ ├── cube_8.mtl │ │ ├── cube_8.obj │ │ ├── cylinder.mtl │ │ └── cylinder.obj │ └── vis_utils.py ├── Pytorch3DRenderer │ ├── SimpleShader.py │ ├── SubdivideMeshesCustom.py │ ├── Torch3DRenderer.py │ ├── data │ │ └── cow_mesh │ │ │ ├── cow.mtl │ │ │ ├── cow.obj │ │ │ ├── cow_texture.png │ │ │ └── cow_texture.png.1 │ ├── meshes │ │ └── ico_sphere.py │ ├── pytorch3d_camera_custom.py │ ├── pytorch3d_rasterizer_custom.py │ └── texturing.py ├── ShapeParamsTree │ └── ShapeParamsTree.py ├── __init__.py └── utils.py ├── README.md ├── SPSearch ├── CoordinateDescent │ ├── CoordinateDescent.py │ └── __init__.py ├── DVProposals.py ├── DecisionVariable.py ├── Genetic │ ├── Genetic.py │ ├── GeneticLogger.py │ └── __init__.py ├── Logger.py ├── OcclusionGrid.py ├── ProposalGame │ ├── ProposalGame.py │ └── __init__.py ├── SPGame.py ├── SPSearchLogger.py ├── ScannotateTarget │ └── ScannotateTarget.py ├── SyntheticTarget │ └── SyntheticTarget.py ├── Target.py ├── __init__.py ├── constants │ ├── __init__.py │ └── constants.py └── utils.py ├── ScanNetAnnotation.py ├── ShapeProgramsDataset ├── bed.blend ├── bed.blend1 ├── cabinet.blend ├── cabinet.blend1 ├── cabinet_div_boards_vis.blend ├── chair.blend ├── chair.blend1 ├── chair2.blend ├── chair2.blend1 ├── chair_safe.blend ├── chair_safe.blend1 ├── cube.blend ├── cube.blend1 ├── sofa.blend ├── sofa.blend1 ├── table.blend ├── table.blend1 └── test.blend ├── __meta__ ├── logo.jpg ├── output.gif ├── output_sofa.gif ├── output_synth.gif └── output_table.gif ├── configs ├── cd_config.yaml ├── general_config.yaml ├── genetic_settings.yaml ├── geometry_nodes_config.yaml └── scannotate_config.yaml ├── configs_shape_programs ├── sp_bed.json ├── sp_bookshelf.json ├── sp_cabinet.json ├── sp_cabinetboardback.json ├── sp_cabinetboardleft.json ├── sp_cabinetboardleftgroup.json ├── sp_cabinetboardright.json ├── sp_cabinetdividingboards.json ├── sp_cabinetdrawers.json ├── sp_cabinetlegs.json ├── sp_cabinetsettozeroaxis.json ├── sp_chair.json ├── sp_cube.json ├── sp_sofa.json ├── sp_synth_cabinet.json ├── sp_table.json └── sp_tabletop.json ├── demo_optimize_pytorch_geometry_nodes.py ├── environment.yml ├── eval_helpers.py ├── evaluate_reconstruction_scannotate.py ├── evaluate_scannotate_sp_parameters.py ├── evaluate_synthetic_sp_parameters.py ├── generate_synthetic_dataset.py ├── preprocess_dv_values.py ├── reconstruct_scannotate_objects.py ├── reconstruct_synthetic_objects.py ├── scannotate_preprocessing ├── DATA │ └── readme.md ├── README.md ├── ScanNet_renderer │ ├── Render_Scannotate_masks.py │ ├── ScanNetAnnotation.py │ ├── ScanNetScene.py │ ├── Scannotate_2d_mask_predictor.py │ ├── Torch3DRenderer │ │ ├── SimpleShader.py │ │ ├── __init__.py │ │ ├── pytorch3d_camera_custom.py │ │ └── pytorch3d_rasterizer_custom.py │ ├── load_ScanNet_data.py │ ├── utils.py │ └── utils_CAD_retrieval.py ├── config │ ├── 0_Scannotate_masks.ini │ ├── __init__.py │ ├── config.py │ └── utils.py ├── environment.yml ├── pgn_utils.py ├── remove_masks.py ├── scripts │ ├── amg.py │ └── export_onnx_model.py ├── setup.cfg ├── setup.py └── utils.py ├── sp_gt_annotations ├── chair │ ├── scene0011_00 │ │ ├── obj_1 │ │ │ └── sp_params.json │ │ ├── obj_2 │ │ │ └── sp_params.json │ │ └── obj_3 │ │ │ └── sp_params.json │ ├── scene0011_01 │ │ ├── obj_4 │ │ │ └── sp_params.json │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0025_00 │ │ ├── obj_13 │ │ │ └── sp_params.json │ │ ├── obj_2 │ │ │ └── sp_params.json │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0030_00 │ │ ├── obj_18 │ │ │ └── sp_params.json │ │ ├── obj_2 │ │ │ └── sp_params.json │ │ ├── obj_3 │ │ │ └── sp_params.json │ │ └── obj_7 │ │ │ └── sp_params.json │ ├── scene0030_01 │ │ ├── obj_10 │ │ │ └── sp_params.json │ │ ├── obj_13 │ │ │ └── sp_params.json │ │ └── obj_14 │ │ │ └── sp_params.json │ ├── scene0030_02 │ │ ├── obj_11 │ │ │ └── sp_params.json │ │ ├── obj_13 │ │ │ └── sp_params.json │ │ └── obj_14 │ │ │ └── sp_params.json │ ├── scene0131_00 │ │ ├── obj_12 │ │ │ └── sp_params.json │ │ ├── obj_4 │ │ │ └── sp_params.json │ │ ├── obj_5 │ │ │ └── sp_params.json │ │ └── obj_8 │ │ │ └── sp_params.json │ ├── scene0131_01 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0231_00 │ │ ├── obj_18 │ │ │ └── sp_params.json │ │ └── obj_19 │ │ │ └── sp_params.json │ ├── scene0277_00 │ │ ├── obj_4 │ │ │ └── sp_params.json │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0300_01 │ │ ├── obj_1 │ │ │ └── sp_params.json │ │ ├── obj_2 │ │ │ └── sp_params.json │ │ └── obj_3 │ │ │ └── sp_params.json │ ├── scene0314_00 │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0316_00 │ │ └── obj_1 │ │ │ └── sp_params.json │ ├── scene0343_00 │ │ ├── obj_6 │ │ │ └── sp_params.json │ │ └── obj_7 │ │ │ └── sp_params.json │ ├── scene0351_00 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0356_00 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0356_02 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0378_00 │ │ └── obj_11 │ │ │ └── sp_params.json │ ├── scene0378_01 │ │ ├── obj_10 │ │ │ └── sp_params.json │ │ ├── obj_3 │ │ │ └── sp_params.json │ │ ├── obj_5 │ │ │ └── sp_params.json │ │ └── obj_6 │ │ │ └── sp_params.json │ ├── scene0378_02 │ │ ├── obj_1 │ │ │ └── sp_params.json │ │ ├── obj_5 │ │ │ └── sp_params.json │ │ ├── obj_6 │ │ │ └── sp_params.json │ │ └── obj_7 │ │ │ └── sp_params.json │ ├── scene0389_00 │ │ ├── obj_7 │ │ │ └── sp_params.json │ │ └── obj_8 │ │ │ └── sp_params.json │ ├── scene0427_00 │ │ ├── obj_0 │ │ │ └── sp_params.json │ │ ├── obj_1 │ │ │ └── sp_params.json │ │ └── obj_2 │ │ │ └── sp_params.json │ ├── scene0565_00 │ │ ├── obj_3 │ │ │ └── sp_params.json │ │ └── obj_5 │ │ │ └── sp_params.json │ └── scene0598_00 │ │ ├── obj_4 │ │ └── sp_params.json │ │ ├── obj_5 │ │ └── sp_params.json │ │ ├── obj_6 │ │ └── sp_params.json │ │ └── obj_7 │ │ └── sp_params.json ├── sofa │ ├── scene0025_00 │ │ ├── obj_2 │ │ │ └── sp_params.json │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0025_01 │ │ ├── obj_10 │ │ │ └── sp_params.json │ │ └── obj_3 │ │ │ └── sp_params.json │ ├── scene0025_02 │ │ ├── obj_4 │ │ │ └── sp_params.json │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0050_00 │ │ └── obj_2 │ │ │ └── sp_params.json │ ├── scene0050_01 │ │ ├── obj_2 │ │ │ └── sp_params.json │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0050_02 │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0187_01 │ │ ├── obj_3 │ │ │ └── sp_params.json │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0203_01 │ │ └── obj_8 │ │ │ └── sp_params.json │ ├── scene0207_00 │ │ └── obj_3 │ │ │ └── sp_params.json │ ├── scene0207_01 │ │ └── obj_17 │ │ │ └── sp_params.json │ ├── scene0207_02 │ │ └── obj_9 │ │ │ └── sp_params.json │ ├── scene0231_02 │ │ └── obj_6 │ │ │ └── sp_params.json │ ├── scene0329_00 │ │ ├── obj_3 │ │ │ └── sp_params.json │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0329_01 │ │ ├── obj_3 │ │ │ └── sp_params.json │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0329_02 │ │ ├── obj_15 │ │ │ └── sp_params.json │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0353_00 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0353_01 │ │ └── obj_13 │ │ │ └── sp_params.json │ ├── scene0353_02 │ │ └── obj_6 │ │ │ └── sp_params.json │ ├── scene0432_01 │ │ └── obj_3 │ │ │ └── sp_params.json │ ├── scene0435_00 │ │ └── obj_20 │ │ │ └── sp_params.json │ ├── scene0461_00 │ │ ├── obj_0 │ │ │ └── sp_params.json │ │ └── obj_1 │ │ │ └── sp_params.json │ ├── scene0474_00 │ │ └── obj_6 │ │ │ └── sp_params.json │ ├── scene0474_01 │ │ └── obj_14 │ │ │ └── sp_params.json │ ├── scene0474_02 │ │ └── obj_18 │ │ │ └── sp_params.json │ ├── scene0474_03 │ │ └── obj_3 │ │ │ └── sp_params.json │ ├── scene0474_04 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0474_05 │ │ └── obj_8 │ │ │ └── sp_params.json │ ├── scene0518_00 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0549_00 │ │ ├── obj_0 │ │ │ └── sp_params.json │ │ └── obj_7 │ │ │ └── sp_params.json │ ├── scene0549_01 │ │ ├── obj_0 │ │ │ └── sp_params.json │ │ └── obj_1 │ │ │ └── sp_params.json │ ├── scene0568_00 │ │ └── obj_11 │ │ │ └── sp_params.json │ ├── scene0568_01 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0568_02 │ │ └── obj_11 │ │ │ └── sp_params.json │ ├── scene0591_00 │ │ └── obj_2 │ │ │ └── sp_params.json │ ├── scene0591_01 │ │ └── obj_12 │ │ │ └── sp_params.json │ ├── scene0591_02 │ │ └── obj_2 │ │ │ └── sp_params.json │ ├── scene0593_00 │ │ └── obj_3 │ │ │ └── sp_params.json │ ├── scene0593_01 │ │ └── obj_4 │ │ │ └── sp_params.json │ ├── scene0608_00 │ │ └── obj_5 │ │ │ └── sp_params.json │ ├── scene0608_01 │ │ └── obj_9 │ │ │ └── sp_params.json │ ├── scene0608_02 │ │ └── obj_11 │ │ │ └── sp_params.json │ ├── scene0645_00 │ │ └── obj_15 │ │ │ └── sp_params.json │ ├── scene0645_01 │ │ └── obj_17 │ │ │ └── sp_params.json │ ├── scene0645_02 │ │ └── obj_19 │ │ │ └── sp_params.json │ ├── scene0690_00 │ │ └── obj_0 │ │ │ └── sp_params.json │ └── scene0690_01 │ │ └── obj_5 │ │ └── sp_params.json └── table │ ├── scene0011_00 │ └── obj_16 │ │ └── sp_params.json │ ├── scene0046_00 │ └── obj_4 │ │ └── sp_params.json │ ├── scene0046_01 │ └── obj_1 │ │ └── sp_params.json │ ├── scene0064_00 │ ├── obj_4 │ │ └── sp_params.json │ └── obj_8 │ │ └── sp_params.json │ ├── scene0064_01 │ ├── obj_2 │ │ └── sp_params.json │ └── obj_3 │ │ └── sp_params.json │ ├── scene0088_01 │ └── obj_18 │ │ └── sp_params.json │ ├── scene0187_01 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0221_00 │ └── obj_7 │ │ └── sp_params.json │ ├── scene0221_01 │ └── obj_7 │ │ └── sp_params.json │ ├── scene0256_00 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0256_01 │ └── obj_2 │ │ └── sp_params.json │ ├── scene0277_00 │ └── obj_4 │ │ └── sp_params.json │ ├── scene0277_01 │ └── obj_1 │ │ └── sp_params.json │ ├── scene0277_02 │ └── obj_2 │ │ └── sp_params.json │ ├── scene0300_01 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0314_00 │ └── obj_6 │ │ └── sp_params.json │ ├── scene0316_00 │ └── obj_5 │ │ └── sp_params.json │ ├── scene0329_00 │ ├── obj_11 │ │ └── sp_params.json │ ├── obj_12 │ │ └── sp_params.json │ ├── obj_6 │ │ └── sp_params.json │ └── obj_7 │ │ └── sp_params.json │ ├── scene0329_01 │ └── obj_5 │ │ └── sp_params.json │ ├── scene0329_02 │ └── obj_6 │ │ └── sp_params.json │ ├── scene0343_00 │ └── obj_3 │ │ └── sp_params.json │ ├── scene0414_00 │ └── obj_5 │ │ └── sp_params.json │ ├── scene0423_00 │ └── obj_4 │ │ └── sp_params.json │ ├── scene0423_01 │ └── obj_2 │ │ └── sp_params.json │ ├── scene0423_02 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0426_00 │ └── obj_8 │ │ └── sp_params.json │ ├── scene0427_00 │ └── obj_5 │ │ └── sp_params.json │ ├── scene0435_00 │ └── obj_9 │ │ └── sp_params.json │ ├── scene0435_01 │ └── obj_14 │ │ └── sp_params.json │ ├── scene0474_00 │ ├── obj_7 │ │ └── sp_params.json │ └── obj_8 │ │ └── sp_params.json │ ├── scene0474_03 │ ├── obj_8 │ │ └── sp_params.json │ └── obj_9 │ │ └── sp_params.json │ ├── scene0518_00 │ └── obj_2 │ │ └── sp_params.json │ ├── scene0549_00 │ ├── obj_11 │ │ └── sp_params.json │ ├── obj_13 │ │ └── sp_params.json │ └── obj_5 │ │ └── sp_params.json │ ├── scene0549_01 │ ├── obj_11 │ │ └── sp_params.json │ ├── obj_2 │ │ └── sp_params.json │ ├── obj_7 │ │ └── sp_params.json │ └── obj_8 │ │ └── sp_params.json │ ├── scene0552_00 │ ├── obj_1 │ │ └── sp_params.json │ └── obj_5 │ │ └── sp_params.json │ ├── scene0559_00 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0565_00 │ └── obj_1 │ │ └── sp_params.json │ ├── scene0568_00 │ └── obj_2 │ │ └── sp_params.json │ ├── scene0574_00 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0574_02 │ └── obj_4 │ │ └── sp_params.json │ ├── scene0575_00 │ └── obj_9 │ │ └── sp_params.json │ ├── scene0575_01 │ └── obj_1 │ │ └── sp_params.json │ ├── scene0575_02 │ └── obj_6 │ │ └── sp_params.json │ ├── scene0598_00 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0598_01 │ └── obj_0 │ │ └── sp_params.json │ ├── scene0599_00 │ └── obj_1 │ │ └── sp_params.json │ ├── scene0607_00 │ └── obj_1 │ │ └── sp_params.json │ ├── scene0607_01 │ └── obj_3 │ │ └── sp_params.json │ ├── scene0616_00 │ ├── obj_3 │ │ └── sp_params.json │ └── obj_4 │ │ └── sp_params.json │ ├── scene0616_01 │ ├── obj_1 │ │ └── sp_params.json │ └── obj_3 │ │ └── sp_params.json │ ├── scene0629_01 │ └── obj_2 │ │ └── sp_params.json │ └── scene0643_00 │ └── obj_4 │ └── sp_params.json ├── utils.py └── visualize_scannotate_part_segmentations.py /.gitignore: -------------------------------------------------------------------------------- 1 | demo* 2 | demo_optimize_pytorch_geometry_nodes 3 | demo_optimize_pytorch_geometry_nodes1 4 | demo_optimize_pytorch_geometry_nodes2 5 | processed_data 6 | synthetic_dataset 7 | output* 8 | .idea 9 | *__pycache__/* 10 | *.pyc 11 | reconstruct_scannotate_objects_ignore_annotations.py 12 | valid_scenes/ 13 | visualize_parameter_trackbar_progress.py -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2024 Graz University of Technology, Ecole nationale des ponts et chaussées 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, are permitted (subject to the limitations 5 | in the disclaimer below) provided that the following conditions are met: 6 | 7 | * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 8 | 9 | * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the 10 | documentation and/or other materials provided with the distribution. 11 | 12 | * Neither the name of Graz University of Technology, Ecole nationale des ponts et chaussées nor the names of its contributors may be used to endorse or promote products derived 13 | from this software without specific prior written permission. 14 | 15 | NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 16 | AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND 17 | FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 18 | INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 19 | DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 20 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 21 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/Edge.py: -------------------------------------------------------------------------------- 1 | import torch 2 | 3 | 4 | class Socket(torch.nn.Module): 5 | def __init__(self, bpy_socket): 6 | super().__init__() 7 | 8 | self.name = bpy_socket.name 9 | self.type = bpy_socket.type 10 | 11 | self.identifier = bpy_socket.identifier 12 | 13 | 14 | class OutEdge(torch.nn.Module): 15 | def __init__(self, to_node, bpy_link): 16 | super().__init__() 17 | 18 | self.to_node = to_node 19 | 20 | self.from_node_name = bpy_link.from_node.name 21 | self.to_node_name = bpy_link.to_node.name 22 | self.from_socket = Socket(bpy_link.from_socket) 23 | self.to_socket = Socket(bpy_link.to_socket) 24 | 25 | class InEdge(torch.nn.Module): 26 | def __init__(self, from_node, bpy_link): 27 | super().__init__() 28 | 29 | self.from_node = from_node 30 | 31 | self.from_node_name = bpy_link.from_node.name 32 | self.to_node_name = bpy_link.to_node.name 33 | self.from_socket = Socket(bpy_link.from_socket) 34 | self.to_socket = Socket(bpy_link.to_socket) 35 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/NodeCombXYZ.py: -------------------------------------------------------------------------------- 1 | from PytorchGeoNodes.Nodes.Node import * 2 | 3 | 4 | class NodeCombXYZ(Node): 5 | def __init__(self, bpy_node, config): 6 | """ 7 | The Combine XYZ Node combines a vector from its individual components. 8 | 9 | Inputs: X, Y, Z 10 | Outputs: Vector 11 | 12 | :param bpy_node: 13 | """ 14 | super().__init__(bpy_node, config) 15 | print('Creating NodeCombXYZ') 16 | 17 | self.cached_output = None 18 | 19 | def forward(self, inputs_dict): 20 | super().forward(inputs_dict) # Changes inputs_dict in place 21 | 22 | if self.cached_output is not None: 23 | inputs_dict[self.name][NodeStrings.OUT_str + 'Vector'] = \ 24 | self.cached_output[NodeStrings.OUT_str + 'Vector'] 25 | return 26 | 27 | xyz = torch.zeros((inputs_dict[self.name][NodeStrings.IN_str + 'X'].shape[0], 1, 3), 28 | device=inputs_dict[self.name][NodeStrings.IN_str + 'X'].device) 29 | xyz[:, 0, 0] = inputs_dict[self.name][NodeStrings.IN_str + 'X'][:, 0] 30 | xyz[:, 0, 1] = inputs_dict[self.name][NodeStrings.IN_str + 'Y'][:, 0] 31 | xyz[:, 0, 2] = inputs_dict[self.name][NodeStrings.IN_str + 'Z'][:, 0] 32 | 33 | inputs_dict[self.name][NodeStrings.OUT_str + 'Vector'] = xyz 34 | 35 | if self.cached_output is not None and (not len(self.in_edges)): 36 | self.cached_output = {NodeStrings.OUT_str + 'Vector': xyz} 37 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/NodeGroup.py: -------------------------------------------------------------------------------- 1 | import torch 2 | 3 | from PytorchGeoNodes.Nodes.Node import * 4 | from PytorchGeoNodes.Nodes.node_types import NodeTypes 5 | 6 | class NodeGroup(Node): 7 | def __init__(self, bpy_node, geometry_nodes, config): 8 | """ 9 | Node that groups other nodes. 10 | 11 | :param bpy_node: 12 | """ 13 | super().__init__(bpy_node, config) 14 | 15 | print('Creating NodeGroup') 16 | 17 | self.geometry_nodes = geometry_nodes 18 | 19 | def to(self, device): 20 | super().to(device) 21 | self.geometry_nodes.to(device) 22 | 23 | def forward(self, inputs_dict): 24 | super().forward(inputs_dict) # Changes inputs_dict in place 25 | 26 | new_geo_nodes_inputs_dict = { 27 | } 28 | for edge in self.in_edges: 29 | 30 | from_socket = edge.from_socket 31 | to_socket = edge.to_socket 32 | 33 | new_geo_nodes_inputs_dict[to_socket.name] = \ 34 | new_geo_nodes_inputs_dict[to_socket.identifier] = ( 35 | inputs_dict)[self.name][NodeStrings.IN_str + to_socket.identifier] 36 | 37 | geo_nodes_inputs_dict, _ = self.geometry_nodes.forward(new_geo_nodes_inputs_dict) 38 | 39 | for edge in self.out_edges: 40 | 41 | from_socket = edge.from_socket 42 | # to_socket = edge.to_socket 43 | # from_node = edge.from_node 44 | 45 | # print(edge.from_node, from_socket.name) 46 | inputs_dict[self.name][NodeStrings.OUT_str + from_socket.identifier] = ( 47 | geo_nodes_inputs_dict)[NodeTypes.Geometry_Nodes_Outputs_str][from_socket.identifier] 48 | 49 | 50 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/NodeGroupInput.py: -------------------------------------------------------------------------------- 1 | import torch 2 | 3 | from PytorchGeoNodes.Nodes.Node import * 4 | from PytorchGeoNodes.Nodes.node_types import NodeTypes 5 | from PytorchGeoNodes.BlenderShapeProgram import BlenderShapeProgram 6 | 7 | class NodeGroupInput(Node): 8 | def __init__(self, bpy_node, params_dict, config): 9 | """ 10 | The Group Input Node groups inputs . 11 | 12 | :param bpy_node: 13 | """ 14 | super().__init__(bpy_node, config) 15 | 16 | print('Creating NodeGroupInput') 17 | 18 | self.input_params_dict = {} 19 | self.identifier_to_name = {} 20 | for param in bpy_node.outputs: 21 | if param.type == 'CUSTOM': 22 | # Not sure what CUSTOM is for yet, it corresponds to NodeSocketVirtual and 23 | # seems to do nothing 24 | continue 25 | # self.params.append(torch.tensor(param.default_value)) 26 | if param.name in params_dict.keys(): 27 | self.input_params_dict[param.identifier] = torch.tensor(params_dict[param.name]) 28 | else: 29 | self.input_params_dict[param.identifier] = None 30 | self.identifier_to_name[param.identifier] = param.name 31 | 32 | def forward(self, inputs_dict): 33 | inputs_dict[self.name] = {} 34 | 35 | for key in self.input_params_dict.keys(): 36 | if key not in inputs_dict[NodeTypes.Geometry_Nodes_Inputs_str].keys(): 37 | inputs_dict[self.name][NodeStrings.OUT_str + key] = self.input_params_dict[key][None, None].to(self.device) 38 | else: 39 | inputs_dict[self.name][NodeStrings.OUT_str + key] = \ 40 | inputs_dict[NodeTypes.Geometry_Nodes_Inputs_str][key] 41 | 42 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/NodeGroupInputNested.py: -------------------------------------------------------------------------------- 1 | from PytorchGeoNodes.Nodes.Node import * 2 | from PytorchGeoNodes.Nodes.node_types import * 3 | 4 | class NodeGroupInputNested(Node): 5 | def __init__(self, bpy_node, config): 6 | """ 7 | The Group Input Node groups inputs . 8 | 9 | :param bpy_node: 10 | """ 11 | super().__init__(bpy_node, config) 12 | 13 | print('Creating NodeGroupInputNested') 14 | 15 | self.input_params_dict = {} 16 | for param in bpy_node.outputs: 17 | if param.type == 'CUSTOM': 18 | # Not sure what CUSTOM is for yet, it corresponds to NodeSocketVirtual and 19 | # seems to do nothing 20 | continue 21 | self.input_params_dict[param.identifier] = None 22 | 23 | def forward(self, inputs_dict): 24 | inputs_dict[self.name] = {} 25 | for key in self.input_params_dict.keys(): 26 | assert key in inputs_dict[NodeTypes.Geometry_Nodes_Inputs_str].keys(), \ 27 | (f'Input {key} not found in inputs_dict. ' + 28 | f'The input is not assigned any value. Available inputs are: ' + 29 | f'{list(inputs_dict[NodeTypes.Geometry_Nodes_Inputs_str].keys())}') 30 | 31 | inputs_dict[self.name][NodeStrings.OUT_str + key] = \ 32 | inputs_dict[NodeTypes.Geometry_Nodes_Inputs_str][key] 33 | 34 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/NodeGroupOutput.py: -------------------------------------------------------------------------------- 1 | from pytorch3d.structures import Meshes 2 | 3 | from PytorchGeoNodes.Nodes.Node import * 4 | from PytorchGeoNodes.Nodes.PrimitiveGeometry import PrimitiveGeometry 5 | from PytorchGeoNodes.Nodes.node_types import * 6 | from PytorchGeoNodes.Nodes.PrimitiveMesh import PrimitiveMesh 7 | 8 | class NodeGroupOutput(Node): 9 | def __init__(self, bpy_node, config): 10 | """ 11 | The Group Output Node adds output to the dict of previously added outputs. 12 | 13 | :param bpy_node: 14 | """ 15 | super().__init__(bpy_node, config) 16 | 17 | print('Creating NodeGroupOutput') 18 | 19 | def forward(self, inputs_dict): 20 | super().forward(inputs_dict) # Changes inputs_dict in place 21 | 22 | output_meshes = [] 23 | for output_key in inputs_dict[self.name].keys(): 24 | b_meshes = [] 25 | for mesh in inputs_dict[self.name][output_key]: 26 | assert isinstance(mesh, PrimitiveMesh) or \ 27 | isinstance(mesh, PrimitiveGeometry), ( 28 | 'Geometry must be a PrimitiveMesh, or PrimitiveGeometry, got {}'.format(type(mesh))) 29 | 30 | b_meshes.append(mesh) 31 | 32 | assert output_key[len(NodeStrings.IN_str):] \ 33 | not in inputs_dict[NodeTypes.Geometry_Nodes_Outputs_str].keys(), \ 34 | f'Output {output_key[len(NodeStrings.IN_str):]} already exists in inputs_dict. ' 35 | inputs_dict[NodeTypes.Geometry_Nodes_Outputs_str][output_key[len(NodeStrings.IN_str):]] = b_meshes 36 | 37 | output_meshes.append(b_meshes) 38 | 39 | return output_meshes 40 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/NodeInputsDict.py: -------------------------------------------------------------------------------- 1 | 2 | 3 | class NodeInputsDict(object): 4 | def __init__(self, input_dict, config): 5 | self.input_dict = input_dict 6 | 7 | self.config = config 8 | 9 | def __getitem__(self, key): 10 | return self.input_dict[key] 11 | 12 | def __setitem__(self, key, value): 13 | self.input_dict[key] = value 14 | 15 | def keys(self): 16 | return self.input_dict.keys() 17 | 18 | def __str__(self): 19 | 20 | def recursive_str(input_dict, indent): 21 | string = '' 22 | for key in input_dict.keys(): 23 | string += indent + key + ':\n' 24 | if isinstance(input_dict[key], dict): 25 | string += recursive_str(input_dict[key], indent + ' ') 26 | else: 27 | string += indent + ' ' + str(input_dict[key]) + '\n' 28 | return string 29 | 30 | string = '-' * 40 + 'NodeInputsDict' + '-' * 40 + '\n' 31 | string += recursive_str(self.input_dict, ' ') 32 | string += '-' * 80 + '\n' 33 | 34 | return string 35 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/PrimitiveGeometry.py: -------------------------------------------------------------------------------- 1 | import torch 2 | from pytorch3d.structures import Meshes 3 | from scipy.signal import dimpulse 4 | from typing import List 5 | 6 | class PrimitiveGeometry(torch.nn.Module): 7 | def __init__(self, identifier, primitive_type, device=None): 8 | torch.nn.Module.__init__(self) 9 | self.identifier = identifier 10 | self.primitive_type = primitive_type 11 | 12 | def is_empty(self): 13 | return True 14 | 15 | @staticmethod 16 | def create_empty(device): 17 | return PrimitiveGeometry(-1, 'Empty', device=device) 18 | 19 | def get_device(self): 20 | raise NotImplementedError 21 | 22 | def scale(self, size): 23 | raise NotImplementedError 24 | 25 | def transform(self, transform3d): 26 | raise NotImplementedError 27 | 28 | def clone(self): 29 | raise NotImplementedError -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/PytorchGeoNodes/Nodes/__init__.py -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/node_types.py: -------------------------------------------------------------------------------- 1 | class NodeTypes: 2 | MATH_str = 'MATH' 3 | FRAME_str = 'FRAME' 4 | VECT_MATH_str = 'VECT_MATH' 5 | COMBXYZ_str = 'COMBXYZ' 6 | GROUP_INPUT_str = 'GROUP_INPUT' 7 | GROUP_OUTPUT_str = 'GROUP_OUTPUT' 8 | POINTS_str = 'POINTS' 9 | MESH_PRIMITIVE_LINE_str = 'MESH_PRIMITIVE_LINE' 10 | MESH_PRIMITIVE_CUBE_str = 'MESH_PRIMITIVE_CUBE' 11 | MESH_PRIMITIVE_CYLINDER_str = 'MESH_PRIMITIVE_CYLINDER' 12 | INSTANCE_ON_POINTS_str = 'INSTANCE_ON_POINTS' 13 | REALIZE_INSTANCES_str = 'REALIZE_INSTANCES' 14 | GROUP_str = 'GROUP' 15 | TRANSFORM_GEOMETRY_str = 'TRANSFORM_GEOMETRY' 16 | JOIN_GEOMETRY_str = 'JOIN_GEOMETRY' 17 | SWITCH_str = 'SWITCH' 18 | Geometry_Nodes_Inputs_str = 'Geometry Nodes Inputs' 19 | Geometry_Nodes_Outputs_str = 'Geometry Nodes Outputs' 20 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/primitives/cube_16.mtl: -------------------------------------------------------------------------------- 1 | # Blender 4.0.0 MTL File: 'cube.blend' 2 | # www.blender.org 3 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/primitives/cube_32.mtl: -------------------------------------------------------------------------------- 1 | # Blender 4.0.0 MTL File: 'None' 2 | # www.blender.org 3 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/primitives/cube_6.mtl: -------------------------------------------------------------------------------- 1 | # Blender 4.0.0 MTL File: 'cube.blend' 2 | # www.blender.org 3 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/primitives/cube_8.mtl: -------------------------------------------------------------------------------- 1 | # Blender 4.0.0 MTL File: 'cube.blend' 2 | # www.blender.org 3 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/primitives/cylinder.mtl: -------------------------------------------------------------------------------- 1 | # Blender 4.0.0 MTL File: 'cube.blend' 2 | # www.blender.org 3 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Nodes/vis_utils.py: -------------------------------------------------------------------------------- 1 | from PytorchGeoNodes.Nodes.node_types import * 2 | 3 | # Assign unique color to each node type 4 | class GeometryNodesVis: 5 | node_type_colors = { 6 | NodeTypes.MATH_str: (0., 0., 0.8), 7 | NodeTypes.FRAME_str: (0.5, 0., 0.), 8 | NodeTypes.VECT_MATH_str: (0., 0.8, 0.), 9 | NodeTypes.COMBXYZ_str: (0.5, 0., 0.5), 10 | NodeTypes.GROUP_INPUT_str: (0.5, 0.5, 0.), 11 | NodeTypes.GROUP_OUTPUT_str: (0., 0.5, 0.5), 12 | NodeTypes.POINTS_str: (0.5, 0.1, 0.9), 13 | NodeTypes.MESH_PRIMITIVE_LINE_str: (0.9, 0.1, 0.5), 14 | NodeTypes.MESH_PRIMITIVE_CUBE_str: (0.9, 0.5, 0.1), 15 | NodeTypes.INSTANCE_ON_POINTS_str: (0.1, 0.9, 0.5), 16 | NodeTypes.REALIZE_INSTANCES_str: (0.1, 0.5, 0.9), 17 | NodeTypes.GROUP_str: (0.5, 0.9, 0.1), 18 | NodeTypes.SWITCH_str: (0.3, 0.4, 0.7), 19 | NodeTypes.JOIN_GEOMETRY_str: (0.7, 0.3, 0.4) 20 | } 21 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Pytorch3DRenderer/data/cow_mesh/cow.mtl: -------------------------------------------------------------------------------- 1 | newmtl material_1 2 | map_Kd cow_texture.png 3 | 4 | # Test colors 5 | 6 | Ka 1.000 1.000 1.000 # white 7 | Kd 1.000 1.000 1.000 # white 8 | Ks 0.000 0.000 0.000 # black 9 | Ns 10.0 10 | -------------------------------------------------------------------------------- /PytorchGeoNodes/Pytorch3DRenderer/data/cow_mesh/cow_texture.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/PytorchGeoNodes/Pytorch3DRenderer/data/cow_mesh/cow_texture.png -------------------------------------------------------------------------------- /PytorchGeoNodes/Pytorch3DRenderer/data/cow_mesh/cow_texture.png.1: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/PytorchGeoNodes/Pytorch3DRenderer/data/cow_mesh/cow_texture.png.1 -------------------------------------------------------------------------------- /PytorchGeoNodes/Pytorch3DRenderer/meshes/ico_sphere.py: -------------------------------------------------------------------------------- 1 | import torch 2 | from pytorch3d.structures import Meshes 3 | 4 | def create_icosphere(translation, scale, device): 5 | # https://pytorch3d.readthedocs.io/en/latest/_modules/pytorch3d/utils/ico_sphere.html 6 | ico_verts0 = [ 7 | [-0.5257, 0.8507, 0.0000], 8 | [0.5257, 0.8507, 0.0000], 9 | [-0.5257, -0.8507, 0.0000], 10 | [0.5257, -0.8507, 0.0000], 11 | [0.0000, -0.5257, 0.8507], 12 | [0.0000, 0.5257, 0.8507], 13 | [0.0000, -0.5257, -0.8507], 14 | [0.0000, 0.5257, -0.8507], 15 | [0.8507, 0.0000, -0.5257], 16 | [0.8507, 0.0000, 0.5257], 17 | [-0.8507, 0.0000, -0.5257], 18 | [-0.8507, 0.0000, 0.5257], 19 | ] 20 | 21 | # Faces for level 0 ico-sphere 22 | ico_faces0 = [ 23 | [0, 11, 5], 24 | [0, 5, 1], 25 | [0, 1, 7], 26 | [0, 7, 10], 27 | [0, 10, 11], 28 | [1, 5, 9], 29 | [5, 11, 4], 30 | [11, 10, 2], 31 | [10, 7, 6], 32 | [7, 1, 8], 33 | [3, 9, 4], 34 | [3, 4, 2], 35 | [3, 2, 6], 36 | [3, 6, 8], 37 | [3, 8, 9], 38 | [4, 9, 5], 39 | [2, 4, 11], 40 | [6, 2, 10], 41 | [8, 6, 7], 42 | [9, 8, 1], 43 | ] 44 | 45 | verts = torch.tensor(ico_verts0, dtype=torch.float32, device=device) 46 | faces = torch.tensor(ico_faces0, dtype=torch.int64, device=device) 47 | 48 | verts *= scale 49 | if translation is not None: 50 | verts += translation 51 | 52 | return Meshes(verts=[verts], faces=[faces]) -------------------------------------------------------------------------------- /PytorchGeoNodes/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/PytorchGeoNodes/__init__.py -------------------------------------------------------------------------------- /PytorchGeoNodes/utils.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | from networkx.algorithms.bipartite.basic import color 3 | from matplotlib import pyplot as plt 4 | 5 | # lower = 0 6 | # upper = 20 7 | # classes = np.arange(lower, upper) 8 | # colormap = plt.cm.jet((classes - lower) / (upper - lower))[..., :3] 9 | 10 | # Adapted from: 11 | # https://github.com/Prakadeeswaran05/Semantic-Segmentation-with-DeepLabv3/blob/main/get_dataset_colormap.py 12 | # (Accessed Nov 11 2024) 13 | colormap = np.asarray([ 14 | [0., 0., 0.], # black 15 | [1., 0., 0.], # red 16 | [0., 0., 1.], # blue 17 | [0., 0., 0.5], # blue 18 | [0., 1., 1.], # cyan 19 | [0., 1., 0.], # Lime 20 | [1.0, 0.5, 0], # orange 21 | [0.5, 0., 1.0], # purple 22 | [1.0, 0, 0.7], # pink 23 | [1.0, 1.0, 0], # yellow 24 | [0.5, 0.8, 0.5], # greenish 25 | [0.0, 0.5, 0.0], # green 26 | [0.5, 0.0, 0.0], # maroon 27 | [1.0, 0.7, 0.0], # gold 28 | # [1.0, 1.0, 1.0], # white Let's not use white 29 | ]) -------------------------------------------------------------------------------- /SPSearch/CoordinateDescent/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/SPSearch/CoordinateDescent/__init__.py -------------------------------------------------------------------------------- /SPSearch/DVProposals.py: -------------------------------------------------------------------------------- 1 | import torch 2 | 3 | class DVProposal(torch.nn.Module): 4 | """ 5 | Proposal class that contains a decision value 6 | 7 | Attributes: 8 | decision_value: decision value 9 | """ 10 | 11 | def __init__(self, id, decision_value, prop_type): 12 | super().__init__() 13 | 14 | self.decision_value = decision_value 15 | 16 | def get_decision_value(self): 17 | return self.decision_value 18 | 19 | def get_params_list(self): 20 | return [self.decision_value.get_value()] if self.decision_value.get_value().requires_grad else [] 21 | 22 | class TransProposal(torch.nn.Module): 23 | def __init__(self, id, translation_offset, prop_type): 24 | super().__init__() 25 | 26 | self.translation_offset = translation_offset 27 | 28 | def get_translation_offset(self): 29 | return self.translation_offset 30 | 31 | def get_params_list(self): 32 | return [self.translation_offset] if self.translation_offset.requires_grad else [] -------------------------------------------------------------------------------- /SPSearch/Genetic/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/SPSearch/Genetic/__init__.py -------------------------------------------------------------------------------- /SPSearch/Logger.py: -------------------------------------------------------------------------------- 1 | # This file was adjusted from MonteScene package (Accessed 2024-27-08): 2 | # https://github.com/vevenom/MonteScene 3 | 4 | from abc import ABC, abstractmethod 5 | from typing import List 6 | 7 | 8 | class Logger(ABC): 9 | """ 10 | Abstract class representing Logger. Serves as a base class for task specific loggers 11 | 12 | Attributes: 13 | game: ProposalGame instance 14 | 15 | """ 16 | def __init__(self, game): 17 | """ 18 | 19 | :param game: ProposalGame instance 20 | :type game: ProposalGame 21 | """ 22 | 23 | self.game = game 24 | 25 | def print_to_log(self, print_str): 26 | print(print_str) 27 | 28 | @abstractmethod 29 | def reset_logger(self): 30 | """ 31 | Reset logging variables 32 | 33 | :return: 34 | """ 35 | 36 | # TODO Reset variables that should be tracked 37 | raise NotImplementedError() 38 | 39 | @abstractmethod 40 | def export_solution(self, best_props_list): 41 | """ 42 | Export final solution. 43 | 44 | :param best_props_list: List of best proposals 45 | :type best_props_list: List[Proposal] 46 | :return: 47 | """ 48 | 49 | # TODO Export solution. Should be called from log_final 50 | raise NotImplementedError() -------------------------------------------------------------------------------- /SPSearch/ProposalGame/__init__.py: -------------------------------------------------------------------------------- 1 | from .ProposalGame import ProposalGame 2 | -------------------------------------------------------------------------------- /SPSearch/Target.py: -------------------------------------------------------------------------------- 1 | from abc import abstractmethod 2 | import os 3 | import shutil 4 | import torch 5 | 6 | class Target(torch.nn.Module): 7 | def __init__(self, log_path): 8 | super().__init__() 9 | 10 | self.log_path = log_path 11 | 12 | if self.log_path is not None: 13 | if os.path.exists(log_path): 14 | shutil.rmtree(log_path) 15 | os.makedirs(log_path) 16 | 17 | def get_self(self): 18 | return self 19 | 20 | @abstractmethod 21 | def calculate_cost_from_input_dict(self, input_dict, rotation_matrix, translation_offset=None): 22 | raise NotImplementedError 23 | 24 | @abstractmethod 25 | def log_iter_from_input_dict(self, input_dict, 26 | rotation_matrix, translation_offset=None, iter_num=0, file_prefix=''): 27 | raise NotImplementedError 28 | 29 | -------------------------------------------------------------------------------- /SPSearch/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/SPSearch/__init__.py -------------------------------------------------------------------------------- /SPSearch/constants/__init__.py: -------------------------------------------------------------------------------- 1 | from .constants import NodesTypes 2 | from .constants import ScoreModes -------------------------------------------------------------------------------- /SPSearch/constants/constants.py: -------------------------------------------------------------------------------- 1 | # This file was adjusted from MonteScene package (Accessed 2024-27-08): 2 | # https://github.com/vevenom/MonteScene 3 | 4 | 5 | class NodesTypes: 6 | """ 7 | Enumerates different node types 8 | 9 | """ 10 | 11 | ROOTNODE = 0 12 | ESCNODE = 1 13 | ENDNODE = 2 14 | OTHERNODE = 3 15 | 16 | NODE_STR_DICT = { 17 | ROOTNODE: 'ROOT', 18 | ESCNODE: 'ESC', 19 | ENDNODE: 'END', 20 | OTHERNODE: 'OTHER' 21 | } 22 | 23 | SPECIAL_NODES_LIST = [ROOTNODE, ESCNODE, ENDNODE] 24 | 25 | class ScoreModes: 26 | """ 27 | Enumerates different score modes 28 | 29 | """ 30 | 31 | MAX_NODE_SCORE_MODE = "MAX" 32 | AVG_NODE_SCORE_MODE = "AVG" 33 | MOV_AVG_NODE_SCORE_MODE = "MOV_AVG" 34 | VALID_SCORE_MODES = [MAX_NODE_SCORE_MODE, AVG_NODE_SCORE_MODE, MOV_AVG_NODE_SCORE_MODE] -------------------------------------------------------------------------------- /ScanNetAnnotation.py: -------------------------------------------------------------------------------- 1 | class ScanNetAnnotation(object): 2 | def __init__(self, scene_name, obj_annotation_list, inst_seg_3d, scene_type): 3 | self.scene_name = scene_name 4 | self.obj_annotation_list = obj_annotation_list 5 | self.inst_seg_3d = inst_seg_3d 6 | self.scene_type = scene_type 7 | 8 | 9 | class ObjectAnnotation(object): 10 | def __init__(self, object_id, category_label, scannet_category_label, view_params, transform3d=None, 11 | transform_dict=None, id_cad=None, catid_cad=None, cad_symmetry='__SYM_NONE', is_in_scan2cad=False, 12 | scan2cad_annotation_dict=None): 13 | self.object_id = object_id 14 | self.category_label = category_label 15 | self.view_params = view_params 16 | self.scannet_category_label = scannet_category_label 17 | self.scan2cad_annotation_dict = scan2cad_annotation_dict 18 | 19 | self.transform3d = transform3d 20 | self.transform_dict = transform_dict 21 | self.id_cad = id_cad 22 | self.catid_cad = catid_cad 23 | self.cad_symmetry = cad_symmetry 24 | self.is_in_scan2cad = is_in_scan2cad 25 | -------------------------------------------------------------------------------- /ShapeProgramsDataset/bed.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/ShapeProgramsDataset/bed.blend -------------------------------------------------------------------------------- /ShapeProgramsDataset/bed.blend1: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/ShapeProgramsDataset/bed.blend1 -------------------------------------------------------------------------------- /ShapeProgramsDataset/cabinet.blend: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | num_loops: 3 2 | load_ordered_dv: True 3 | refinement: 4 | use_refinement: True 5 | optimize_threshold: 0.0 # This gets replaced anyways 6 | refine_during_sim: False 7 | optimize_steps: 50 8 | optimizer_lr: 0.01 9 | final_optimization_steps: 100 10 | optimizer: 'Adam' # 'Adam' or 'SGD' or 'Lion' 11 | final_optimizer_lr: 0.01 12 | target: 13 | loss: 14 | cd_clamp: 0.005 # in m 15 | fine_loss_thresh: 0.005 # in m 16 | render_loss_constant: 0.2 -------------------------------------------------------------------------------- /configs/general_config.yaml: -------------------------------------------------------------------------------- 1 | experiments_path_base: '../Pytorchgeonodes_experiments' 2 | processed_data_path: 'processed_data/' 3 | cd_config_path: './configs/cd_config.yaml' 4 | scannotate_config_path: './configs/scannotate_config.yaml' 5 | 6 | -------------------------------------------------------------------------------- /configs/genetic_settings.yaml: -------------------------------------------------------------------------------- 1 | population_size: 64 2 | num_offsprings: 128 3 | init_population_size: 500 4 | select_criterion: 'keep_n_best' # 'avg' 'keep_n_best' 5 | incoming_population_size: 0 6 | init_mutation_rate_offspring: 0.9 7 | init_mutation_rate_param: 0.9 8 | final_mutation_rate_offspring: 0.1 9 | final_mutation_rate_param: 0.1 10 | max_offsprings_per_parent: 10000 # set to high number for no effect 11 | init_mutation_noise: 0.05 12 | final_mutation_noise: 0.05 13 | translation_mutation_noise: 0.05 14 | add_random_individuals_every: 0 15 | num_generations: 50 16 | refine_every_n_generations: 5 17 | #convergence_threshold: 0.00 18 | load_ordered_dv: True 19 | refinement: 20 | full_refinement_frequency: 0 21 | use_refinement_break: True 22 | refinement_probability: 0.2 23 | optimize_steps: 50 24 | optimizer_lr: 0.01 25 | optimizer: 'Adam' # 'Adam' or 'SGD' 26 | final_optimization_steps: 200 27 | final_optimizer_lr: 0.01 28 | -------------------------------------------------------------------------------- /configs/geometry_nodes_config.yaml: -------------------------------------------------------------------------------- 1 | # Placeholder 2 | empty: True -------------------------------------------------------------------------------- /configs/scannotate_config.yaml: -------------------------------------------------------------------------------- 1 | scannet_processed_path: '/home/sinisa/Projects/SPforSU/ScanNet/data/scans/' 2 | scannet_ply_path: '/home/sinisa/Projects/SPforSU/ScanNet/data/scans/' 3 | scannotate_dataset_path: '/home/sinisa/Projects/SPforSU/ScanNet/ScannotateDataset' 4 | scannotate_masks_path: '/home/sinisa/Projects/SPforSU/ScanNet/ScannotateDataset/Scannotate_2d_masks' -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetboardback.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetboardback.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetboardleft.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetboardleft.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetboardleftgroup.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetboardleftgroup.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetboardright.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetboardright.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetdividingboards.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetdividingboards.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetdrawers.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetdrawers.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetlegs.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetlegs.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_cabinetsettozeroaxis.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsUnitTestDataset/cabinetsettozeroaxis.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.5, 4.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.5, 1.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 1.5] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | } 30 | } 31 | }, 32 | "Dividing Boards" : 33 | { 34 | "type" : "nested", 35 | "params" : { 36 | "Number of Dividing Boards": { 37 | "type": "int", 38 | "range": [ 39 | 2, 40 | 10 41 | ] 42 | }, 43 | "Dividing Board Thickness": { 44 | "type": "float", 45 | "range": [ 46 | 0.01, 47 | 0.05 48 | ] 49 | } 50 | } 51 | }, 52 | "Has Drawers" : { 53 | "type" : "bool" 54 | } 55 | } 56 | } -------------------------------------------------------------------------------- /configs_shape_programs/sp_synth_cabinet.json: -------------------------------------------------------------------------------- 1 | { 2 | "class_name" : "cabinet", 3 | "blend_path" : "./ShapeProgramsDataset/cabinet.blend", 4 | "params" : { 5 | "Base": { 6 | "type": "nested", 7 | "params" : { 8 | "Width" : { 9 | "type" : "float", 10 | "range" : [0.3, 2.0] 11 | }, 12 | "Height" : { 13 | "type" : "float", 14 | "range" : [0.3, 2.5] 15 | }, 16 | "Depth" : { 17 | "type" : "float", 18 | "range" : [0.1, 0.6] 19 | }, 20 | "Board Thickness" : { 21 | "type" : "float", 22 | "range" : [0.01, 0.09] 23 | }, 24 | "Has Back" : { 25 | "type" : "bool" 26 | }, 27 | "Has Legs" : { 28 | "type" : "bool" 29 | }, 30 | "Leg Width" : { 31 | "type" : "float", 32 | "range" : [0.03, 0.1], 33 | "or_dependencies": ["Has Legs"] 34 | }, 35 | "Leg Height" : { 36 | "type" : "float", 37 | "range" : [0.03, 0.1], 38 | "or_dependencies": ["Has Legs"] 39 | }, 40 | "Leg Depth" : { 41 | "type": "float", 42 | "range": [0.03, 0.1], 43 | "or_dependencies": ["Has Legs"] 44 | } 45 | } 46 | }, 47 | "Dividing Boards" : 48 | { 49 | "type" : "nested", 50 | "params" : { 51 | "Number of Dividing Boards": { 52 | "type": "int", 53 | "range": [ 54 | 2, 55 | 6 56 | ] 57 | }, 58 | "Dividing Board Thickness": { 59 | "type": "float", 60 | "range": [ 61 | 0.01, 62 | 0.05 63 | ] 64 | } 65 | } 66 | }, 67 | "Has Drawers" : { 68 | "type" : "bool" 69 | } 70 | } 71 | } -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- 1 | name: pytorchgeonodes 2 | channels: 3 | - pytorch3d 4 | - anaconda 5 | - pytorch 6 | - nvidia 7 | - conda-forge 8 | - defaults 9 | dependencies: 10 | - numpy=1.26.4=py310h5f9d8c6_0 11 | - pip=24.0=py310h06a4308_0 12 | - python=3.10.12=h955ad1f_0 13 | - python-graphviz=0.20.1=py310h06a4308_0 14 | - pytorch=1.13.0=py3.10_cuda11.6_cudnn8.3.2_0 15 | - pytorch3d=0.7.5=py310_cu116_pyt1130 16 | - torchvision=0.14.0=py310_cu116 17 | - pip: 18 | - bpy==4.0.0 19 | - dill==0.3.8 20 | - kornia==0.6.0 21 | - matplotlib==3.9.1 22 | - open3d==0.18.0 23 | - opencv-python==4.10.0.84 24 | - ordered-set==4.1.0 25 | 26 | 27 | -------------------------------------------------------------------------------- /scannotate_preprocessing/DATA/readme.md: -------------------------------------------------------------------------------- 1 | extract all example data here! -------------------------------------------------------------------------------- /scannotate_preprocessing/ScanNet_renderer/ScanNetAnnotation.py: -------------------------------------------------------------------------------- 1 | class ScanNetAnnotation(object): 2 | def __init__(self, scene_name, obj_annotation_list, inst_seg_3d, scene_type): 3 | self.scene_name = scene_name 4 | self.obj_annotation_list = obj_annotation_list 5 | self.inst_seg_3d = inst_seg_3d 6 | self.scene_type = scene_type 7 | 8 | 9 | class ObjectAnnotation(object): 10 | def __init__(self, object_id, category_label, scannet_category_label, view_params, transform3d=None, 11 | transform_dict=None, id_cad=None, catid_cad=None, cad_symmetry='__SYM_NONE', is_in_scan2cad=False, 12 | scan2cad_annotation_dict=None): 13 | self.object_id = object_id 14 | self.category_label = category_label 15 | self.view_params = view_params 16 | self.scannet_category_label = scannet_category_label 17 | self.scan2cad_annotation_dict = scan2cad_annotation_dict 18 | 19 | self.transform3d = transform3d 20 | self.transform_dict = transform_dict 21 | self.id_cad = id_cad 22 | self.catid_cad = catid_cad 23 | self.cad_symmetry = cad_symmetry 24 | self.is_in_scan2cad = is_in_scan2cad 25 | -------------------------------------------------------------------------------- /scannotate_preprocessing/ScanNet_renderer/Torch3DRenderer/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vevenom/pytorchgeonodes/93e937603c34cf508ff3d23b05bf5715beaefd40/scannotate_preprocessing/ScanNet_renderer/Torch3DRenderer/__init__.py -------------------------------------------------------------------------------- /scannotate_preprocessing/config/0_Scannotate_masks.ini: -------------------------------------------------------------------------------- 1 | [general] 2 | 3 | # Annotate PyTorchGeoNodes (pgn) scenes only 4 | annotate_pgn_only = True 5 | 6 | # Base path to SCANnotate Dataset 7 | SCANNOTATE_PATH = /home/sinisa/Projects/SPforSU/ScanNet/ScannotateDataset/ 8 | # Folder in SCANNOTATE_PATH where annotated scenes are located 9 | out_folder = annotations 10 | 11 | # Base path to ScanNet scans 12 | SCANNET_base_path = /home/sinisa/Projects/SPforSU/ScanNet/data/scans 13 | 14 | sam_checkpoint_path = /home/sinisa/Downloads/sam_vit_h_4b8939.pth 15 | sam_model_type = vit_h 16 | use_2d_inst_from_RGB = False 17 | img_height = 480. 18 | img_width = 640. 19 | dataset = ScanNet 20 | 21 | # Only generate masks for specific classes 22 | inst_seg_2d_labels_list = ['chair','table','desk','sofa'] 23 | ;inst_seg_2d_labels_list = ['chair','table','desk','sofa','bookshelf','cabinet'] 24 | -------------------------------------------------------------------------------- /scannotate_preprocessing/config/__init__.py: -------------------------------------------------------------------------------- 1 | from .config import load_config 2 | -------------------------------------------------------------------------------- /scannotate_preprocessing/config/config.py: -------------------------------------------------------------------------------- 1 | import ast 2 | import configparser 3 | from os import path, listdir 4 | 5 | _CONVERTERS = { 6 | "struct": ast.literal_eval 7 | } 8 | 9 | def load_config(config_file): 10 | parser = configparser.ConfigParser(allow_no_value=True, converters=_CONVERTERS) 11 | parser.read([config_file]) 12 | return parser 13 | -------------------------------------------------------------------------------- /scannotate_preprocessing/config/utils.py: -------------------------------------------------------------------------------- 1 | import argparse 2 | 3 | 4 | def convert_dict2namespace(config): 5 | namespace = argparse.Namespace() 6 | for key in config.keys(): 7 | key_val = config[key] 8 | if isinstance(key_val, dict): 9 | namespace_val = convert_dict2namespace(key_val) 10 | else: 11 | namespace_val = key_val 12 | setattr(namespace, key, namespace_val) 13 | return namespace -------------------------------------------------------------------------------- /scannotate_preprocessing/environment.yml: -------------------------------------------------------------------------------- 1 | name: hoc_preprocessing 2 | channels: 3 | - pytorch3d 4 | - anaconda 5 | - pytorch 6 | - nvidia 7 | - conda-forge 8 | - defaults 9 | dependencies: 10 | - numpy=1.26.4=py310h5f9d8c6_0 11 | - pip=24.0=py310h06a4308_0 12 | - python=3.10.12=h955ad1f_0 13 | - python-graphviz=0.20.1=py310h06a4308_0 14 | - pytorch=1.13.0=py3.10_cuda11.6_cudnn8.3.2_0 15 | - pytorch3d=0.7.5=py310_cu116_pyt1130 16 | - torchvision=0.14.0=py310_cu116 17 | - pip: 18 | - shapely 19 | - scikit-image 20 | - dill==0.3.8 21 | - matplotlib==3.9.1 22 | - open3d==0.18.0 23 | - opencv-python==4.10.0.84 24 | 25 | 26 | -------------------------------------------------------------------------------- /scannotate_preprocessing/pgn_utils.py: -------------------------------------------------------------------------------- 1 | import os 2 | 3 | def get_pgn_annotated_gt_scenes(): 4 | scenes = [] 5 | for category in ['chair','sofa','table']: 6 | gt_scenes_path = '../sp_gt_annotations/' + category 7 | 8 | category_scenes = os.listdir(gt_scenes_path) 9 | category_scenes.sort() 10 | 11 | scenes.extend(category_scenes) 12 | 13 | return scenes -------------------------------------------------------------------------------- /scannotate_preprocessing/setup.cfg: -------------------------------------------------------------------------------- 1 | [isort] 2 | line_length=100 3 | multi_line_output=3 4 | include_trailing_comma=True 5 | known_standard_library=numpy,setuptools 6 | skip_glob=*/__init__.py 7 | known_myself=segment_anything 8 | known_third_party=matplotlib,cv2,torch,torchvision,pycocotools,onnx,black,isort 9 | no_lines_before=STDLIB,THIRDPARTY 10 | sections=FUTURE,STDLIB,THIRDPARTY,MYSELF,FIRSTPARTY,LOCALFOLDER 11 | default_section=FIRSTPARTY 12 | -------------------------------------------------------------------------------- /scannotate_preprocessing/setup.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) Meta Platforms, Inc. and affiliates. 2 | # All rights reserved. 3 | 4 | # This source code is licensed under the license found in the 5 | # LICENSE file in the root directory of this source tree. 6 | 7 | from setuptools import find_packages, setup 8 | 9 | setup( 10 | name="segment_anything", 11 | version="1.0", 12 | install_requires=[], 13 | packages=find_packages(exclude="notebooks"), 14 | extras_require={ 15 | "all": ["matplotlib", "pycocotools", "opencv-python", "onnx", "onnxruntime"], 16 | "dev": ["flake8", "isort", "black", "mypy"], 17 | }, 18 | ) 19 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0011_00/obj_1/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.6, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": false, 7 | "Bottom Size Scale": 0.45, 8 | "Seat Width": 0.449, 9 | "Bottom Star": false, 10 | "Star Rotation": 0.45, 11 | "Seat Thickness": 0.101, 12 | "Seat Depth": 0.401, 13 | "Has Middle Support": true, 14 | "Arm Height": 0.2, 15 | "Backrest Scale": 0.6, 16 | "Back Height": 0.35, 17 | "Arm Depth Scale": 0.8, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.261, 20 | "Middle Offset 1": 0.307, 21 | "Legs Size": 0.08, 22 | "Middle Support Thickness": 0.033, 23 | "Bottom Thickness": 0.049, 24 | "Back Thickness": 0.053, 25 | "Arm Width": 0.106, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 0.066, 29 | "translation_offset": [ 30 | 0.005, 31 | -0.05, 32 | -0.009 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0011_00/obj_2/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.6, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": false, 7 | "Bottom Size Scale": 0.45, 8 | "Seat Width": 0.5, 9 | "Bottom Star": false, 10 | "Star Rotation": 0.45, 11 | "Seat Thickness": 0.101, 12 | "Seat Depth": 0.43, 13 | "Has Middle Support": true, 14 | "Arm Height": 0.2, 15 | "Backrest Scale": 0.6, 16 | "Back Height": 0.35, 17 | "Arm Depth Scale": 0.8, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.261, 20 | "Middle Offset 1": 0.307, 21 | "Legs Size": 0.08, 22 | "Middle Support Thickness": 0.033, 23 | "Bottom Thickness": 0.049, 24 | "Back Thickness": 0.053, 25 | "Arm Width": 0.106, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": -2.376, 29 | "translation_offset": [ 30 | 0.031, 31 | -0.069, 32 | -0.007 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0011_00/obj_3/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.55, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": false, 7 | "Bottom Size Scale": 0.45, 8 | "Seat Width": 0.443, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.005, 11 | "Seat Thickness": 0.101, 12 | "Seat Depth": 0.459, 13 | "Has Middle Support": true, 14 | "Arm Height": 0.25, 15 | "Backrest Scale": 0.69, 16 | "Back Height": 0.35, 17 | "Arm Depth Scale": 0.6, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.246, 20 | "Middle Offset 1": 0.356, 21 | "Legs Size": 0.081, 22 | "Middle Support Thickness": 0.04, 23 | "Bottom Thickness": 0.053, 24 | "Back Thickness": 0.042, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 0.002, 29 | "translation_offset": [ 30 | -0.013, 31 | -0.07, 32 | 0.022 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0011_01/obj_4/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.55, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": false, 7 | "Bottom Size Scale": 0.9, 8 | "Seat Width": 0.466, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.75, 11 | "Seat Thickness": 0.091, 12 | "Seat Depth": 0.4, 13 | "Has Middle Support": true, 14 | "Arm Height": 0.3, 15 | "Backrest Scale": 0.799, 16 | "Back Height": 0.35, 17 | "Arm Depth Scale": 0.605, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.268, 20 | "Middle Offset 1": 0.33, 21 | "Legs Size": 0.063, 22 | "Middle Support Thickness": 0.044, 23 | "Bottom Thickness": 0.054, 24 | "Back Thickness": 0.066, 25 | "Arm Width": 0.113, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": -3.077, 29 | "translation_offset": [ 30 | 0.02, 31 | -0.1, 32 | -0.054 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0011_01/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.55, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": false, 7 | "Bottom Size Scale": 1.0, 8 | "Seat Width": 0.443, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.005, 11 | "Seat Thickness": 0.148, 12 | "Seat Depth": 0.418, 13 | "Has Middle Support": true, 14 | "Arm Height": 0.25, 15 | "Backrest Scale": 0.5, 16 | "Back Height": 0.3, 17 | "Arm Depth Scale": 0.589, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.282, 20 | "Middle Offset 1": 0.365, 21 | "Legs Size": 0.064, 22 | "Middle Support Thickness": 0.042, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.058, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.034 27 | }, 28 | "rotation_angle_y": -3.0, 29 | "translation_offset": [ 30 | 0.0, 31 | -0.1, 32 | -0.023 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0025_00/obj_13/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.331, 4 | "Has Back": true, 5 | "Seat Width": 0.421, 6 | "Legs Type": 1, 7 | "Has Arms": true, 8 | "Bottom Star": true, 9 | "Star Rotation": 0.662, 10 | "Seat Depth": 0.401, 11 | "Seat Thickness": 0.12, 12 | "Has Middle Support": true, 13 | "Middle Offset 2": 0.1, 14 | "Middle Offset 1": 0.439, 15 | "Back Height": 0.501, 16 | "Arm Height": 0.2, 17 | "Backrest Scale": 0.958, 18 | "Backrest Offset Scale": 1.003, 19 | "Arm Depth Scale": 0.719, 20 | "Bottom Size Scale": 0.893, 21 | "Legs Size": 0.1, 22 | "Middle Support Thickness": 0.035, 23 | "Bottom Thickness": 0.08, 24 | "Back Thickness": 0.051, 25 | "Arm Width": 0.136, 26 | "Arm Thickness": 0.03 27 | }, 28 | "rotation_angle_y": -2.99, 29 | "translation_offset": [ 30 | 0.045, 31 | -0.002, 32 | -0.098 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0025_00/obj_2/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Width": 1.16, 4 | "Is L-Shaped": false, 5 | "Has Back": true, 6 | "Flip L Around Y": false, 7 | "Depth": 0.583, 8 | "L Depth": 0.85, 9 | "Height": 0.302, 10 | "Has Right Arm": true, 11 | "Has Left Arm": true, 12 | "Arm Width": 0.077, 13 | "Arm Height": 0.621, 14 | "L Width": 0.353, 15 | "Has Arm Legs": false, 16 | "Has Legs": true, 17 | "Back Height": 0.305, 18 | "Arm Depth": 0.999, 19 | "Leg Height": 0.06, 20 | "Back Over-Width Scale": 0.451, 21 | "Back Depth": 0.063, 22 | "Leg Size": 0.049 23 | }, 24 | "rotation_angle_y": 0.016, 25 | "translation_offset": [ 26 | -0.018, 27 | -0.043, 28 | 0.039 29 | ] 30 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0025_00/obj_4/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Width": 1.22, 4 | "Is L-Shaped": false, 5 | "Has Back": true, 6 | "Flip L Around Y": true, 7 | "Depth": 0.572, 8 | "L Depth": 0.6, 9 | "Height": 0.3, 10 | "Has Right Arm": true, 11 | "Has Left Arm": true, 12 | "Arm Width": 0.051, 13 | "Arm Height": 0.562, 14 | "L Width": 0.301, 15 | "Has Arm Legs": false, 16 | "Has Legs": false, 17 | "Back Height": 0.305, 18 | "Arm Depth": 0.921, 19 | "Leg Height": 0.012, 20 | "Back Over-Width Scale": 0.39, 21 | "Back Depth": 0.051, 22 | "Leg Size": 0.063 23 | }, 24 | "rotation_angle_y": -3.142, 25 | "translation_offset": [ 26 | -0.028, 27 | -0.012, 28 | -0.07 29 | ] 30 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_00/obj_18/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.411, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": true, 7 | "Bottom Size Scale": 0.75, 8 | "Seat Width": 0.554, 9 | "Bottom Star": false, 10 | "Star Rotation": 0.2, 11 | "Seat Thickness": 0.058, 12 | "Seat Depth": 0.472, 13 | "Has Middle Support": false, 14 | "Arm Height": 0.202, 15 | "Backrest Scale": 0.756, 16 | "Back Height": 0.4, 17 | "Arm Depth Scale": 0.7, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.05, 20 | "Middle Offset 1": 0.2, 21 | "Legs Size": 0.047, 22 | "Middle Support Thickness": 0.035, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.079, 25 | "Arm Width": 0.117, 26 | "Arm Thickness": 0.025 27 | }, 28 | "rotation_angle_y": 1.7, 29 | "translation_offset": [ 30 | -0.057, 31 | 0.041, 32 | 0.011 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_00/obj_2/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.433, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": true, 7 | "Bottom Size Scale": 0.2, 8 | "Seat Width": 0.521, 9 | "Bottom Star": true, 10 | "Star Rotation": 1.0, 11 | "Seat Thickness": 0.042, 12 | "Seat Depth": 0.401, 13 | "Has Middle Support": false, 14 | "Arm Height": 0.1, 15 | "Backrest Scale": 0.738, 16 | "Back Height": 0.3, 17 | "Arm Depth Scale": 0.713, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.265, 20 | "Middle Offset 1": 0.35, 21 | "Legs Size": 0.01, 22 | "Middle Support Thickness": 0.038, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.054, 25 | "Arm Width": 0.104, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": -1.525, 29 | "translation_offset": [ 30 | -0.012, 31 | -0.026, 32 | 0.004 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_00/obj_3/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.42, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": true, 7 | "Bottom Size Scale": 0.85, 8 | "Seat Width": 0.546, 9 | "Bottom Star": false, 10 | "Star Rotation": 0.356, 11 | "Seat Thickness": 0.074, 12 | "Seat Depth": 0.463, 13 | "Has Middle Support": false, 14 | "Arm Height": 0.208, 15 | "Backrest Scale": 0.822, 16 | "Back Height": 0.436, 17 | "Arm Depth Scale": 0.61, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.44, 20 | "Middle Offset 1": 0.15, 21 | "Legs Size": 0.03, 22 | "Middle Support Thickness": 0.035, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.055, 25 | "Arm Width": 0.06, 26 | "Arm Thickness": 0.05 27 | }, 28 | "rotation_angle_y": 0.086, 29 | "translation_offset": [ 30 | -0.0, 31 | -0.026, 32 | 0.022 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_00/obj_7/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.427, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": false, 7 | "Bottom Size Scale": 0.65, 8 | "Seat Width": 0.459, 9 | "Bottom Star": false, 10 | "Star Rotation": 0.55, 11 | "Seat Thickness": 0.069, 12 | "Seat Depth": 0.433, 13 | "Has Middle Support": false, 14 | "Arm Height": 0.295, 15 | "Backrest Scale": 0.706, 16 | "Back Height": 0.388, 17 | "Arm Depth Scale": 0.6, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.017, 20 | "Middle Offset 1": 0.238, 21 | "Legs Size": 0.02, 22 | "Middle Support Thickness": 0.029, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.06, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 3.07, 29 | "translation_offset": [ 30 | -0.0, 31 | -0.03, 32 | -0.022 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_01/obj_10/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.437, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": true, 7 | "Bottom Size Scale": 0.7, 8 | "Seat Width": 0.532, 9 | "Bottom Star": false, 10 | "Star Rotation": 0.85, 11 | "Seat Thickness": 0.046, 12 | "Seat Depth": 0.48, 13 | "Has Middle Support": false, 14 | "Arm Height": 0.2, 15 | "Backrest Scale": 0.8, 16 | "Back Height": 0.42, 17 | "Arm Depth Scale": 0.802, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.15, 20 | "Middle Offset 1": 0.05, 21 | "Legs Size": 0.04, 22 | "Middle Support Thickness": 0.035, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.07, 25 | "Arm Width": 0.109, 26 | "Arm Thickness": 0.02 27 | }, 28 | "rotation_angle_y": 1.662, 29 | "translation_offset": [ 30 | 0.01, 31 | 0.003, 32 | 0.002 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_01/obj_13/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.4, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": false, 7 | "Bottom Size Scale": 0.698, 8 | "Seat Width": 0.462, 9 | "Bottom Star": false, 10 | "Star Rotation": 0.713, 11 | "Seat Thickness": 0.126, 12 | "Seat Depth": 0.414, 13 | "Has Middle Support": false, 14 | "Arm Height": 0.2, 15 | "Backrest Scale": 0.777, 16 | "Back Height": 0.369, 17 | "Arm Depth Scale": 0.502, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.235, 20 | "Middle Offset 1": 0.45, 21 | "Legs Size": 0.075, 22 | "Middle Support Thickness": 0.038, 23 | "Bottom Thickness": 0.046, 24 | "Back Thickness": 0.071, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.036 27 | }, 28 | "rotation_angle_y": -2.238, 29 | "translation_offset": [ 30 | -0.1, 31 | 0.0, 32 | 0.02 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_01/obj_14/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.428, 4 | "Has Back": true, 5 | "Legs Type": 0, 6 | "Has Arms": true, 7 | "Bottom Size Scale": 0.85, 8 | "Seat Width": 0.535, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.35, 11 | "Seat Thickness": 0.062, 12 | "Seat Depth": 0.444, 13 | "Has Middle Support": false, 14 | "Arm Height": 0.2, 15 | "Backrest Scale": 0.8, 16 | "Back Height": 0.383, 17 | "Arm Depth Scale": 0.773, 18 | "Backrest Offset Scale": 1.0, 19 | "Middle Offset 2": 0.161, 20 | "Middle Offset 1": 0.386, 21 | "Legs Size": 0.03, 22 | "Middle Support Thickness": 0.04, 23 | "Bottom Thickness": 0.047, 24 | "Back Thickness": 0.061, 25 | "Arm Width": 0.113, 26 | "Arm Thickness": 0.031 27 | }, 28 | "rotation_angle_y": 0.094, 29 | "translation_offset": [ 30 | 0.023, 31 | 0.07, 32 | -0.02 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_02/obj_11/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.374, 4 | "Has Back": true, 5 | "Seat Width": 0.464, 6 | "Legs Type": 0, 7 | "Has Arms": false, 8 | "Bottom Star": true, 9 | "Star Rotation": 0.8, 10 | "Seat Depth": 0.414, 11 | "Seat Thickness": 0.031, 12 | "Has Middle Support": false, 13 | "Middle Offset 2": 0.257, 14 | "Middle Offset 1": 0.35, 15 | "Back Height": 0.387, 16 | "Arm Height": 0.25, 17 | "Backrest Scale": 0.699, 18 | "Backrest Offset Scale": 0.767, 19 | "Arm Depth Scale": 0.6, 20 | "Bottom Size Scale": 0.547, 21 | "Legs Size": 0.043, 22 | "Middle Support Thickness": 0.035, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.041, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 3.068, 29 | "translation_offset": [ 30 | -0.002, 31 | 0.044, 32 | -0.007 33 | ] 34 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_02/obj_13/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.5, 4 | "Has Back": true, 5 | "Seat Width": 0.4, 6 | "Legs Type": 0, 7 | "Has Arms": false, 8 | "Bottom Star": true, 9 | "Star Rotation": 0.621, 10 | "Seat Depth": 0.4, 11 | "Seat Thickness": 0.031, 12 | "Has Middle Support": false, 13 | "Middle Offset 2": 0.2, 14 | "Middle Offset 1": 0.177, 15 | "Back Height": 0.3, 16 | "Arm Height": 0.25, 17 | "Backrest Scale": 0.673, 18 | "Backrest Offset Scale": 0.787, 19 | "Arm Depth Scale": 0.75, 20 | "Bottom Size Scale": 0.25, 21 | "Legs Size": 0.05, 22 | "Middle Support Thickness": 0.035, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.04, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 0.052, 29 | "translation_offset": [ 30 | 0.0, 31 | 0.0, 32 | 0.0 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0030_02/obj_14/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.402, 4 | "Has Back": true, 5 | "Seat Width": 0.532, 6 | "Legs Type": 0, 7 | "Has Arms": true, 8 | "Bottom Star": false, 9 | "Star Rotation": 0.115, 10 | "Seat Depth": 0.413, 11 | "Seat Thickness": 0.041, 12 | "Has Middle Support": false, 13 | "Middle Offset 2": 0.4, 14 | "Middle Offset 1": 0.1, 15 | "Back Height": 0.4, 16 | "Arm Height": 0.205, 17 | "Backrest Scale": 0.827, 18 | "Backrest Offset Scale": 1.002, 19 | "Arm Depth Scale": 0.653, 20 | "Bottom Size Scale": 0.104, 21 | "Legs Size": 0.068, 22 | "Middle Support Thickness": 0.035, 23 | "Bottom Thickness": 0.05, 24 | "Back Thickness": 0.068, 25 | "Arm Width": 0.097, 26 | "Arm Thickness": 0.029 27 | }, 28 | "rotation_angle_y": 0.064, 29 | "translation_offset": [ 30 | 0.014, 31 | 0.04, 32 | 0.005 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0131_00/obj_12/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.336, 4 | "Legs Type": 1, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.785, 7 | "Seat Width": 0.438, 8 | "Has Arms": false, 9 | "Bottom Star": true, 10 | "Has Middle Support": false, 11 | "Backrest Scale": 0.9, 12 | "Backrest Offset Scale": 1.0, 13 | "Star Rotation": 0.132, 14 | "Middle Offset 2": 0.2, 15 | "Middle Offset 1": 0.2, 16 | "Legs Size": 0.1, 17 | "Middle Support Thickness": 0.038, 18 | "Bottom Thickness": 0.076, 19 | "Seat Depth": 0.467, 20 | "Seat Thickness": 0.119, 21 | "Back Height": 0.422, 22 | "Back Thickness": 0.07, 23 | "Arm Depth Scale": 0.65, 24 | "Arm Height": 0.253, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 2.1, 29 | "translation_offset": [ 30 | 0.009, 31 | -0.019, 32 | -0.009 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0131_00/obj_4/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.35, 4 | "Legs Type": 1, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.27, 7 | "Seat Width": 0.462, 8 | "Has Arms": false, 9 | "Bottom Star": true, 10 | "Has Middle Support": false, 11 | "Backrest Scale": 0.7, 12 | "Backrest Offset Scale": 1.0, 13 | "Star Rotation": 0.561, 14 | "Middle Offset 2": 0.2, 15 | "Middle Offset 1": 0.2, 16 | "Legs Size": 0.1, 17 | "Middle Support Thickness": 0.035, 18 | "Bottom Thickness": 0.063, 19 | "Seat Depth": 0.401, 20 | "Seat Thickness": 0.121, 21 | "Back Height": 0.45, 22 | "Back Thickness": 0.066, 23 | "Arm Depth Scale": 0.65, 24 | "Arm Height": 0.25, 25 | "Arm Width": 0.116, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": -0.365, 29 | "translation_offset": [ 30 | 0.051, 31 | 0.016, 32 | 0.049 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0131_00/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.421, 4 | "Legs Type": 1, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.874, 7 | "Seat Width": 0.424, 8 | "Has Arms": true, 9 | "Bottom Star": true, 10 | "Has Middle Support": false, 11 | "Backrest Scale": 0.782, 12 | "Backrest Offset Scale": 1.003, 13 | "Star Rotation": 0.237, 14 | "Middle Offset 2": 0.191, 15 | "Middle Offset 1": 0.4, 16 | "Legs Size": 0.1, 17 | "Middle Support Thickness": 0.035, 18 | "Bottom Thickness": 0.071, 19 | "Seat Depth": 0.482, 20 | "Seat Thickness": 0.119, 21 | "Back Height": 0.463, 22 | "Back Thickness": 0.05, 23 | "Arm Depth Scale": 0.502, 24 | "Arm Height": 0.2, 25 | "Arm Width": 0.1, 26 | "Arm Thickness": 0.02 27 | }, 28 | "rotation_angle_y": -0.515, 29 | "translation_offset": [ 30 | -0.01, 31 | 0.003, 32 | 0.011 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0131_00/obj_8/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.325, 4 | "Legs Type": 1, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.891, 7 | "Seat Width": 0.461, 8 | "Has Arms": false, 9 | "Bottom Star": true, 10 | "Has Middle Support": false, 11 | "Backrest Scale": 0.962, 12 | "Backrest Offset Scale": 1.003, 13 | "Star Rotation": 0.853, 14 | "Middle Offset 2": 0.41, 15 | "Middle Offset 1": 0.002, 16 | "Legs Size": 0.094, 17 | "Middle Support Thickness": 0.036, 18 | "Bottom Thickness": 0.08, 19 | "Seat Depth": 0.478, 20 | "Seat Thickness": 0.122, 21 | "Back Height": 0.397, 22 | "Back Thickness": 0.043, 23 | "Arm Depth Scale": 0.65, 24 | "Arm Height": 0.242, 25 | "Arm Width": 0.116, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 0.783, 29 | "translation_offset": [ 30 | 0.035, 31 | -0.004, 32 | 0.017 33 | ] 34 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0131_01/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.34, 4 | "Legs Type": 1, 5 | "Has Back": true, 6 | "Bottom Size 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-------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Width": 1.229, 4 | "Height": 0.695, 5 | "Top Shape": 0, 6 | "Depth": 0.558, 7 | "Legs Type": 1, 8 | "Mid Leg X Scale": 0.5, 9 | "Mid Leg Y Scale": 0.5, 10 | "Legs Offset Y": 1.005, 11 | "Legs Offset X": 0.899, 12 | "Has Mid Board": false, 13 | "Mid Board Z Scale": 0.002, 14 | "Legs Scale Y": 0.206, 15 | "Has Cabinet Leg": true, 16 | "Cabinet Width Scale": 0.35, 17 | "Top Thickness": 0.054, 18 | "Legs Scale X": 0.056 19 | }, 20 | "rotation_angle_y": -0.025, 21 | "translation_offset": [ 22 | 0.023, 23 | 0.064, 24 | -0.02 25 | ] 26 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0277_00/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.079, 5 | "Has Middle Support": true, 6 | "Middle Offset 1": 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-------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 0, 4 | "Legs Size": 0.05, 5 | "Has Middle Support": false, 6 | "Middle Offset 1": 0.2, 7 | "Middle Offset 2": 0.421, 8 | "Middle Support Thickness": 0.035, 9 | "Bottom Star": true, 10 | "Star Rotation": 1.0, 11 | "Bottom Thickness": 0.05, 12 | "Bottom Size Scale": 0.132, 13 | "Seat Height": 0.367, 14 | "Seat Width": 0.424, 15 | "Seat Depth": 0.478, 16 | "Seat Thickness": 0.08, 17 | "Has Back": true, 18 | "Back Height": 0.38, 19 | "Backrest Scale": 1.0, 20 | "Back Thickness": 0.051, 21 | "Backrest Offset Scale": 1.0, 22 | "Has Arms": false, 23 | "Arm Depth Scale": 0.55, 24 | "Arm Height": 0.251, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 0.015, 29 | "translation_offset": [ 30 | -0.025, 31 | 0.005, 32 | -0.011 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0314_00/obj_4/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.5, 4 | "Legs Type": 1, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.918, 7 | "Seat Width": 0.547, 8 | "Has Arms": true, 9 | "Bottom Star": true, 10 | "Has Middle Support": false, 11 | "Backrest Scale": 1.0, 12 | "Backrest Offset Scale": 1.002, 13 | "Star Rotation": 0.748, 14 | "Middle Offset 2": 0.002, 15 | "Middle Offset 1": 0.2, 16 | "Legs Size": 0.085, 17 | "Middle Support Thickness": 0.035, 18 | "Bottom Thickness": 0.08, 19 | "Seat Depth": 0.497, 20 | "Seat Thickness": 0.1, 21 | "Back Height": 0.55, 22 | "Back Thickness": 0.083, 23 | "Arm Depth Scale": 0.666, 24 | "Arm Height": 0.2, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": 0.869, 29 | "translation_offset": [ 30 | -0.1, 31 | -0.100, 32 | 0.005 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0316_00/obj_1/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.408, 4 | "Legs Type": 0, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.104, 7 | "Seat Width": 0.512, 8 | "Has Arms": false, 9 | "Bottom Star": false, 10 | "Has Middle Support": false, 11 | "Backrest Scale": 0.7, 12 | "Backrest Offset Scale": 1.0, 13 | "Star Rotation": 1.0, 14 | "Middle Offset 2": 0.2, 15 | "Middle Offset 1": 0.002, 16 | "Legs Size": 0.038, 17 | "Middle Support Thickness": 0.035, 18 | "Bottom Thickness": 0.05, 19 | "Seat Depth": 0.35, 20 | "Seat Thickness": 0.102, 21 | "Back Height": 0.35, 22 | "Back Thickness": 0.062, 23 | "Arm Depth Scale": 0.66, 24 | "Arm Height": 0.244, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.033 27 | }, 28 | "rotation_angle_y": -3.015, 29 | "translation_offset": [ 30 | 0.003, 31 | 0.0, 32 | 0.005 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0343_00/obj_6/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.571, 4 | "Legs Type": 0, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.9, 7 | "Seat Width": 0.402, 8 | "Has Arms": false, 9 | "Bottom Star": false, 10 | "Has Middle Support": true, 11 | "Backrest Scale": 0.8, 12 | "Backrest Offset Scale": 1.0, 13 | "Star Rotation": 0.6, 14 | "Middle Offset 2": 0.243, 15 | "Middle Offset 1": 0.377, 16 | "Legs Size": 0.085, 17 | "Middle Support Thickness": 0.05, 18 | "Bottom Thickness": 0.05, 19 | "Seat Depth": 0.401, 20 | "Seat Thickness": 0.112, 21 | "Back Height": 0.25, 22 | "Back Thickness": 0.059, 23 | "Arm Depth Scale": 0.655, 24 | "Arm Height": 0.242, 25 | "Arm Width": 0.112, 26 | "Arm Thickness": 0.032 27 | }, 28 | "rotation_angle_y": 1.612, 29 | "translation_offset": [ 30 | 0.002, 31 | 0.0, 32 | -0.007 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0343_00/obj_7/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.599, 4 | "Legs Type": 0, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.3, 7 | "Seat Width": 0.402, 8 | "Has Arms": false, 9 | "Bottom Star": true, 10 | "Has Middle Support": true, 11 | "Backrest Scale": 0.8, 12 | "Backrest Offset Scale": 1.0, 13 | "Star Rotation": 0.4, 14 | "Middle Offset 2": 0.246, 15 | "Middle Offset 1": 0.33, 16 | "Legs Size": 0.07, 17 | "Middle Support Thickness": 0.054, 18 | "Bottom Thickness": 0.05, 19 | "Seat Depth": 0.402, 20 | "Seat Thickness": 0.05, 21 | "Back Height": 0.25, 22 | "Back Thickness": 0.062, 23 | "Arm Depth Scale": 0.668, 24 | "Arm Height": 0.244, 25 | "Arm Width": 0.113, 26 | "Arm Thickness": 0.034 27 | }, 28 | "rotation_angle_y": 1.675, 29 | "translation_offset": [ 30 | 0.014, 31 | 0.000, 32 | 0.004 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0351_00/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.059, 5 | "Has Middle Support": false, 6 | "Middle Offset 1": 0.5, 7 | "Middle Offset 2": 0.016, 8 | "Middle Support Thickness": 0.035, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.237, 11 | "Bottom Thickness": 0.06, 12 | "Bottom Size Scale": 0.15, 13 | "Seat Height": 0.386, 14 | "Seat Width": 0.474, 15 | "Seat Depth": 0.443, 16 | "Seat Thickness": 0.033, 17 | "Has Back": true, 18 | "Back Height": 0.492, 19 | "Backrest Scale": 0.956, 20 | "Back Thickness": 0.05, 21 | "Backrest Offset Scale": 0.85, 22 | "Has Arms": true, 23 | "Arm Depth Scale": 0.502, 24 | "Arm Height": 0.206, 25 | "Arm Width": 0.083, 26 | "Arm Thickness": 0.038 27 | }, 28 | "rotation_angle_y": 0.989, 29 | "translation_offset": [ 30 | -0.092, 31 | 0.023, 32 | 0.037 33 | ] 34 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0356_00/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.088, 5 | "Has Middle Support": true, 6 | "Middle Offset 1": 0.192, 7 | "Middle Offset 2": 0.35, 8 | "Middle Support Thickness": 0.035, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.535, 11 | "Bottom Thickness": 0.062, 12 | "Bottom Size Scale": 0.409, 13 | "Seat Height": 0.357, 14 | "Seat Width": 0.402, 15 | "Seat Depth": 0.418, 16 | "Seat Thickness": 0.129, 17 | "Has Back": true, 18 | "Back Height": 0.404, 19 | "Backrest Scale": 0.902, 20 | "Back Thickness": 0.044, 21 | "Backrest Offset Scale": 1.003, 22 | "Has Arms": false, 23 | "Arm Depth Scale": 0.6, 24 | "Arm Height": 0.2, 25 | "Arm Width": 0.114, 26 | "Arm Thickness": 0.034 27 | }, 28 | "rotation_angle_y": -3.113, 29 | "translation_offset": [ 30 | 0.012, 31 | 0.018, 32 | -0.002 33 | ] 34 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0356_02/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.077, 5 | "Has Middle Support": true, 6 | "Middle Offset 1": 0.5, 7 | "Middle Offset 2": 0.01, 8 | "Middle Support Thickness": 0.037, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.724, 11 | "Bottom Thickness": 0.063, 12 | "Bottom Size Scale": 0.416, 13 | "Seat Height": 0.348, 14 | "Seat Width": 0.402, 15 | "Seat Depth": 0.401, 16 | "Seat Thickness": 0.129, 17 | "Has Back": true, 18 | "Back Height": 0.407, 19 | "Backrest Scale": 0.851, 20 | "Back Thickness": 0.051, 21 | "Backrest Offset Scale": 1.003, 22 | "Has Arms": false, 23 | "Arm Depth Scale": 0.538, 24 | "Arm Height": 0.2, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.035 27 | }, 28 | "rotation_angle_y": -3.092, 29 | "translation_offset": [ 30 | 0.004, 31 | 0.026, 32 | 0.001 33 | ] 34 | } -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0378_00/obj_11/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Seat Height": 0.43, 4 | "Legs Type": 1, 5 | "Has Back": true, 6 | "Bottom Size Scale": 0.944, 7 | "Seat Width": 0.501, 8 | "Has Arms": true, 9 | "Bottom Star": true, 10 | "Has Middle Support": true, 11 | "Backrest Scale": 0.8, 12 | "Backrest Offset Scale": 1.0, 13 | "Star Rotation": 0.652, 14 | "Middle Offset 2": 0.2, 15 | "Middle Offset 1": 0.002, 16 | "Legs Size": 0.062, 17 | "Middle Support Thickness": 0.035, 18 | "Bottom Thickness": 0.08, 19 | "Seat Depth": 0.455, 20 | "Seat Thickness": 0.031, 21 | "Back Height": 0.45, 22 | "Back Thickness": 0.04, 23 | "Arm Depth Scale": 0.535, 24 | "Arm Height": 0.2, 25 | "Arm Width": 0.086, 26 | "Arm Thickness": 0.02 27 | }, 28 | "rotation_angle_y": -1.224, 29 | "translation_offset": [ 30 | 0.055, 31 | 0.05, 32 | -0.009 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0378_01/obj_10/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 0, 4 | "Legs Size": 0.053, 5 | "Has Middle Support": false, 6 | "Middle Offset 1": 0.05, 7 | "Middle Offset 2": 0.35, 8 | "Middle Support Thickness": 0.035, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.55, 11 | "Bottom Thickness": 0.05, 12 | "Bottom Size Scale": 0.304, 13 | "Seat Height": 0.402, 14 | "Seat Width": 0.47, 15 | "Seat Depth": 0.452, 16 | "Seat Thickness": 0.031, 17 | "Has 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0.405, 14 | "Seat Width": 0.541, 15 | "Seat Depth": 0.407, 16 | "Seat Thickness": 0.037, 17 | "Has Back": true, 18 | "Back Height": 0.409, 19 | "Backrest Scale": 0.806, 20 | "Back Thickness": 0.067, 21 | "Backrest Offset Scale": 0.999, 22 | "Has Arms": true, 23 | "Arm Depth Scale": 0.769, 24 | "Arm Height": 0.201, 25 | "Arm Width": 0.115, 26 | "Arm Thickness": 0.032 27 | }, 28 | "rotation_angle_y": -1.439, 29 | "translation_offset": [ 30 | 0.008, 31 | 0.0, 32 | 0.008 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0378_01/obj_6/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.063, 5 | "Has Middle Support": true, 6 | "Middle Offset 1": 0.462, 7 | "Middle Offset 2": 0.1, 8 | "Middle Support Thickness": 0.036, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.38, 11 | "Bottom Thickness": 0.047, 12 | "Bottom Size Scale": 0.658, 13 | "Seat Height": 0.369, 14 | "Seat Width": 0.44, 15 | "Seat Depth": 0.401, 16 | "Seat Thickness": 0.043, 17 | "Has Back": true, 18 | "Back Height": 0.433, 19 | "Backrest Scale": 0.846, 20 | "Back Thickness": 0.04, 21 | "Backrest Offset Scale": 1.0, 22 | "Has Arms": true, 23 | "Arm Depth Scale": 0.502, 24 | "Arm Height": 0.2, 25 | "Arm Width": 0.094, 26 | "Arm Thickness": 0.02 27 | }, 28 | "rotation_angle_y": -1.482, 29 | "translation_offset": [ 30 | 0.034, 31 | 0.016, 32 | 0.003 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0378_02/obj_1/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.063, 5 | "Has Middle Support": false, 6 | "Middle Offset 1": 0.15, 7 | "Middle Offset 2": 0.05, 8 | "Middle Support Thickness": 0.035, 9 | "Bottom Star": true, 10 | "Star 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-------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0427_00/obj_2/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.1, 5 | "Has Middle Support": true, 6 | "Middle Offset 1": 0.05, 7 | "Middle Offset 2": 0.4, 8 | "Middle Support Thickness": 0.035, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.471, 11 | "Bottom Thickness": 0.06, 12 | "Bottom Size Scale": 0.897, 13 | "Seat Height": 0.416, 14 | "Seat Width": 0.5, 15 | "Seat Depth": 0.423, 16 | "Seat Thickness": 0.031, 17 | "Has Back": true, 18 | "Back Height": 0.461, 19 | "Backrest Scale": 0.977, 20 | "Back Thickness": 0.049, 21 | "Backrest Offset Scale": 1.002, 22 | "Has Arms": false, 23 | "Arm Depth Scale": 0.732, 24 | "Arm Height": 0.286, 25 | "Arm Width": 0.114, 26 | "Arm Thickness": 0.034 27 | }, 28 | "rotation_angle_y": -2.596, 29 | "translation_offset": [ 30 | 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"rotation_angle_y": -2.378, 29 | "translation_offset": [ 30 | 0.03, 31 | 0.042, 32 | -0.055 33 | ] 34 | } 35 | -------------------------------------------------------------------------------- /sp_gt_annotations/chair/scene0565_00/obj_5/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Legs Type": 1, 4 | "Legs Size": 0.077, 5 | "Has Middle Support": false, 6 | "Middle Offset 1": 0.002, 7 | "Middle Offset 2": 0.01, 8 | "Middle Support Thickness": 0.035, 9 | "Bottom Star": true, 10 | "Star Rotation": 0.615, 11 | "Bottom Thickness": 0.059, 12 | "Bottom Size Scale": 0.945, 13 | "Seat Height": 0.459, 14 | "Seat Width": 0.449, 15 | "Seat Depth": 0.401, 16 | "Seat Thickness": 0.031, 17 | "Has Back": true, 18 | "Back Height": 0.386, 19 | "Backrest Scale": 0.9, 20 | "Back Thickness": 0.04, 21 | "Backrest Offset Scale": 1.0, 22 | "Has Arms": false, 23 | "Arm Depth Scale": 0.502, 24 | "Arm Height": 0.3, 25 | "Arm Width": 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"translation_offset": [ 26 | -0.02, 27 | -0.053, 28 | -0.023 29 | ] 30 | } 31 | -------------------------------------------------------------------------------- /sp_gt_annotations/sofa/scene0025_01/obj_10/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Width": 1.12, 4 | "Is L-Shaped": false, 5 | "Has Back": true, 6 | "L Depth": 0.59, 7 | "Flip L Around Y": false, 8 | "Depth": 0.583, 9 | "Back Height": 0.3, 10 | "Has Left Arm": true, 11 | "Has Right Arm": true, 12 | "Height": 0.3, 13 | "Arm Height": 0.663, 14 | "Back Over-Width Scale": 0.0, 15 | "Has Arm Legs": true, 16 | "Has Legs": true, 17 | "Arm Depth": 0.987, 18 | "Leg Size": 0.037, 19 | "Leg Height": 0.069, 20 | "Arm Width": 0.1, 21 | "Back Depth": 0.069, 22 | "L Width": 0.481 23 | }, 24 | "rotation_angle_y": 0.029, 25 | "translation_offset": [ 26 | -0.03, 27 | -0.006, 28 | 0.052 29 | ] 30 | } 31 | -------------------------------------------------------------------------------- /sp_gt_annotations/sofa/scene0025_01/obj_3/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Width": 1.12, 4 | "Is L-Shaped": false, 5 | "Has Back": true, 6 | "L Depth": 0.95, 7 | "Flip L Around Y": false, 8 | "Depth": 0.55, 9 | "Back Height": 0.3, 10 | "Has Left Arm": true, 11 | "Has Right Arm": true, 12 | "Height": 0.3, 13 | "Arm Height": 0.639, 14 | "Back Over-Width Scale": 0.0, 15 | "Has Arm Legs": true, 16 | "Has Legs": false, 17 | "Arm Depth": 0.995, 18 | "Leg Size": 0.2, 19 | "Leg Height": 0.071, 20 | "Arm Width": 0.1, 21 | "Back Depth": 0.149, 22 | "L Width": 0.432 23 | }, 24 | "rotation_angle_y": 3.1, 25 | "translation_offset": [ 26 | -0.022, 27 | -0.009, 28 | 0.005 29 | ] 30 | } 31 | -------------------------------------------------------------------------------- /sp_gt_annotations/sofa/scene0025_02/obj_4/sp_params.json: -------------------------------------------------------------------------------- 1 | { 2 | "input_dict": { 3 | "Width": 1.143, 4 | "Is L-Shaped": false, 5 | "Has Back": true, 6 | "L Depth": 0.812, 7 | "Flip L Around Y": false, 8 | "Depth": 0.581, 9 | "Back Height": 0.3, 10 | "Has Left Arm": true, 11 | "Has Right Arm": true, 12 | "Height": 0.3, 13 | "Arm Height": 0.603, 14 | "Back Over-Width Scale": 0.0, 15 | "Has Arm Legs": true, 16 | "Has Legs": false, 17 | "Arm Depth": 0.963, 18 | "Leg Size": 0.03, 19 | "Leg Height": 0.073, 20 | "Arm Width": 0.101, 21 | "Back Depth": 0.109, 22 | "L Width": 0.424 23 | }, 24 | "rotation_angle_y": -3.133, 25 | "translation_offset": [ 26 | 0.007, 27 | -0.003, 28 | 0.0 29 | ] 30 | } 31 | -------------------------------------------------------------------------------- /sp_gt_annotations/sofa/scene0025_02/obj_5/sp_params.json: 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