├── .gitignore ├── DataRW ├── ScanNetRW.py └── ScannotateDatasetMasks.py ├── LICENSE.md ├── 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 │ │ └── 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