Figure 2. Architecture of PaCo. Starting from an incomplete point cloud, we hierarchically encode the points into plane proxies with a
lookup table from segmentation. These proxies inform the proxy generator in producing a set of proxy proposals. The generated proxies
are then passed to the parameter estimator and the point distributor for primitive estimation. Finally, the primitive selector identifies a
subset of primitives to form the parametric completion, with selection optimized via bipartite matching. The resulting primitives enable
direct assembly for polygonal surface reconstruction. Points are colored according to their planar primitives.