Neuralangelo

Project Page | Paper

This is the official repo for the implementation of Neuralangelo: High-Fidelity Neural Surface Reconstruction.
The code is built upon the Imaginaire library from the Deep Imagination Research Group at NVIDIA.

For business inquiries, please submit the NVIDIA research licensing form.

Installation

We offer two ways to setup the environment:

1. We provide prebuilt Docker images, where

   • docker.io/chenhsuanlin/colmap:3.9 is for running COLMAP and the data preprocessing scripts. This includes the prebuilt COLMAP library (CUDA-supported).
   • docker.io/chenhsuanlin/neuralangelo:23.04-py3 is for running the main Neuralangelo pipeline.

   The corresponding Dockerfiles can be found in the docker directory.

2. The conda environment for Neuralangelo. Install the dependencies and activate the environment neuralangelo with

   conda env create --file neuralangelo.yaml
   conda activate neuralangelo

For COLMAP, alternative installation options are also available on the COLMAP website.

Data preparation

Please refer to Data Preparation for step-by-step instructions.
We assume known camera poses for each extracted frame from the video. The code uses the same json format as Instant NGP.

Run Neuralangelo!

EXPERIMENT=toy_example
GROUP=example_group
NAME=example_name
CONFIG=projects/neuralangelo/configs/custom/${EXPERIMENT}.yaml
GPUS=1  # use >1 for multi-GPU training!
torchrun --nproc_per_node=${GPUS} train.py \
    --logdir=logs/${GROUP}/${NAME} \
    --config=${CONFIG} \
    --show_pbar

Some useful notes:

• This codebase supports logging with Weights & Biases. You should have a W&B account for this.
  • Add --wandb to the command line argument to enable W&B logging.
  • Add --wandb_name to specify the W&B project name.
  • More detailed control can be found in the init_wandb() function in imaginaire/trainers/base.py.
• Configs can be overridden through the command line (e.g. --optim.params.lr=1e-2).
• Set --checkpoint={CHECKPOINT_PATH} to initialize with a certain checkpoint; set --resume=True to resume training.
• If appearance embeddings are enabled, make sure data.num_images is set to the number of training images.

Isosurface extraction

Use the following command to run isosurface mesh extraction:

CHECKPOINT=logs/${GROUP}/${NAME}/xxx.pt
OUTPUT_MESH=xxx.ply
CONFIG=projects/neuralangelo/configs/custom/${EXPERIMENT}.yaml
RESOLUTION=2048
BLOCK_RES=128
GPUS=1  # use >1 for multi-GPU mesh extraction
torchrun --nproc_per_node=${GPUS} projects/neuralangelo/scripts/extract_mesh.py \
    --logdir=logs/${GROUP}/${NAME} \
    --config=${CONFIG} \
    --checkpoint=${CHECKPOINT} \
    --output_file=${OUTPUT_MESH} \
    --resolution=${RESOLUTION} \
    --block_res=${BLOCK_RES}