Porting NKSR to use latest fVDB

surface_reconstruction/nksr/.gitignore

@@ -0,0 +1,177 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintainted in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+.idea/
+
+cmake-build-debug
+cmake-build-release
+
+.premature_checkpoints
+
+*.old
+sync-pycg.sh
+sync-dataloader.sh
+ngc_mapping.json
+playground/
+
+# Sweep-related files
+sweeps/
+wandb/
+wdb_sweep.py
+
+zeus_config.yaml
+assets/buda.ply
+assets/waymo-pcd.ply
+assets/scannet.ply
+assets/las/
+
+package/external/
+.vscode/

surface_reconstruction/nksr/LICENSE

@@ -0,0 +1,91 @@
+
+Copyright (c) 2023, NVIDIA Corporation & affiliates. All rights reserved.
+
+
+NVIDIA Source Code License for NKSR
+
+
+=======================================================================
+
+1. Definitions
+
+“Licensor” means any person or entity that distributes its Work.
+
+“Work” means (a) the original work of authorship made available under
+this license, which may include software, documentation, or other files,
+and (b) any additions to or derivative works  thereof  that are made
+available under this license.
+
+The terms “reproduce,” “reproduction,” “derivative works,” and
+“distribution” have the meaning as provided under U.S. copyright law;
+provided, however, that for the purposes of this license, derivative works
+shall not include works that remain separable from, or merely link
+(or bind by name) to the interfaces of, the Work.
+
+Works are “made available” under this license by including in or with
+the Work either (a) a copyright notice referencing the applicability of
+this license to the Work, or (b) a copy of this license.
+
+2. License Grant
+
+    2.1 Copyright Grant. Subject to the terms and conditions of this license,
+     each Licensor grants to you a perpetual, worldwide, non-exclusive,
+     royalty-free, copyright license to use, reproduce, prepare derivative
+     works of, publicly display, publicly perform, sublicense and distribute
+     its Work and any resulting derivative works in any form.
+
+3. Limitations
+
+    3.1 Redistribution. You may reproduce or distribute the Work only if
+    (a) you do so under this license, (b) you include a complete copy of
+    this license with your distribution, and (c) you retain without
+    modification any copyright, patent, trademark, or attribution notices
+    that are present in the Work.
+
+    3.2 Derivative Works. You may specify that additional or different terms
+     apply to the use, reproduction, and distribution of your derivative
+     works of the Work (“Your Terms”) only if (a) Your Terms provide that the
+     use limitation in Section 3.3 applies to your derivative works, and (b)
+     you identify the specific derivative works that are subject to Your Terms.
+     Notwithstanding Your Terms, this license (including the redistribution
+     requirements in Section 3.1) will continue to apply to the Work itself.
+
+    3.3 Use Limitation. The Work and any derivative works thereof only may be
+     used or intended for use non-commercially. Notwithstanding the foregoing,
+     NVIDIA Corporation and its affiliates may use the Work and any derivative
+     works commercially. As used herein, “non-commercially” means for research
+     or evaluation purposes only.
+
+    3.4 Patent Claims. If you bring or threaten to bring a patent claim against
+     any Licensor (including any claim, cross-claim or counterclaim in a lawsuit)
+     to enforce any patents that you allege are infringed by any Work, then your
+     rights under this license from such Licensor (including the grant in
+     Section 2.1) will terminate immediately.
+
+    3.5 Trademarks. This license does not grant any rights to use any Licensor’s
+     or its affiliates’ names, logos, or trademarks, except as necessary to
+     reproduce the notices described in this license.
+
+    3.6 Termination. If you violate any term of this license, then your rights
+     under this license (including the grant in Section 2.1) will terminate
+     immediately.
+
+4. Disclaimer of Warranty.
+
+THE WORK IS PROVIDED “AS IS” WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
+EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES OR CONDITIONS OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE OR NON-INFRINGEMENT.
+YOU BEAR THE RISK OF UNDERTAKING ANY ACTIVITIES UNDER THIS LICENSE.
+
+5. Limitation of Liability.
+
+EXCEPT AS PROHIBITED BY APPLICABLE LAW, IN NO EVENT AND UNDER NO LEGAL THEORY,
+WHETHER IN TORT (INCLUDING NEGLIGENCE), CONTRACT, OR OTHERWISE SHALL ANY
+LICENSOR BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY DIRECT, INDIRECT, SPECIAL,
+INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED TO THIS LICENSE,
+THE USE OR INABILITY TO USE THE WORK (INCLUDING BUT NOT LIMITED TO LOSS OF
+GOODWILL, BUSINESS INTERRUPTION, LOST PROFITS OR DATA, COMPUTER FAILURE OR
+MALFUNCTION, OR ANY OTHER DAMAGES OR LOSSES), EVEN IF THE LICENSOR HAS BEEN
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+
+=======================================================================

surface_reconstruction/nksr/README.md

@@ -0,0 +1,20 @@
+# Neural Kernel Surface Reconstruction (NKSR)
+
+Idea: This is supposed to be a minimal implementation of NN-based surface reconstruction method.
+Since the common belief is that NN-based methods are very scalable with more and more data, we should go with the very brute force network method instead of the more sophisticated ones (i.e. kernel solve).
+
+## Installation
+
+Prerequisites: Follow fVDB [official website](https://github.com/openvdb/fvdb-core) to install the conda environment of fVDB.
+
+```bash
+# Editable install
+pip install --no-build-isolation -e .
+```
+
+## Usage
+
+```bash
+# Quick test
+python examples/recons_simple.py
+```

surface_reconstruction/nksr/examples/recons_simple.py

@@ -0,0 +1,36 @@
+# Copyright (c) 2025, NVIDIA CORPORATION & AFFILIATES.  All rights reserved.
+#
+# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.
+
+from pathlib import Path
+
+import point_cloud_utils as pcu
+import requests
+import torch
+
+import nksr_fvdb
+
+if __name__ == "__main__":
+    device = torch.device("cuda:0")
+
+    bunny_mesh_path = Path.home() / "data" / "bunny.ply"
+    if not bunny_mesh_path.exists():
+        bunny_mesh_path.parent.mkdir(parents=True, exist_ok=True)
+        res = requests.get("https://huggingface.co/heiwang1997/nksr-checkpoints/resolve/main/data/buda.ply")
+        with bunny_mesh_path.open("wb") as f:
+            f.write(res.content)
+
+    bunny_v, bunny_n = pcu.load_mesh_vn(bunny_mesh_path)
+
+    input_xyz = torch.from_numpy(bunny_v).float().to(device)
+    input_normal = torch.from_numpy(bunny_n).float().to(device)
+
+    reconstructor = nksr_fvdb.Reconstructor(device, preset="ks-sdf")
+    field = reconstructor.reconstruct(input_xyz, input_normal, voxel_size=1.0)
+    mesh = field.extract_primal_mesh(depth=1)
+
+    # Do something with the mesh...

surface_reconstruction/nksr/nksr_fvdb/__init__.py

@@ -0,0 +1,12 @@
+# Copyright (c) 2025, NVIDIA CORPORATION & AFFILIATES.  All rights reserved.
+#
+# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.
+
+from nksr_fvdb.reconstructor import Reconstructor
+
+__version__ = "1.0.0"
+__version_info__ = (1, 0, 0)

surface_reconstruction/nksr/nksr_fvdb/fields/__init__.py

@@ -0,0 +1,12 @@
+# Copyright (c) 2025, NVIDIA CORPORATION & AFFILIATES.  All rights reserved.
+#
+# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.
+
+
+from .base_field import BaseField, EvaluationResult
+from .layer_field import LayerField
+from .neural_field import NeuralField