RayletDF: Raylet Distance Fields for Generalizable 3D Surface Reconstruction from Point Clouds or Gaussians (ICCV2025)

This repository will contain the official implementation of the paper: *RayletDF: Raylet Distance Fields for Generalizable 3D Surface Reconstruction from Point Clouds or Gaussians*.

📹 Overview

We present a generalizable method for 3D surface reconstruction from raw point clouds or pre-estimated 3D Gaussians by 3DGS from RGB images.

⚙️ Installation

git clone https://github.com/vLAR-group/RayletDF.git
cd RayletDF

### CUDA 11.3
conda create -n RayletDF python=3.7
conda activate RayletDF

# install pytorch 
pip install torch==1.12.1+cu113 torchvision==0.13.1+cu113 --extra-index-url https://download.pytorch.org/whl/cu113
# install other dependencies
pip install -r requirements.txt
# install gaussian requirements
pip install submodules/diff-gaussian-rasterization-raylet
pip install submodules/simple-knn

If you fail to install the torch_scatter, try to use the file in submodules folder

pip install ./submodules/torch_scatter-2.1.0+pt112cu113-cp37-cp37m-linux_x86_64.whl

(Optional) install Voxel grid k-nearest-neighbor (Only for accelerate inference speed)

pip install ./torch_knnquery

💾 Datasets

Raw datasets can be download from their project website:

• Scannet++ Dataset
• Scannet Dataset
• ARKitScenes Dataset
• Multiscan Benchmark Dataset

We provide several scripts in data_preprocess folder to convert raw data in these datasets to NeRF format for training Gaussians and RayletDF, organised as:

<NeRF dataset location>
|---train
|   |---<scene_0>
|   |   |---input
|   |   |   |---<image 0>  
|   |   |   |---...
|   |   |---depth
|   |   |   |---<depth 0>  
|   |   |   |---...
|   |   |---points3d.ply
|   |   |---scene_0_mesh.ply     
|   |   |---transforms_train.json  
|   |   |---transforms_test.json  
|   |   |---transforms_all.json
|   |--...  
|---test
|   |---<scene_0>
|   |---<scene_1>
|   |---...

The Gaussian data is organised following the official structure:

<Gaussians dataset location>
|---train
|   |---<scene_0>
|   |   |---point_cloud
|   |   |   |---iteration_xxxxx
|   |   |   |   |---point_cloud.ply
|   |   |---input.ply
|   |---...
|---test
|   |---<scene_0>
|   |---<scene_1>
|   |---...

The sparse point clouds data is organised as the following structure:

<point clouds dataset location>
|---train
|   |---<scene_0>
|   |   |---point_cloud.ply
|   |---...
|---test
|   |---<scene_0>
|   |---<scene_1>
|   |---...

🔑 Usage

To train RayletDF for Gaussians, run train.py:

CUDA_VISIBLE_DEVICES=0,1,2 torchrun --nproc_per_node=3 --master_port=29519 train.py 
    --model_save_path /media/HDD2/models/arkit \
    --scene_model_dir /media/HDD2/ARKitScenes/ARKitScenes_3dgs/train \
    --scene_source_dir /media/HDD2/ARKitScenes/ARKitScenes_nerf/train \
    --iterations 300000

and train_pointcloud.py for sparse point clouds:

CUDA_VISIBLE_DEVICES=0,1 torchrun --nproc_per_node=2 --master_port=29518 train_pointcloud.py 
    --model_save_path /media/HDD2/models/arkit_pts \
    --scene_model_dir   /media/SSD/sparse_pts/ARKitScenes/train/ \
    --scene_source_dir /media/HDD2/ARKitScenes/ARKitScenes_nerf/train \
    --iterations 300000

For testing a trained model, you can use test.py or test_pointcloud.py:

CUDA_VISIBLE_DEVICES=$1 python test_pointcloud.py --dpt_model_path /media/HDD2/models/finals/scans/dpt_ckpt_0150000.pth \
    --scene_model_dir  /media/SSD/sparse_pts/Scannetpp/test/ /media/SSD/sparse_pts/scannet/test/  /media/SSD/sparse_pts/ARKitScenes/test/\
                        /media/SSD/sparse_pts/Multiscan/test/ /media/SSD/sparse_pts/Multiscan/train/ \
    --scene_source_dir /media/HDD2/Scannetpp/Scannetpp_nerf/test /media/HDD2/scannet_nerf/scans_test /media/HDD2/ARKitScenes/ARKitScenes_nerf/test/ \
                        /media/HDD2/Multiscan/Multiscan_nerf/test /media/HDD2/Multiscan/Multiscan_nerf/train \


CUDA_VISIBLE_DEVICES=$1 python test.py --dpt_model_path /media/HDD2/models/finals/scan_scanpp/dpt_ckpt_0100000.pth \
   --scene_model_dir  /media/HDD2/Scannetpp/Scannetpp_3dgs/test/ /media/HDD2/scannet_3dgs/test/ /media/HDD2/ARKitScenes/ARKitScenes_3dgs/test/\
                       /media/HDD2/Multiscan/Multiscan_3dgs/test /media/HDD2/Multiscan/Multiscan_3dgs/train\
   --scene_source_dir /media/HDD2/Scannetpp/Scannetpp_nerf/test /media/HDD2/scannet_nerf/scans_test /media/HDD2/ARKitScenes/ARKitScenes_nerf/test/ \
                       /media/HDD2/Multiscan/Multiscan_nerf/test /media/HDD2/Multiscan/Multiscan_nerf/train\

If you want to obtain the normals from RayletDF, set --normal to True.

For testing inference speed on Gaussians, you can run infer_speed.py.

Refer to ddp_gs.sh, ddp_pt.sh and test.sh for more examples.

The checkpoints are free to download from Google Drive

🎯 Extension: Plug-in for VGGTs

Our model can be plug and play on the output of VGGT

You can use vggt2point.py to save vggt's output to point_cloud.ply, and then use RayletDF on it like a point cloud data.

📚 Citation

If you find our work useful in your research, please consider citing:

@inproceedings{wei2025rayletdf,
title={RayletDF: Raylet Distance Fields for Generalizable 3D Surface Reconstruction from Point Clouds or Gaussians},
author={Wei, Shenxing and Li, Jinxi and Yang, Yafei and Zhou, Siyuan and Yang, Bo},
journal={Proceedings of the IEEE/CVF International Conference on Computer Vision},
year={2025}
}