Gaussian Splatting Meets ROS2

The Online ROS2-Based Gaussian Splatting-Enabled Visualizer Shady Gmira ROSplat is the first online ROS2-based visualizer that leverages Gaussian splatting to render complex 3D scenes. It is designed to efficiently visualize millions of gaussians by using custom ROS2 messages and GPU-accelerated sorting and rendering techniques. ROSplat also supports data loading from PLY files and integrates with ROS2 tools such as bag recording. Setup This project was developed and tested on Ubuntu 24.04 LTS using ROS2 Jazzy. Please note: Performance degrades significantly without an NVIDIA graphics card. Dependencies Mandatory: ROS2 (tested on ROS2 Jazzy) ROS2 (tested on ROS2 Jazzy) Optional (for GPU-based Sorting): cupy (ensure compatibility with your CUDA version) torch (if using PyTorch for GPU sorting) To install the optional GPU-based libraries individually: pip install cupy-cuda12x # Install Cupy (replace 12x with your CUDA version) pip install torch # Install PyTorch The program ... Read full article.