Life-Long Language Embedded Gaussian Splats follows the integration guidelines described here for custom methods within Nerfstudio.
Follow these instructions up to and including "tinycudann" to install dependencies.
If you'll be using ROS messages do not use a conda environment and enter the dependency install commands below instead (ROS and conda don't play well together)
pip install torch==2.0.1+cu118 torchvision==0.15.2+cu118 --extra-index-url https://download.pytorch.org/whl/cu118
pip install ninja git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch
git clone https://github.com/BerkeleyAutomation/L3GS
cd L3GS/l3gs/
python -m pip install -e .
ns-install-cli
Run ns-train -h
: you should see a list of "subcommands" with lllegos and llgs included among them.
- Launch training with
ns-train l3gs
and start publishing an imagepose topic or playing an imagepose ROS bag. - Connect to the viewer by forwarding the viewer port (we use VSCode to do this), and click the link to
viewer.nerf.studio
provided in the output of the train script