uynitsuj/l3gs

Life-Long Language Embedded Gaussian Splats (L3GS)

Installation

Life-Long Language Embedded Gaussian Splats follows the integration guidelines described here for custom methods within Nerfstudio.

0. Install Nerfstudio dependencies

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

1. Clone and install repo

git clone https://github.com/BerkeleyAutomation/L3GS
cd L3GS/l3gs/
python -m pip install -e .
ns-install-cli

Checking the install

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