SiTronXD / vk3dGaussianSplatting

3D gaussian splatting renderer using Vulkan. Active from December 2023 to April 2024.

3D Gaussian Splatting

A Vulkan renderer for 3D Gaussian Splatting (original paper: https://repo-sam.inria.fr/fungraph/3d-gaussian-splatting/3d_gaussian_splatting_low.pdf). It works by first importing 3D gaussians from a given .ply-file (not included in this repository) on application startup. The renderer then sorts, projects, rasterizes and blends gaussians in real-time. A GPU-driven approach is being used and relies only on compute shaders, rather than utilizing the graphics pipeline. Still, a number of optimizations needed to be implemented in order for the application to achieve high performance.

Optimizations

Implemented optimizations which were proposed by the original paper:

• Interleaving loading and rendering of gaussians to increase throughput of both bandwidth and arithmetic operations
• Tiled shading
• Frustum culling

Optimizations from my own experimentation:

• Utilizing GPU-based radix sort rather than bitonic merge sort (there is still lots of room for improving the sorting implementation)
• Indirect dispatches, to sort only the necessary number of gaussians per screen space tile
• Subgroups, to share limited data and operations among threads
• Ordering gaussians in the GPU buffer according to a Z-order curve w.r.t. 3D position, to increase cache coherency

Pipeline

The pipeline for rendering one frame is comprised of 9 compute shaders:

1. "InitSortList": Adds one element per gaussian per overlapping tile into the list to be sorted. A 64-bit key and a 32-bit payload make up an element for sorting. The key is using the higher 32-bits for tile ID and lower 32-bits for view space depth, while the payload contains a gaussian ID. Spherical harmonics are evaluated to compute a view-dependent color for each gaussian.
2. "IndirectSetup": Computes the number of work groups for the various indirect radix sort shader dispatches.
3. "Count": Counts the number of 4-bit masked keys and stores the sum in a sum table.
4. "Reduce": Uses the sum table to sum values within a work group, and stores the result in a reduce buffer.
5. "Scan": Computes the exclusive prefix sum over the reduce buffer.
6. "ScanAdd": Uses the reduce buffer to compute the exclusive prefix sum over the sum table.
7. "Scatter": Uses the sum table to reorder keys and payloads.
8. "FindRanges": Computes start and end indices of gaussians within the same tile.
9. "RenderGaussians": Blends gaussians and writes output colors to the swapchain image.

The radix sort implementation is based on AMD FidelityFX Parallel Sort and consists of 5 shaders. One pass of executing these 5 shaders results in 4 bits being sorted (due to memory constraints). These shaders are therefore executed in N number of passes within one rendering frame to sort the full 64-bit keys.

The main difference between this implementation and AMD FidelityFX, is that this application do not impose a strong upper limit on the number of work groups being computed based on the number of elements to sort. This heavily simplifies the code and in theory allows Count, Reduce, ScanAdd and Scatter to scale better for high-end GPUs. A potential drawback is that it most likely slows down Scan. The performance of this implementation has not been tested against AMD FidelityFX.

Benchmarks

• GPU: NVIDIA RTX 3080 Ti
• GPU Driver Version: 560.70
• Vulkan Version: 1.3.268
• OS: Windows 11 Home 23H2 (22631.3880)

Garden

7'000 iterations: 4'386'142 gaussians

GPU pass	1280x720	1600x900	1920x1080
Elements To Sort	6'852'414	8'343'978	10'008'504
InitSortList	2.222 ms	2.913 ms	3.152 ms
Radix Sort	8.987 ms	11.535 ms	14.141 ms
FindRanges	0.345 ms	0.580 ms	0.398 ms
RenderGaussians	3.142 ms	3.408 ms	4.398 ms
Total Measured GPU Time	14.698 ms	18.437 ms	22.091 ms

30'000 iterations: 5'834'784 gaussians

GPU pass	1280x720	1600x900	1920x1080
Elements To Sort	8'903'222	10'883'659	13'098'506
InitSortList	3.317 ms	3.434 ms	3.214 ms
Radix Sort	11.446 ms	14.925 ms	19.296 ms
FindRanges	0.550 ms	0.732 ms	0.546 ms
RenderGaussians	3.739 ms	4.253 ms	5.442 ms
Total Measured GPU Time	19.052 ms	23.346 ms	28.499 ms

Train

7'000 iterations: 559'263 gaussians

GPU pass	1280x720	1600x900	1920x1080
Elements To Sort	3'487'911	4'792'058	6'295'501
InitSortList	0.879 ms	1.293 ms	2.145 ms
Radix Sort	4.787 ms	6.862 ms	9.574 ms
FindRanges	0.426 ms	0.228 ms	0.338 ms
RenderGaussians	2.488 ms	2.660 ms	2.935 ms
Total Measured GPU Time	8.581 ms	11.044 ms	14.995 ms

30'000 iterations: 1'026'508 gaussians

GPU pass	1280x720	1600x900	1920x1080
Elements To Sort	5'661'123	7'745'436	10'145'054
InitSortList	1.361 ms	1.598 ms	2.856 ms
Radix Sort	7.474 ms	10.775 ms	14.504 ms
FindRanges	0.173 ms	0.326 ms	0.560 ms
RenderGaussians	4.486 ms	4.225 ms	4.113 ms
Total Measured GPU Time	13.496 ms	16.924 ms	22.034 ms

Vulkan features used

• Version 1.3
• Synchronization 2
• Push descriptors
• 64-bit shader integers

Assets used

• Pre-trained 3D gaussian models: https://github.com/graphdeco-inria/gaussian-splatting

Libraries and APIs used

• EnTT: entity components system
• GLFW: window management
• GLM: vector and matrix math
• hapPLY: .ply importing
• Vulkan: graphics and GPU management
• Vulkan Memory allocator: GPU memory management