Multi-GPU training can only be enabled after densification(Try 2.16. New Multiple GPU training strategy)
- Multi-GPU/Node training
- Switch between diff-gaussian-rasterization and nerfstudio-project/gsplat
- Multiple dataset types support
- Interactive web viewer
- Load multiple models
- Model transform
- Scene editor
- Video camera path editor
- Video renderer
- Load a large number of images without OOM
- Dynamic object mask
- Derived algorithms
- Deformable Gaussians
- Deformable 3D Gaussians (2.5.)
- 4D Gaussian (4.3.) (Viewer Only)
- Mip-Splatting (2.6.)
- LightGaussian (2.7.)
- AbsGS / EfficientGS (2.8.)
- 2D Gaussian Splatting (2.9.)
- Segment Any 3D Gaussians (2.10.)
- Reconstruct a large scale scene with the partitioning strategy like VastGaussian (see 2.11. below)
- New Appearance Model (2.12.): improve the quality when images have various appearances
- 3D Gaussian Splatting as Markov Chain Monte Carlo (2.13.)
- Feature distillation (2.14.)
- In the wild (2.15.)
- New Multiple GPU training strategy (2.16.)
- Deformable Gaussians
# clone repository
git clone --recursive https://github.com/yzslab/gaussian-splatting-lightning.git
cd gaussian-splatting-lightning
-
If you forgot the
--recursive
options, you can run below git commands after cloning:git submodule sync --recursive git submodule update --init --recursive --force
# create virtual environment
conda create -yn gspl python=3.9 pip
conda activate gspl
-
Tested on
PyTorch==2.0.1
-
You must install the one match to the version of your nvcc (nvcc --version)
-
For CUDA 11.8
pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 --index-url https://download.pytorch.org/whl/cu118
pip install -r requirements.txt
-
ffmpeg is required if you want to render video:
sudo apt install -y ffmpeg
-
If you want to use nerfstudio-project/gsplat
pip install git+https://github.com/yzslab/gsplat.git
This command will install my modified version, which is required by LightGaussian and Mip-Splatting. If you do not need them, you can also install vanilla gsplat v0.1.12.
-
If you need SegAnyGaussian
-
gsplat (see command above)
-
pip install hdbscan scikit-learn==1.3.2 git+https://github.com/facebookresearch/segment-anything.git
-
For
torch==2.0.1
and cuda 11.8:pip install fvcore iopath pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py39_cu118_pyt201/download.html
-
Download ViT-H SAM model, place it to the root dir of this repo.:
wget -O sam_vit_h_4b8939.pth https://dl.fbaipublicfiles.com/segment_anything/sam_vit_h_4b8939.pth
-
python main.py fit \
--data.path DATASET_PATH \
-n EXPERIMENT_NAME
It can detect some dataset type automatically. You can also specify type with option --data.parser
. Possible values are: Colmap
, Blender
, NSVF
, Nerfies
, MatrixCity
, PhotoTourism
, SegAnyColmap
, Feature3DGSColmap
.
[NOTE] By default, only checkpoint files will be produced on training end. If you need ply file in vanilla 3DGS's format (can be loaded by SIBR_viewer or some WebGL/GPU based viewer):
- [Option 1]: Convert checkpoint file to ply:
python utils/ckpt2ply.py TRAINING_OUTPUT_PATH
, e.g.:python utils/ckpt2ply.py outputs/lego
python utils/ckpt2ply.py outputs/lego/checkpoints/epoch=300-step=30000.ckpt
- [Option 2]: Start training with option:
--model.save_ply true
- Run training with web viewer
python main.py fit \
--viewer \
...
- It is recommended to use config file
configs/blender.yaml
when training on blender dataset.
python main.py fit \
--config configs/blender.yaml \
...
- With mask (colmap dataset only)
- You may need to undistort mask images too: utils/colmap_undistort_mask.py
# the requirements of mask
# * must be single channel
# * zero(black) represent the masked pixel (won't be used to supervise learning)
# * the filename of the mask file must be image filename + '.png',
# e.g.: the mask of '001.jpg' is '001.jpg.png'
... fit \
--data.parser Colmap \
--data.parser.mask_dir MASK_DIR_PATH \
...
- Use downsampled images (colmap dataset only)
You can use utils/image_downsample.py
to downsample your images, e.g. 4x downsample: python utils/image_downsample.py PATH_TO_DIRECTORY_THAT_STORE_IMAGES --factor 4
# it will load images from `images_4` directory
... fit \
--data.parser Colmap \
--data.parser.down_sample_factor 4 \
...
Rounding mode is specified by --data.parser.down_sample_rounding_mode
. Available values are floor
, round
, round_half_up
, ceil
. Default is round
.
- Load large dataset without OOM
... fit \
--data.train_max_num_images_to_cache 1024 \
...
2.3. Use nerfstudio-project/gsplat
Make sure that command which nvcc
can produce output, or gsplat will be disabled automatically.
python main.py fit \
--config configs/gsplat.yaml \
...
[NOTE] Try New Multiple GPU training strategy, which can be enabled during densification.
[NOTE] Multi-GPU training with DDP strategy can only be enabled after densification. You can start a single GPU training at the beginning, and save a checkpoint after densification finishing. Then resume from this checkpoint and enable multi-GPU training.
You will get improved PSNR and SSIM with more GPUs:
# Single GPU at the beginning
python main.py fit \
--config ... \
--data.path DATASET_PATH \
--model.density.densify_until_iter 15000 \
--max_steps 15000
# Then resume, and enable multi-GPU
python main.py fit \
--config ... \
--trainer configs/ddp.yaml \
--data.path DATASET_PATH \
--max_steps 30000 \
--ckpt_path last # find latest checkpoint automatically, or provide a path to checkpoint file
deform-gs-new.mp4
python main.py fit \
--config configs/deformable_blender.yaml \
--data.path ...
2.6. Mip-Splatting
python main.py fit \
--config configs/mip_splatting_gsplat.yaml \
--data.path ...
2.7. LightGaussian
-
Prune & finetune only currently
-
Train & densify & prune
... fit \ --config configs/light_gaussian/train_densify_prune-gsplat.yaml \ --data.path ...
-
Prune & finetune (make sure to use the same hparams as the input model used)
... fit \ --config configs/light_gaussian/prune_finetune-gsplat.yaml \ --data.path ... \ ... \ --ckpt_path YOUR_CHECKPOINT_PATH
2.8. AbsGS / EfficientGS
... fit \
--config configs/gsplat-absgrad.yaml \
--data.path ...
-
Install
diff-surfel-rasterization
firstpip install git+https://github.com/hbb1/diff-surfel-rasterization.git@3a9357f6a4b80ba319560be7965ed6a88ec951c6
-
Then start training
... fit \ --config configs/vanilla_2dgs.yaml \ --data.path ...
2.10. Segment Any 3D Gaussians
-
First, train a 3DGS scene using gsplat
python main.py fit \ --config configs/gsplat.yaml \ --data.path data/Truck \ -n Truck -v gsplat # trained model will save to `outputs/Truck/gsplat`
-
Then generate SAM masks and their scales
-
Masks
python utils/get_sam_masks.py data/Truck/images
You can specify the path to SAM checkpoint via argument
-c PATH_TO_SAM_CKPT
-
Scales
python utils/get_sam_mask_scales.py outputs/Truck/gsplat
Both the masks and scales will be saved in
data/Truck/semantics
, the structure ofdata/Truck
will like this:├── images # The images of your dataset ├── 000001.jpg ├── 000002.jpg ... ├── semantic # Generated by `get_sam_masks.py` and `get_sam_mask_scales.py` ├── masks ├── 000001.jpg.pt ├── 000002.jpg.pt ... └── scales ├── 000001.jpg.pt ├── 000002.jpg.pt ... ├── sparse # colmap sparse database ...
-
-
Train SegAnyGS
python seganygs.py fit \ --config configs/segany_splatting.yaml \ --data.path data/Truck \ --model.initialize_from outputs/Truck/gsplat \ -n Truck -v seganygs # save to `outputs/Truck/seganygs`
The value of
--model.initialize_from
is the path to the trained 3DGS model -
Start the web viewer to perform segmentation or cluster
python viewer.py outputs/Truck/seganygs
SegAnyGS-WebViewer.mp4
2.11. Reconstruct a large scale scene with the partitioning strategy like VastGaussian
Baseline | Partitioning |
---|---|
There is no single script to finish the whole pipeline. Please refer to below contents about how to reconstruct a large scale scene.
- Partitioning
- MatrixCity: notebooks/matrix_city_aerial_split.ipynb (Refer to MatrixCity.md about preparing MatrixCity dataset)
- Colmap: notebooks/colmap_aerial_split.ipynb
- Training
- MatrixCity: Included in its partitioning notebook
- Colmap: utils/train_colmap_partitions.py
- Optional LightGaussian pruning
- Pruning: notebooks/partition_light_gaussian_pruning.ipynb
- Finetune after pruning: utils/finetune_partition.py
- Merging: notebooks/merge_partitions.ipynb
With appearance model, the reconstruction quality can be improved when your images have various appearance, such as different exposure, white balance, contrast and even day and night.
This model assign an extra feature vector
Please refer to internal/renderers/gsplat_appearance_embedding_renderer.py for more details.
Baseline | New Model |
---|---|
Train-head-baseline.mp4 |
Train-head.mp4 |
Day-and-Night.mp4 |
- First generate appearance groups (Colmap or PhotoTourism dataset only)
python utils/generate_image_apperance_groups.py PATH_TO_DATASET_DIR \
--image \
--name appearance_image_dedicated # the name will be used later
The images in a group will share a common appearance embedding. The command above will assign each image a group, which means that will not share any appearance embedding between images.
- Then start training
python main.py fit \
--config configs/appearance_embedding_renderer/view_dependent.yaml \
--data.path PATH_TO_DATASET_DIR \
--data.parser Colmap \
--data.parser.appearance_groups appearance_image_dedicated # value here should be the same as the one provided to `--name` above
If you are using PhotoTourism dataset, please replace --data.parser Colmap
with --data.parser PhotoTourism
.
2.13. 3DGS-MCMC
- Install
submodules/mcmc_relocation
first
pip install submodules/mcmc_relocation
- Then training
... fit \
--config configs/gsplat-mcmc.yaml \
--model.density.cap_max MAX_NUM_GAUSSIANS \
...
MAX_NUM_GAUSSIANS
is the maximum number of Gaussians that will be used.
Refer to ubc-vision/3dgs-mcmc, internal/density_controllers/mcmc_density_controller.py and internal/metrics/mcmc_metrics.py for more details.
Click me
This comes from Feature 3DGS. But two stage optimization is adapted here, rather than jointly.
-
First, train a model using gsplat (see command above)
-
Then extract feature map from your dataset
Theoretically, any feature is distillable. You need to implement your own feature map extractor. Here are instructions about extracting SAM and LSeg features.
-
SAM
python utils/get_sam_embeddings.py data/Truck/images
With this command, feature maps will be saved to
data/Truck/semantic/sam_features
, and preview todata/Truck/semantic/sam_feature_preview
, respectively. -
LSeg: please use ShijieZhou-UCLA/feature-3dgs and follow its instruction to extra LSeg features (do not use this repo's virtual environment for it).
-
-
Then start distillation
-
SAM
python main.py fit \ --config configs/feature_3dgs/sam-speedup.yaml \ --data.path data/Truck \ --data.parser.down_sample_factor 2 \ --model.initialize_from outputs/Truck/gsplat \ -n Truck -v feature_3dgs-sam
-
LSeg
[NOTE] In order to distill LSeg's high-dimensional features, you may need a GPU equipped with a large memory capacity
python main.py fit \ --config configs/feature_3dgs/lseg-speedup.yaml \ ...
--model.initialize_from
is the path to your trained model.Since rasterizing high dimension features is slow,
--data.parser.down_sample_factor
is used here to smaller the rendered feature map to speedup distillation. -
-
After distillation finishing, you can use viewer to visualize the feature map rendered from 3D Gaussians
python viewer.py outputs/Truck/feature_3dgs
CLIP is required if you are using LSeg feature:
pip install git+https://github.com/openai/CLIP.git
object-recognition.mp4
LSeg feature is used in this video.
Based on the Appearance Model (2.12.) above, this model can produce a visibility map for every training view indicating whether a pixel belongs to transient objects or not.
The idea of the visibility map is a bit like Ha-NeRF, but rather than uses positional encoding for pixel coordinates, 2D dense grid encoding is used here in order to accelerate training.
Please refer to Ha-NeRF, internal/renderers/gsplat_appearance_embedding_visibility_map_renderer.py
and internal/metrics/visibility_map_metrics.py
for more details.
[NOTE] Though it shows the capability to distinguish the pixels of transient objects, may not be able to remove some artifats/floaters belong to transients. And may also treat under-reconstructed regions as transients.
- tiny-cuda-nn is required
pip install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch
- Preparing dataset
Download PhotoTourism dataset from here and split file from the "Additional links" here. The split file should be placed at the same path as the dense
directory of the PhotoTourism dataset, e.g.:
├──brandenburg_gate
├── dense # colmap database
├── images
├── ...
├── sparse
...
├── brandenburg.tsv # split file
[Optional] 2x downsize the images: python utils/image_downsample.py data/brandenburg_gate/dense/images --factor 2
- Start training
python main.py fit \
--config configs/appearance_embedding_visibility_map_renderer/view_independent-2x_ds.yaml \
--data.path data/brandenburg_gate \
-n brandenburg_gate
If you have not downsized images, remember to add a --data.parser.down_sample_factor 1
to the command above.
- Validation on training set
python main.py validate \
--save_val \
--val_train \
--config outputs/brandenburg_gate/lightning_logs/version_0/config.yaml # you may need to change this path
Then you can find the rendered masks and images in outputs/brandenburg_gate/val
.
This is a bit like a simplified version of Scaling Up 3DGS.
In the implementation here, Gaussians are stored, projected and their colors are calculated in a distributed manner, and each GPU rasterizes a whole image for a different camera. No Pixel-wise Distribution currently.
This strategy works with densification enabled.
[NOTE]
- Not well validated yet, still under development
- Multiple GPUs training only currently
- In order to combine with derived algorithms containing neural networks, you need to manually wrap your networks with DDP, e.g.: internal/renderers/gsplat_distributed_appearance_embedding_renderer.py
Metrics of MipNeRF360 dataset
One batch per GPU, 30K iterations, no other hyperparameters changed.- Training
python main.py fit \
--config configs/distributed.yaml \
...
By default, all processes will hold a (redundant) replica of the dataset in memory, which may cause CPU OOM. You can avoid this by adding the option --data.distributed true
, so that each process loads a different subset of the dataset.
- Merge checkpoints
python utils/merge_distributed_ckpts.py outputs/TRAINED_MODEL_DIR
- Start viewer
python viewer.py outputs/TRAINED_MODEL_DIR/checkpoints/MERGED_CHECKPOINT_FILE
Per-image metrics will be saved to TRAINING_OUTPUT/metrics
as a csv
file.
python main.py validate \
--config outputs/lego/config.yaml
python main.py test \
--config outputs/lego/config.yaml
python main.py validate \
--config outputs/lego/config.yaml \
--val_train
python main.py <validate or test> \
--config outputs/lego/config.yaml \
--save_val
Then you can find the images in outputs/lego/<val or test>
.
Transform | Camera Path | Edit |
---|---|---|
transform.mp4 |
animation.mp4 |
edit.mp4 |
- Also works for graphdeco-inria/gaussian-splatting's ply output
python viewer.py TRAINING_OUTPUT_PATH
# e.g.:
# python viewer.py outputs/lego/
# python viewer.py outputs/lego/checkpoints/epoch=300-step=30000.ckpt
# python viewer.py outputs/lego/baseline/point_cloud/iteration_30000/point_cloud.ply # only works with VanillaRenderer
python viewer.py \
outputs/garden \
outputs/lego \
outputs/Synthetic_NSVF/Palace/point_cloud/iteration_30000/point_cloud.ply \
--enable_transform
[NOTE] The commands in this section only design for third-party outputs
python viewer.py \
Deformable-3D-Gaussians/outputs/lego \
--vanilla_deformable \
--reorient disable # change to enable when loading real world scene
python viewer.py \
4DGaussians/outputs/lego \
--vanilla_gs4d
# Install `diff-surfel-rasterization` first
pip install git+https://github.com/hbb1/diff-surfel-rasterization.git@28c928a36ea19407cd9754d068bd9a9535216979
# Then start viewer
python viewer.py \
2d-gaussian-splatting/outputs/Truck \
--vanilla_gs2d
python viewer.py \
SegAnyGAussians/outputs/Truck \
--vanilla_seganygs
python viewer.py \
mip-splatting/outputs/bicycle \
--vanilla_mip
Q: The viewer shows my scene in unexpected orientation, how to rotate the camera, like the U
and O
key in the SIBR_viewer?
A: Check the Orientation Control
on the right panel, rotate the camera frustum in the scene to the orientation you want, then click Apply Up Direction
.
reorient-camera-up.mp4
Besides: You can also click the 'Reset up direction' button. Then the viewer will use your current orientation as the reference.
- First use mouse to rotate your camera to the orientation you want
- Then click the 'Reset up direction' button
Q: The web viewer is slow (or low fps, far from real-time).
A: This is expected because of the overhead of the image transfer over network. You can get around 10fps in 1080P resolution, which is enough for you to view the reconstruction quality.