Hey everyone!
We are happy to share Release 1.0.0 of RVizSplat!
In this release, we provide an RViz display plugin that renders 3D Gaussian splats alongside other conventional markers in the scene. Along with this, we also provide an interface to stream GSplats over ROS topics and the ability to read .ply files which are in the 3DGS INRIA format directly from the plugin.
In case you wish to render Gaussian splatted scenes in a resource constrained environment, we also provide OIT based implementations to bypass sorting the Gaussians at the cost of rendering quality.
On an Nvidia RTX 3060+, we render at 40-60 FPS on a large scene with > 6 million splats and about 20 FPS on a modern integrated GPU for the same scene. On scenes that are comparatively smaller (1-3 million splats), we are able to achieve 100+ FPS. We also provide the ability to sort on an Nvidia GPU (Radix sort) and on the CPU (PDQ Sort).
Additional sorting techniques can be implemented through a simple interface if they suit your needs better.
The package is currently well tested on ROS 2 Rolling and is experimental on Jazzy and Kilted.
Please try out our work, let us know what you think, and star the repository to support the project 
Team members that have made this project possible: Videh Patel, Akash Chikhalikar, Aditya Mathur, and Suchetan Saravanan.
