@startuml start if (Load from SfM or File?) then (SfM) :Load SfM Data (COLMAP/OpenMVG output); :Extract 3D Points and Camera Poses; if (Optimize Splats?) then (Yes) :Run Gaussian Optimization (NeRF-like); :Calculate Scale, Opacity, and Color; :Save to .splat File; else (No) :Use raw SfM points; endif else (File) :Load Precomputed .splat File; endif :Start Gazebo Plugin; :Load Gaussian Splat Data; :Initialize OpenGL Buffers (VAO, VBO); :Upload Splats to GPU; while (Simulation Running?) is (Yes) if (Camera Position Updated?) then (Yes) :Project Splats to Camera View (Projection Step); :Perform Frustum Culling (Remove Out-of-View Splats); :Apply Adaptive Density Control (LOD Adjustment); endif :Tile Splats using Differentiable Tile Rasterizer; :Render Splats with OpenGL Shader; :Update Simulation in Gazebo; endwhile :Cleanup GPU Buffers; :Exit Plugin; stop @enduml Submit amiga aws-orange black-knight bluegray blueprint cerulean-outline cerulean crt-amber crt-green cyborg-outline cyborg hacker lightgray mars materia-outline materia metal mimeograph minty plain reddress-darkblue reddress-darkgreen reddress-darkorange reddress-darkred reddress-lightblue reddress-lightgreen reddress-lightorange reddress-lightred sandstone silver sketchy-outline sketchy spacelab spacelab-white superhero-outline superhero toy united vibrant       🎉 Discover the future PlantUML Web Editor! 🚀  PNG  SVG  ASCII Art