Open3D better than ever in our newest 0.13 release

Open3D 0.13.0 Release Notes

We welcome you to the 0.13.0 release of Open3D. This release is full of exciting new features with a strong emphasis in real-time pipelines, but also full of bug fixes and usability improvements. The big highlights of this release are as follows:

  • New real-time 3D reconstruction pipeline, featuring GPU and CPU support based on VoxelHashing.
  • New real-time point cloud registration algorithm, featuring a high-performance version of Iterative Closest Point (ICP).
  • New Neighbor Search module, introducing your favorite search algorithms such as KNN and RadiusSearch, with support for GPU and CPU devices through a common interface.
  • New web visualizer, which enables users to access the advanced rendering and visualization features of Open3D in your favourite web environments (remote and locally!), including Jupyter notebooks, Jupyter lab, and standalone web applications.
  • New 3D machine learning models and datasets, featuring PointRCNN for 3D object detection, SparseConvNets for point cloud semantic segmentation, and support for ScanNet and SunRGBD.
  • Upgraded GUI module, providing improved and more versatile versions of existing widgets, and new ones: ImageWidget and ToggleSwitch.
  • Upgraded build system, adding support for CUDA 11.

Real-time 3D reconstruction

We introduce a new CUDA accelerated pipeline including RGBD odometry, frame-to-model tracking, and volumetric integration.

image
Figure 1. Example of 3D reconstruction from an RGB-D sensor.

Odometry

We introduce the tensor based real-time RGBD Odometry pipeline. In addition to the legacy Hybrid and Intensity based methods, we support the popular point-to-plane method.

TSDFVoxelGrid

We further accelerate volumetric integration and introduce fast ray casting for rendering.

VoxelHashing

Based on the accelerated RGBD odometry and raycasting, we present the fully functional VoxelHashing system. It performs dense volumetric reconstruction with fast frame-to-model tracking. We present an easy-to-use GUI that also shows real-time interactable surface reconstruction.

SLAC

We have further enhanced our legacy offline reconstruction system by introducing the Simultaneous Localization and Calibration (SLAC) algorithm. This algorithm applies advanced dense multi-way registration along with non-rigid deformation to create highly-accurate reconstructions.

Real-time point cloud registration

We present a high-performance implementation of ICP using Open3D’ Tensor library. This module is one of the first on leveraging the new Neighbor search module and the newly crafted parallel kernels. This implementation brings support for multi-scale ICP, which allows us to do iterations on different resolutions in order to accelerate convergence while keeping computation low.

image
Figure 2. ICP registration of multiple point clouds from a driving dataset.

New Neighbor Search module

Neighbor search is at the core of many 3D algorithms. Therefore, it is critical to have access to a fast implementation able to execute a large number of queries in a fraction of a second. After months of development, the Open3D team is proud to present the new Neighbor Search module!

This module brings support for core search algorithms, such as KNN, Radius search, and Hybrid search. All these algorithms are provided with support for both CPU and GPU, through a common and easy-to-use interface. Write your code once and support multiple devices! Moreover, we have not sacrificed a single flop of computation, making this module one of the fastest neighbor search libraries ever created.

Web visualizer

The need for visualizing complex 3D data in web environments has surged considerably in the past few years, in part thanks to the proliferation of sensors like LIDAR and RGBD cameras. New use cases, such as online dataset inspection and remote visualization are now an integral part of many tasks, requiring the crafting of ad-hoc tools, which often are cumbersome to use.

image
Figure 3. Standalone visualization of a semantic segmentation model in a browser.

In order to improve this situation, we introduce our new web-based visualization module, which enables 3D visualization from any browsers and any location. This module lets users run advanced rendering and visualization pipelines, both remote and locally through your web browser. All the power of Open3D’ rendering engine --including support for PBR materials, multiple lighting systems, 3D ML visualization, and many other features--, are now supported in your browser. This module also includes a Jupyter extension for interactive web-based visualization! This new feature allows you to run compute-intensive 3D processing in a dedicated server while visualizing the results remotely on any device through your browser.

image
Figure 4. Visualization of a 3D model on a Jupyter notebook.

3D Machine Learning

Architectures

In this release, we introduce a new point cloud semantic segmentation architecture based on a Sparse Convolution-based UNet model. This architecture leverages the new sparse convolution operators provided by Open3D, and achieves state of art performance for Semantic Segmentation on the ScanNet dataset. We have also added support for PointRCNN for the task of 3D object detection. To enable PointRCNN we have added new operators like furthest_point_sampling, three_interpolate, ball_query, which are available through Open3D for TensorFlow and Pytorch.

image
Figure 5. Example of 3D semantic segmentation using a SparseConvUNet model on ScanNet.

image
Figure 6. Example of 3D object detection using a PointRCNN on KITTI.

All these models are provided with their respective training and inference pipelines with support for TensorFlow and Pytorch. Pre-trained models are also provided (check out the following link).

Datasets

This release brings the following datasets: Scannet and SunRGBD.

Frameworks

We now support all models on newer versions of TensorFlow (2.4.1) and PyTorch (1.7.1), on CUDA 11.0.

GUI and rendering modules

Open3D 0.13.0 brings a cascade of improvements and fixes to the renderer and GUI modules.

  • The camera can now be controlled with respect to a target object, and the pan-in/pan-out actions are smoother.
  • The render supports render targets.
  • The black screen issue in MacOS systems is now solved.
  • Support for a video widget
  • The background of the 3D scene widget can be updated with an image.
  • Camera objects can be visualized in the 3D scene.
  • Camera objects support intrinsic and extrinsic parameters.
  • Support for multiple fonts.
  • Support for a new ToggleSwitch widget.
  • New GUI/rendering examples for common tasks, such as data acquisition from RGBD sensors, 3D reconstruction, and registration, among others.

Build System

Our pip packages now include support for CUDA 11.0, PyTorch 1.7.1, and TensorFlow 2.4.1 to enable RTX 3000 series devices. Please, notice that we provide custom PyTorch wheels for Linux to work around an incompatibility between CUDA 11, PyTorch, and extension modules such as Open3D-ML.

This release also brings new improved support for CUDA on Windows. Users can now build CUDA accelerated Python wheels for Windows. Open3D is now built with security options enabled by default.


We hope you find Open3D 0.13.0 exciting and useful. Happy coding!

Remember that you can reach out with questions, requests, or feedback through the following channels:

Find the full change log here.

The Open3D team


Changelog:

Deprecating

  • All visualization tools, such as draw_geometries will be deprecated in Open3D 0.14 in favor of the new O3DViewer.

Changes to Open3D

  • add ml deps for conda build (#2826)
  • tensorkey refactoring: pimpl and optional arguments (#2813)
  • Add file and line for error message (#2829)
  • color map optimization refactoring (#2832)
  • remove openmp macro guards for color map optimization (#2835)
  • easy way of initializing c++ tensor (#2796)
  • Add numerical operations to Tensor (#2848)
  • Implement np style arange for Tensor (#2849)
  • Refactor TSDF kernels (#2854)
  • core::Scalar class and refactor arange (#2857)
  • octree updates (#2833)
  • numpy-compatible tensor IO (#2859)
  • Upgrade zlib and libpng, use ExteralProject (#2878)
  • update mkl download links (#2882)
  • Python RSBagReader.open() crash on Ubuntu (#2876)
  • refactoring: add pipelines/kernel folder (#2875)
  • Standarize To() and Copy() (#2877)
  • compile 3rd-party library in a separate step for arm64 CI (#2891)
  • Hardened security flags for building Open3D (#2883)
  • fix incompatible CUB include dir with CUDA 11 and later (#2913)
  • Jsoncpp with ExternalProject (#2907)
  • Python example of using a texture on a Material (#2935)
  • Add rendering for VoxelGrid and Octree to new renderer (#2932)
  • Enable RSUSB backend only on Linux. (#2923)
  • Added C++ example OffscreenRendering (#2914)
  • Lazy load renderer when creating window in case Python crashes before window becomes visible (#2819)
  • Fixed trackpad scrolling to be buttery smooth at slow speeds on macOS (instead of being very discrete-seeming) (#2964)
  • add tunable parameter to filter outliers in surface extraction (#2931)
  • Added close callback to window (#2958)
  • Mode For Light To Follow Camera (#2944)
  • Image processing Ops sample with IPP and NPP (#2898)
  • Added ability to set camera in open3d.visualization.draw() (#2936)
  • Mouse movement by spherical coordinates (#2962)
  • Refactored RPC interface to be more amenable to variation in visualizers (fixes add not updating) (#2970)
  • Optimised kernel for ICP (#2917)
  • Add support for FPS-style mouselook to visualizer (#2551)
  • maximize build space for ubuntu (#2986)
  • Minor typo in repr for OBB (#2987)
  • function for casting the tensor data pointer to a datatype (#2934)
  • Undo lazy creation of renderer on Windows; it fixed the hang on exit when a python exception is generated before the run() happens, but broke normal windows (#2996)
  • Add Image IO (#2955)
  • Implement ray casting for TSDF voxel grids (#2941)
  • Procedural Ground Plane (#2980)
  • Mousewheel dollies based on distance from center of rotation rather than size of model (#3011)
  • Update Mac build to use latest 1.9.11 Filament to fix illegal instruction error (#3013)
  • Fix arm64 CI out-of-time (#3020)
  • Add Ground Plane support to O3DViewer (#3014)
  • Recenter rotation to point on double-click (#2905)
  • Implement depth buffer read back (#3028)
  • Remove unnecessary include causing unwanted compile dependencies (#3030)
  • Update faiss_build.cmake (#2979)
  • Added python bindings for rendering::Camera (#3033)
  • PointRCNN ops (#3021)
  • add int16 dtype and tests (#3035)
  • enable ccache for cuda with CMAKE_CUDA_COMPILER_LAUNCHER (#3043)
  • Support updating tpointcloud with the same or fewer vertices as original (#3048)
  • Use RenderTargets For Scene Caching (#3031)
  • Add init pybind for Label3D (#3045)
  • Fix linking issue of Torch/TF Ops (#2957)
  • GCE CUDA Python tests (#3063)
  • Rearrange constructor so input missing "points" attribute reaches LogError (#3062
  • Make sure bounding box is non-empty (#3061)
  • Replace CMake GLOB and GLOB_RECURSE with file listing (#3059)
  • Add pybind param names to docstring for 'TSDFVoxelGrid.integrate' (#3058)
  • Support USE_SYSTEM_LIBREALSENSE flag. (#3057)
  • Faster FixedRadiusSearch and HybridSearch (#2821)
  • IPP/NPP image operators (#2972)
  • Add function to randomly downsample from pointcloud (#3050)
  • maximize build space (#3071)
  • Add 'd' suffix to non-system libpng compiled library discovery for non-MSVC Debug builds (#3067)
  • disable incompatible clang flags for now (#3080)
  • [FileSystem] Fix GetPathComponents and unit tests on Windows. (#3070)
  • Minor spell fix (#3081)
  • Add disconnection function to AzureKinectSensor (#3044) (#3082)
  • PointRCNN ops tf (#3075)
  • Set post-processing coniguration when copying View settings (#3083)
  • Fix crash if posted Window callback executes after Window is destroyed (#3084)
  • style-guide link update (#3086)
  • Update contribution_recipes.rst (#3088)
  • changed Registration unit-test to use RegistrationPermuteDevices (#3095)
  • LU, LU_with_ipiv, Det, Triu, Tril, Triul Ops (#2879)
  • Set position in constructor (#3096)
  • memory efficient hybrid search (#3073)
  • Implemented ability to render to a bitmap window and interact with UI (#3072)
  • Better error message if you don't initialize gui::Application before creating a window (#3103)
  • Added pybind for Camera::CopyFrom() (#3104)
  • Enable builds on Fedora. (#3102)
  • [CUDA] Fix memory leaks. (#3099)
  • Use UnownedPointer so Python doesn't retain a valid shared_ptr (#3106)
  • Tensor nested initializer list with recursion (#3055)
  • Fix window resize when Scene caching is enabled. (#3107)
  • delete some ssh keys to keep the profiles small (#3110)
  • Fixed crash when referencing submenus (#3114)
  • Enable builds on Fedora (FAISS, MKL, TBB) and fix output result of CMAKE. (#3118)
  • Added the double-click code from Window.cpp in #2905 that got clobbered by the WindowSystem refactor (#3119)
  • TransformConverter supports Float32 and Float64 (#3098)
  • Fix one frame blinking in Open3DViewer when layout changed or dialog box was closed (#3121)
  • benchmark links 3rd-party library (#3124)
  • Set byproducts for external projects. (#3138)
  • Open3D C++ example projects as separete repos (#3128)
  • gce disk size set to 48GB (#3169)
  • download test datasets from intel-isl/open3d_downloads (#3105)
  • Add ability to set center of rotation on SceneWidget, which is necessary for copying from a camera. (#3147)
  • Minor(?) fix (#3175)
  • Clone from specific commit instead of release branch (#3179)
  • fix docstrings for ML modules (#3160)
  • Add multi-window C++ and Python examples (#3167)
  • Expose rendering to a depth image to Python, makes resulting depth image range from 0 (near plane) to 1 (far plane) instead of simply returning the raw values from Filament's buffer (which are reversed), fixes widgets that aren't SceneWidget or a Layout not working if they are a top-level child. (#3178)
  • Fix incorrect coordinates for mouse events on Linux (#3177)
  • Added gui::ToggleSwitch (#3182)
  • Give Material::shader default value of "defaultUnlit" (#3184)
  • Add support for textures in TriangleMesh::operator+= (#3170)
  • TensorToEigenMatrix Ops. (#3163)
  • assigning scalar to r-value tensor of arbitrary shape (#3137)
  • t::PointCloud from RGBD image (#3113)
  • openblas x86_64 docker (#3195)
  • Updated copyrights to 2021 for gui (#3189)
  • Added an example for line width (#3194)
  • disable CreateFromRGBDImage for arm64 test (#3206)
  • Don't allow empty geometry to be added to scene (#3203)
  • upgrade scipy and cmake version (#3199)
  • Added pybinds for color grading enums, also changed property open3d.visualization.rendering.Open3DScene.get_view to view (it is a property, not a function) (#3193)
  • Fix for CreateFromRGBDImage test (#3207)
  • speed up arm64 build with docker and ccache (#3205)
  • [Windows] Fix linker errors and warnings. (#3151)
  • Fix ModuleNotFoundError when build with GCC10. (#3142)
  • Tensor-based RGBD Odometry (#3085)
  • t-ICP ComputeTransform major performance improvements. (#3019)
  • UV-Map for Box, Tetrahedron, Octahedron, Icosahedron (#3097)
  • Init voxeldownsample (#3144)
  • Fix compilation on Windows when building with CUDA. (#3036)
  • Added mouse events + convert point to world coordinates example (#3192)
  • Optimising Tensor RGBD Odometry. (#3213)
  • handle the invalid tetra warning (#3201)
  • SplitString returns tokens (#3223)
  • clean up ci_utils for arm64 (#3224)
  • less verbose tar print for arm docker (#3226)
  • optimised hybrid search, clear tree from master (#3218)
  • Added 3D labels to O3DVisualizer, added example (#3233)
  • Add ability to set layout minor axis size, moved render target drawing from Open3DScene to SceneWidget which is a little more straightforward and also puts the image in the proper z-level so that SceneWidget can be used in layouts (#3212)
  • Improves progress bar in Open3DViewer app, also fixes unlit material instead of lit (#3238)
  • refactor logging (#3241)
  • Adds ImageWidget and ability to efficiently change Scene background image (#3002)
  • Update to filament v1.9.19 for mac for multi-window fixes (#3251)
  • Fix spurious warning if a triangle mesh with no normals uses "default Unlit". Happens if you pick points (#3256)
  • Fix camera matrix getting pybinds not returning something that can be converted to a Python object (#3257)
  • Hashmap refactor (#3211)
  • Added camera visualization to LineSet (#3255)
  • Added header files for TriangleMeshModel to Open3D.h.in (#3261)
  • Update stdgpu dependency to latest upstream (#3265)
  • Use more sensible default color for point clouds with no per-vertex color (#3278)
  • T-Registration pybinds and python-tests. (#3112)
  • Fix memory leak in stdgpu hashmap backend (#3281)
  • Upgrade Tensor-based RGBD odometry (#3229)
  • UV Maps for Cone, Cylinder, Sphere added. (#3275)
  • get_is_open() for CollapsableVert widget (#3286)
  • Remove use of CMAKE_BUILD_TYPE. (#3164)
  • Support TGeometry Image At Low Level and In Image Widget (#3277)
  • simplify MANIFEST.in with graft (#3288)
  • Optimised CopyCPU and CopyCUDA for case when dst is contiguous and src has single element. [Fill] (#3136)
  • Added polygon picking (#3252)
  • Add post_redraw() to O3DVisualizer so that it can be used non-blocking (#3262)
  • Fixes crash/hang on exit if rendered to an image (#3273)
  • voxel_down_sample pybind for t::pointcloud (#3293)
  • Added italic, bold, and bold italic styles (#3298)
  • Tensor IsInf, IsNan, IsFinite (#3302)
  • Add remaining fixed-size integer dtypes (#3320)
  • Port to CMAKE_CUDA_ARCHITECTURES (#3316)
  • Tensor Multi Scale ICP (#3285)
  • Fix many minor C++ documentation issues (#3326)
  • update docs-build dependencies (#3335)
  • Added tooltips (#3334)
  • Defer layout of dialog to ensure ImGUI context is valid for CalcPreferredSize (#3339)
  • Optimize TSDF-related operations (#3314)
  • Unify dispatch macros from CoreUtil.h and Dispatch.h (#3295)
  • Fix error message when no correct arguments are provided (#3292)
  • Add material property for supplying vertex colors in sRGB (#3340)
  • CUDA, TF, Pytorch version upgrade (#3049)
  • fix header include (#3344)
  • pass cuda inc dir to stdgpu to find thrust if cuda is not in a standard (#3343)
  • fix conditions for showing warning. drop pytorch version test. (#3355)
  • Remove attributes from pointcloud and trianglemesh (#3299)
  • fixed int64_t issue on mac (#3291)
  • Adjusted odd characters which were giving unicode charmap error (#3336)
  • Improve performance of stdgpu hashmap backend (#3346)
  • Add pybind for T PointCloud and fix associated bugs (#3345)
  • Shubhamagarwal12/tensor mesh io (#3221)
  • Update Linux and Windows platforms to Filament v1.9.19 (#3271)
  • Fix multiple VectorEdits in a UI not working (#3360)
  • Properly scale UInt8 colors when converting to Legacy Point Cloud (#3350)
  • Make tooltips prettier (#3348)
  • fix scalar boolean handling in pybind (#3362)
  • Fixed identically named Checkboxes and ToogleSwitches not working, removed use of stringstream in the rest (#3369)
  • Unqueue dead window events (#3370)
  • Make sure ResizeRenderer gets called on BitmapWindow (#3374)
  • Further improve performance of stdgpu hashmap backend (#3377)
  • simplify jsoncpp cmake (#3174)
  • [WebRTC] WebRTC library build scripts (#3349)
  • Move vertexmap/normalmap related functions to t::Image (#3318)
  • Revert "simplify jsoncpp cmake (#3174)" (#3386)
  • Don't add menus in Jupyter that are not meaningful (#3385)
  • Added ability to setup camera with extrinsic and intrinsic in new visualizer (#3338)
  • Increase warning level (#3357)
  • Clarify C++ standard in documentation (#3384)
  • Optimize RGBD odometry (#3323)
  • Python docs fix (#3373)
  • Add Docker minimal example to getting_started docs. Fix #3388 (#3396)
  • Introducing SLAC (#3108)
  • Voxel hashing GUI (#3363)
  • Fix screen turning black on resize in standalone viewer (#3394)
  • Tensor Registration Update (#3352)
  • SLAC Pybinds, Unit Tests, Documentation. (#3393)
  • add template parameters for input and output tensors in the cconv op (#3353)
  • RGBD Odometry Pybinds (#3359)
  • Tensor::Clip() simple implementation (#3266)
  • Fix filament byproducts and build from source. (#3375)
  • Fix CUDA builds on Windows. (#3380)
  • Replace templates with Scalar class (#3391)

Open3D 0.12.0, the last release of 2020

Open3D 0.12.0 Release Notes

Open3D 0.12.0 is out, and it comes with new 3D object detection pipelines and datasets, newest versions of some of your preferred classic tools, and many bug fixes.

Keep reading for a summary of the most relevant features introduced in this release:

Extensions to the Open3D-ML module

The previous release of Open3D introduced an exciting new module dedicated to 3D Machine Learning Open3D-ML, featuring support for 3D semantic segmentation workflows. In this release, we have extended Open3D-ML with the task of 3D object detection. This extension introduces support for new datasets, such as the Waymo Open dataset, Lyft level 5 open data, Argoverse, nuScenes, and KITTI. As always, all these datasets can be visualized out-of-the-box using our visualization tool, from Python or C++. The visualization tool is now equipped with the capability to render 3D bounding boxes along with all the previously existing modalities, e.g. semantic labels, XYZRGB, depth, normals, etc.

Open3D-ML features

PointPillars, the first of the many object detection models to come in the near future. To enable the implementation of PointPillars, we have added a set of new ML operators in Open3D, such as: grid_sampling, NMS, and IOU. These operators are available to the community and can be used to build new models, using our Python and C++ APIs.

import os
import open3d.ml as _ml3d
import open3d.ml.torch as ml3d

cfg_file = "ml3d/configs/pointpillars_kitti.yml"
cfg = _ml3d.utils.Config.load_from_file(cfg_file)

model = ml3d.models.PointPillars(**cfg.model)
cfg.dataset['dataset_path'] = "/path/to/your/dataset"
dataset = ml3d.datasets.KITTI(cfg.dataset.pop('dataset_path', None), **cfg.dataset)
pipeline = ml3d.pipelines.ObjectDetection(model, dataset=dataset, device="gpu", **cfg.pipeline)

... 
# run inference on a single example.
result = pipeline.run_inference(data)

We have also updated our model zoo, providing new pretrained models on KITTI for the task of 3D object detection, and new semantic segmentation models on Paris-Lille3D and Semantic3D.

Remember that all the tools provided in Open3D-ML are compatible with PyTorch and TensorFlow!

Support for RealSense SDK v2

RealSense sensors’ support has been upgraded to leverage the RealSense SDK v2. Users can now capture crisp 3D data from L515 devices. As part of this upgrade, we include support for Bag files format (RSBagReader), and direct streaming from sensors. These operations can now be done through a new sensor class: RealSenseSensor, offering a simple and intuitive way to control your sensors.

import open3d as o3d
bag_reader = o3d.t.io.RSBagReader()
bag_reader.open(bag_filename)
while not bag_reader.is_eof():
    im_rgbd = bag_reader.next_frame()
    # process im_rgbd.depth and im_rgbd.color

bag_reader.close()
import json
import open3d as o3d
with open(config_filename) as cf:
    rs_cfg = o3d.t.io.RealSenseSensorConfig(json.load(cf))

rs = o3d.t.io.RealSenseSensor()
rs.init_sensor(rs_cfg, 0, bag_filename)
rs.start_capture(True)  # true: start recording with capture
for fid in range(150):
    im_rgbd = rs.capture_frame(True, True)  # wait for frames and align them
    # process im_rgbd.depth and im_rgbd.color

rs.stop_capture()

realsense_open3d

For further information, check this tutorial.

CORE and 3D reconstruction

Open3D 0.12 brings exciting CORE upgrades, including a new Neighbor Search module. This module supports typical neighbor search methods, such as KNN, radius search, and hybrid search, on both CPUs and GPUs, under a common interface!

Furthermore, we have created a new version of the TSDF integration algorithm accelerated on GPU. This version is able to achieve an outstanding computational performance, requiring between 2 and 4 ms to integrate a pair of frames.

New rendering functionalities

We have done an important effort over the last months to put out a modern, real-time, rendering API. This effort is still ongoing, and we are committed to bring top-tier rendering capabilities with a strong emphasis in performance, versatility, ease of use, and beauty. As part of our commitment, in this release we have added relevant extensions to this API:

  • Support for Screen-space reflections

monkey2

  • Full programmatic support for headless rendering in Filament (for real)
box = o3d.geometry.TriangleMesh.create_box(2, 2, 1)
render = rendering.OffscreenRenderer(640, 480)
render.scene.add_geometry("box", box, grey)
render.scene.camera.look_at([0, 0, 0], [0, 10, 0], [0, 0, 1])
img = render.render_to_image()
  • Support for arbitrary camera intrinsic matrices: A small step for the Camera class; a very anticipated step by the Open3D community
Camera::SetProjection(const Eigen::Matrix3d& intrinsics,
                               double near,
                               double far,
                               double width,
                               double height)
  • Support for text rendering: Render text in 3D
Label3D::Label3D(const Eigen::Vector3f& pos, const char* text)
  • Full control over the color grading pipeline
class ColorGradingParams {
public:
    ColorGradingParams(Quality q, ToneMapping algorithm);

    void SetTemperature(float temperature);
    void SetTint(float tint);
    void SetContrast(float contrast);
    void SetVibrance(float vibrance);
    void SetSaturation(float saturation);
    void SetChannelMixer(const Eigen::Vector3f& red,
                         const Eigen::Vector3f& green,
                         const Eigen::Vector3f& blue);
    void SetShadowMidtoneHighlights(const Eigen::Vector4f& shadows,
                                    const Eigen::Vector4f& midtones,
                                    const Eigen::Vector4f& highlights,
                                    const Eigen::Vector4f& ranges);
    void SetSlopeOffsetPower(const Eigen::Vector3f& slope,
                             const Eigen::Vector3f& offset,
                             const Eigen::Vector3f& power);

    void SetCurves(const Eigen::Vector3f& shadow_gamma,
                   const Eigen::Vector3f& midpoint,
                   const Eigen::Vector3f& highlight_scale);
}

Control shadow behaviors and post-processing effects:

class View
{
    void SetPostProcessing(bool enabled);
    void SetAmbientOcclusion(bool enabled, bool ssct_enabled);
    void SetAntiAliasing(bool enabled, bool temporal);
    void SetShadowing(bool enabled, ShadowType type);
}

Visualization and GUI: O3DViewer (beta)

The visualization module has been extended, using the new rendering capabilities and the GUI API, to create a unified visualizer displaying all the features contained in previous Open3D visualizers, e.g., camera animation, data selection, support for callbacks, and multiple shading modes.

fireflies

This new visualizer, codename O3DViewer, will be the official visualization tool in Open3D starting in Open3D 0.14. At that time, previous visualizers will be deprecated.

o3dviewer

We hope you find Open3D 0.12.0 exciting and useful. Happy coding!

Remember that you can reach out with questions, requests, or feedback through the following channels:

Find the full change log keep reading.

The Open3D team

Deprecating

  • All visualization tools, such as draw_geometries will be deprecated in Open3D 0.14 in favor of the new O3DViewer.
  • The Open3D 0.12 packages will be the last to support TensorFlow 2.3 and PyTorch 1.6 with CUDA 10.1. We will update to newer versions of these toolkits in the Open3D 0.13 packages. Note that this does not affect binary compatibility if Open3D is built from source.

Changes to Open3D-ML

  • Fixed infinte dataset iteration (#184)
  • Update readme and config files for parislille3d; align points for parislille3d (#180)
  • Disable data augmentation while testing. (#181)
  • Fixed absolute path bug (#182)
  • Add Data Augmentation (#178)
  • PointPillars bug fixes (#179)
  • Filter KITTI point cloud (#177)
  • Point pillars metrics (#172)
  • Add wide lines (#176)
  • Fix for changes in t::geometry (#173)
  • Added ShapeNet dataset (#157)
  • Added weight initialization (#174)
  • Update model zoo (#175)
  • New validation for torch (#169)
  • Point pillars train tf (#171)
  • Point pillars train (#170)
  • Readme randlanet semantic3d (#167)
  • Fixes for changes from TensorList to Tesor for t.geometry objects (#161)
  • Add Tensorflow model and inference pipeline. (#159)
  • Fix broken link to torch RandLA-Net Toronto 3d model (#163)
  • Add comments for visualize predictions (#151)
  • PointPillars inference pipeline (#153)
  • Link to kpconv parislille3d models in readme (#160)
  • Added Agroverse 3D Dataset (#155)
  • Change Bounding box class. (#149)
  • Add bounding boxes to visualizer (#140)
  • Add Download scripts (#145)
  • Add Lyft Dataset (#138)
  • Create sampler class for sampling point cloud idx and points idx (#135)
  • Add NuScenes dataset (#137)
  • Add Waymo Dataset (#136)
  • Add Kitti object detection dataset (#128)

Changes to Open3D

  • Added python bindings, improved descriptiveness of repr for bounding boxes, and added BG options to draw() (#2785)
  • Fix aspect ratios of background images in certain situations (#2783)
  • Add 3D Labels to SceneWidget (#2781)
  • ICP Point to Plane and Point to Point Registration and Example (#2743)
  • Make sure projection flags are always properly initialized (#2782)
  • RealSense sensor configuration, live capture and recording (#2748)
  • CUDA/CPU compatible TSDF integration (#2710)
  • Added animation callbacks (also some pybinds for rendering::Scene) (#2769)
  • Add ability to add mouse and key callbacks to SceneWidget in Python (#2776)
  • Expose Additional Filament features via View class (#2755)
  • Add support for SSR (via refraction material) (#2768)
  • Added compatible draw() function for external visualizer (#2772)
  • Add light entities to filament scene (#2771)
  • Fix memcpy issue for nms cuda (#2770)
  • Fix background not being drawn in some camera orientations (#2764)
  • Add shader for unlit with transparency (#2760)
  • RealSense SDK v2 (#2646)
  • Better picking, fixes crash removing last selection set (#2746)
  • Support multiple non-sun directional lights (#2759)
  • Add rpc interface to the new draw function (#2734)
  • Fix out of bounds memory access in ragged_to_dense op (#2751)
  • Enable HybridSearch on GPU (#2752)
  • Fix undefined reference in Debug build with gcc (#2744)
  • Expose Filament's Color Grading Controls (#2737)
  • O3DVisualizer can accept background images (#2735)
  • Fix build for BUILD_GUI=OFF SHARED_LIBRARIES=ON (#2745)
  • IoU op for BEV and 3D (#2742)
  • Add replacement for draw_geometries() (#2585)
  • Included missing header files (#2137)
  • Tensor transform pointcloud (#2704)
  • Added ability to set background image (#2701)
  • Modernize Hashmap (#2676)
  • Moved Line3D and Segment3D Transform implementation to cpp file (#2690)
  • Docs: Minor tweaks (README, bib ref, notebook instructions, some directives) (#2534)
  • Alt-Enter to toggle Fullscreen mode (#1939)
  • Faster mesh and pcd conversion (#2719)
  • Remove 16.04 kinect workaround (#2718)
  • Use assimp to load STL, enable ASCII read (#2506)
  • Fixes a second button with same name not working (#2696)
  • Add shader and supporting code for variable line width line sets (#2678)
  • Remove filament-only arm64 build (#2708)
  • Connect FixedRadiusSearch to NearestNeighborSearch (#2680)
  • Geometry stores Tensor instead of TensorList (#2692)
  • Update pybind11 and tinyobjloader version (#2703)
  • FixedRadiusSearch in core::nns (#2582)
  • Simplify macos dependencies (#2666)
  • Fix windows warning (as error) on master (#2691)
  • Fix warnings and link problems on windows for rpc interface (#2661)
  • Integration of Custom Filament Headless Backend (#2572)
  • RPC receiver for visualizer (#2182)
  • Added support for international characters in the GUI (#2655)
  • Cmake-3.17 required (#2665)
  • Build wheel with Kinect support on CI (#2648)
  • Write point cloud with custom attributes (#2594)
  • Convert half_edge_mesh.py to jupyter notebook (#2387)
  • Integrate Faiss to NearestNeighborSearch (#2400)
  • Update RANSAC (#2636)
  • Fix for implicit capture of this in cpp20 (#2638)
  • Nms op for pytorch and tensorflow (#2615)
  • Fixes for LGTM warnings (#2629)
  • Substitute set-env with environment files (#2631)
  • Modify shader to work with Filament's new inverse z buffer (#2626)
  • Voxelize op for torch and tensorflow (#2607)
  • Fix crash on exit if Python variable is assigned a Open3DScene (#2618)
  • Fixed shape check for faces and lines in SetMeshData (#2623)
  • Add function to Open3DScene to allow modifying one geometry's material, and to see if the scene has a geometry (#2612)
  • Create axis geometry on-demand when shown rather than with each geometry change (#2617)
  • Allow arbitrary pinhole camera (#2564)
  • Automatically cast int extents to the right type (#2590)
  • Log non-fatal errors in Visualizer as warnings instead of errors (#2579)
  • Update to match material handling of old OBJ file loader (#2576)
  • Add support for 4 channel (RGBA) color images to CreateFromRGBDImage (#2577)
  • Add pybind for triangle_material_ids (#2573)
  • Fix reading float from PCD, instead of float_t (#2563)
  • Fix string to boolean (#2574)
  • Fix reconstruction system (#2567)
  • Fixed incomplete function call. (#2562)
  • Change variable TriangleMeshSimplification.cpp (#2542)
  • Minor documentation fix (#2554)
  • Faiss Build Test (#2382)
  • Tensor ply read (#2377)
  • Give sheen a default value (i.e., don't leave it unitialized) (#2532)
  • Replace the non utf-8 char “” with "" (#2535)
  • Simplified install instructions for Open3D-ML (#2513)
  • Fix Open3DScene with no background color set not clearing on draw on macOS (#2530)
  • Added example to add geometry to a scene using the new GUI. (#2515)
  • Fixes bug for preloading libc++ and libc++abi in Python (#2527)
  • Allow Scene::AddGeometry to accept bounding boxes (#2520)
  • Add Filament 1.9.5 (#2517)
  • Remove accidental O(n^2) adding of geometries in draw_geometries resulting from a bad merge conflict resolution in d5b95454b (#2523)
  • Add robust kernel colorized icp (#2497) (Nacho)
  • Add miniconda build (#2477)
  • Add dummy texture coordinates for triangle meshes with no texture coordinates to avoid error messages. (#2514)
  • Fix z-buffering problem with labels/gradients in ml3d visualizer (#2512)
  • Better error msg for cuda mismatch (#2503)
  • Fix ambiguous transform (#2491)
  • Workflow dispatch fixes (#2500)
  • Test import of torch and tensorflow (#2496)
  • Fix deadlock with ml3d visualizer on macOS (#2502)
  • Removed shared_ptr as the pybind holder of GUI objects to prevent crashes caused by Python keeping the object alive after Filament resources are destroyed on the Python side. (#2501)
  • Change pybind's run() to not cleanup at the end. (#2499)
  • Added code to fix 'from' import statements in the ml namespaces (#2492)
  • Add MK docs pointer in readme and rst (#2486)
  • Rework Python API for creating windows to avoid crash on exit in some simple situations. (#2485)
  • Documentation build fix (Jupyter + Python visualization.{gui,rendering}) (#2484)

Open3D 0.11.0 is full of features

Open3D 0.11.0 Release Notes

We are excited to present Open3D 0.11.0!

Open3D 0.11.0 introduces a brand new 3D Machine Learning module, nicknamed Open3D-ML. Open3D-ML is an extension of your favorite library to bring support for 3D domain-specific operators, models, algorithms, and datasets. In a nutshell, users can now create new applications combining the power of 3D data and state-of-the-art neural networks! Open3D-ML is included in all the binary releases of Open3D 0.11.0.

Open3D-ML comes with support for Pytorch +1.4 and TensorFlow +2.2, the two most popular machine learning frameworks. The first iteration of this module features a 3D semantic segmentation toolset, including training and inference capabilities for RandlaNet and KPConv. The toolset supports popular datasets such as SemanticKITTI, Semantic3D, 3D Semantic Parsing of Large-Scale Indoor Spaces S3DIS, Toronto3D, and Paris-Lille-3D. Open3D-ML also provides a new model zoo compatible with Pytorch and TensorFlow, so that users can enjoy state-of-the-art semantic segmentation models without hassles.

We have endowed the new Open3D-ML module with a new data viewer tool. Users can now inspect their datasets and model’s predictions in an intuitive and simple way. This visualization tool includes support for Pytorch and TensorFlow frameworks and is fully customizable due to its Pythonic nature.

This viewer has been built upon the new visualization API, integrating the new Rendering and GUI modules. Thanks to the new visualization API, users can perform advanced rendering, fully programmatically from Python and C++. Users can also create slick GUIs with a few lines of Python code. Check out how to do this here.

The Open3D app has also been extended to include the following features:

  • Support for FBX and glTF2 assets
  • Full support for PBR models.

Open3D 0.11 includes for the first time support for Linux ARM (64-bit) platforms. This has been a long-time requested feature that finally made it into the release. You can now enjoy all Open3D features, including our new rendering and visualization pipelines in OpenGL-enabled ARM platform.

[Breaking] Please, notice that the API and the structure of Open3D have changed considerably after an intense refactoring process. You will need to update your code to use the new namespaces. Please, check the full changelog and the documentation for further information.

We hope you find Open3D 0.11.0 exciting and useful. Happy coding!

Remember that you can reach out with questions, requests, or feedback through the following channels:

The Open3D team

Legend:

  • [Added]: Used to indicate the addition of new features
  • [Changed]: Updates of existing functionalities
  • [Deprecated]: Functionalities / features removed in future releases
  • [Removed]: Functionalities/features removed in this release
  • [Fixed]: For any bug fixes
  • [Breaking] This functionality breaks the previous API and you need to check your code

Installation and project structure

  • [Added] fetch Filament with CMake FetchContent (#2085)
  • [Added] speeds up compilation by caching 3rdparty downloads (#2155)
  • [Added] Show STATIC_WINDOWS_RUNTIME in cmake summary when configuring for Windows (#2176)
  • [Added] Move master releases to new bucket for lifecycle management (#2453)
  • [Added] added missing license header in ml module py files (#2333)
  • [Added] add vis namespace (#2394)
  • [Added] Devel wheels for users (#2429)
  • [Added] Build Filament on ARM64 (#2415)
  • [Changed] cmake: pickup python from PYTHON_EXECUTABLE or from PATH (#1923)
  • [Changed] avoid deduplication of the -gencode option (#1960)
  • [Changed] do not link main library when building the tf ops lib because of (#1981)
  • [Changed] do not use system jsoncpp (#2005)
  • [Changed] update Eigen to use the GitLab commit id (#2030)
  • [Changed] update formatter: clang-format-10, yapf 0.30.0 (#2149)
  • [Changed] disable CMP0104 warning (#2175)
  • [Changed] Build examples iteratively on Windows CI (#2199)
  • [Changed] simplify filament build-from-source (#2303)
  • [Changed] set cmake minimum to 3.15 to support generator expressions in (#2392)
  • [Changed] cmake 3.18 required for windows (#2435)
  • [Changed] ubuntu 20.04 build filament from source CI (#2438)
  • [Fixed] turobojpeg windows static runtime (#1876)
  • [Fixed] fix auto & warning (as error) for clang 10 (#1924)
  • [Fixed] Fix Eigen warning when using CUDA (#1926)
  • [Fixed] fix bug in import_3rdparty_library for paths without trailing '/' (#2084)
  • [Fixed] Fix tbb build (#2311)
  • [Fixed] Fix for cmake externalproject_add patch_command (#2431)
  • [Breaking] restructure project directory and namespace (#1970)
  • [Breaking] reorg: opend3d::gui -> open3d::visualization::gui (#1979)
  • [Breaking] change folder case (#1993)
  • [Breaking] Reorg: Added namespace 'rendering' for visualization/rendering (#2002)
  • [Breaking] remove voxel_pooling namespace (#2014)
  • [Breaking] reorg: remove hash_* namespaces (#2025)
  • [Breaking] Rename GLHelper namespace (#2024)
  • [Breaking] Removed visualization::gui::util namespace (#2013)
  • [Breaking] lower case "open3d/3rdparty" intall dir (#2083)
  • [Breaking] refactor pybind namespace (#2249)
  • [Breaking] renamed torch python namespaces (#2330)
  • [Breaking] Move geometry to open3d::t (#2403)
  • [Breaking] move io to open3d::t (#2406)

CORE features and applications

  • [Added] Add cleanup flag in TriangleMesh::select_by_index (#1883)
  • [Added] Orient normals using propagation on MST of Riemannian graph (#1895)
  • [Added] PointCloudIO: UnitTests and Benchmarks (#1891)
  • [Added] expose UniformTSDFVolume's origin in Python API (#1762)
  • [Added] open3d_show_and_abort_on_warning(Core) (#1959)
  • [Added] ml-module (#1958)
  • [Added] add make check-cpp-style, apply-cpp-style (#2016)
  • [Added] ml op test code and torch reduce_subarrays_sum op (#2050)
  • [Added] CUDA header as system header for CMake 3.16 (#2058)
  • [Added] scalar support to more binary ops (#2093)
  • [Added] Tensor api demo (#2067)
  • [Added] Initial tensor-based pointcloud (#2074)
  • [Added] support Tensor.item() in pybind (#2130)
  • [Added] MKL integration with tests (#2128)
  • [Added] Linear algebra module (#2103)
  • [Added] rpc visualization interface (#2090)
  • [Added] Pick the color for all voxels when creating a dense VoxelGrid. (#2150)
  • [Added] Assimp Base integration (#2132)
  • [Added] ISS(Intrinsic Shape Signature) Keypoint Detection Module (#1966)
  • [Added] ask assimp to build zlib (#2188)
  • [Added] initial tensor-based image class (#2161)
  • [Added] Enable CI on Ubuntu 20.04 (focal) with CUDA on GCE (#2308)
  • [Added] ARM CI (#2414)
  • [Added] initial support for tensor-based mesh (#2167)
  • [Added] pybind for tpoincloud (#2229)
  • [Added] Add pybind for Application::PostToMainThread, fix grammar error in comment (#2237)
  • [Added] Tensor for custom object data types (#2244)
  • [Added] Nearest Neighbor module (#2207)
  • [Added] torch wrapper for voxel pooling (#2256)
  • [Added] Support cuda memory cacher (#2212)
  • [Added] ml-contrib subsample library (#2254)
  • [Added] python binding of NN class (junha/nn pybind) (#2246)
  • [Added] contrib neighbor search for ML ops (#2270)
  • [Added] GCE GPU CI docker (PyTorch + cuDNN) (#2211)
  • [Added] Re-add multithreaded performance improvements to ClassIO (#2230)
  • [Added] torch continuous conv wrappers (#2287)
  • [Added] Support Float32 and Float64 neighbor search (#2241)
  • [Added] Layer interface for voxel_pooling op (#2322)
  • [Added] Fast compression mode for png writing (issue #846) (#2325)
  • [Added] Added pybinds for scene, fixed bug with Open3DScene and LOD (#2323)
  • [Added] NanoFlann Parallel Search (#2305)
  • [Added] XYZI format IO with tgeometry::PointCloud (#2356)
  • [Added] Support CPU/GPU hashmap (#2226)
  • [Added] OpenBLAS/LAPACK and support for ARM (#2205)
  • [Added] Added max error threshold (#2411)
  • [Added] Add function to compute the volume of a watertight mesh (#2407)
  • [Added] Ray/line to axis-aligned bounding box intersections (#2358)
  • [Added] IO wrapper for geometry::PointCloud -> t::geometry::PointCloud (#2462)
  • [Added] Nacho/robust kernels (#2425)
  • [Changed] test_color_map.py: adjust rtol to allow enough FP tolerance for OPENMP reordering; add .request to all import urllib (#1897)
  • [Changed] Refactor CMake buildsystem (#1782)
  • [Changed] Refactor pointcloud tests (#1925)
  • [Changed] expose poisson rec threads param (#2035)
  • [Changed] TensorList refactoring and comparison tensor ops (#2066)
  • [Changed] updated internal fields of conv layers to ease debugging (#2104)
  • [Changed] speeds up legacy pointcloud converter (#2216)
  • [Changed] Update TriangleMeshSimplification.cpp (#2192)
  • [Changed] object-oriented dtype (#2208)
  • [Changed] use pybind11's gil management (#2278)
  • [Changed] use link target torch_cpu for cpu builds (#2292)
  • [Changed] make 3rdparty_tbb depend on ext_tbb (#2297)
  • [Changed] Update camera.cpp (#2312)
  • [Changed] Delay cuSOLVER and cuBLAS init so exceptions are transferred to Python. (#2319)
  • [Changed] convert noncontiguous tensors instead of throwing an exception. (#2354)
  • [Changed] Refector some image tests failing on arm simulator (#2393)
  • [Changed] Ensure C++ and Python units tests always run (#2428)
  • [Removed] disable CreateFromPointCloudPoisson test for macos (#2054)
  • [Removed] Remove looking for X11 on macOS (#2334)
  • [Removed] Remove unused variable from SolveJacobianSystemAndObtainExtrinsicMatrix (#2398)
  • [Removed] Nacho/remove openmp guards (#2408)
  • [Fixed] fix coord frame origin bug (#2034)
  • [Fixed] fix utility::LogXX {} escape problem (#2072)
  • [Fixed] Release Python GIL for fast multithreaded IO (#1936)
  • [Fixed] PointToPlane and ColoredICP only require target normal vectors. Fix #2075 (#2118)
  • [Fixed] fixed radius search op for torch (#2101)
  • [Fixed] fix windows python dtype convert (#2277)
  • [Fixed] list pytorch device correctly for pytest (#2304)
  • [Fixed] Fix handling of 4 channel images on PNG export (#2326)
  • [Fixed] Fix for "symbol already registered" (#2324)
  • [Fixed] Slice out-of-range (#2317)
  • [Fixed] fix NanoFlannIndexHolderBase mem leak (#2340)
  • [Fixed] fix c_str() temp address warning (#2336)
  • [Fixed] fix required_gradient propagation for the offset parameter (#2350)
  • [Fixed] -bugfix for float extents for torch cconv layer (#2361)
  • [Fixed] Fix nvidia download error (#2423)
  • [Fixed] fix filament default CLANG_DEFAULT_CXX (#2424)

Rendering and visualization

  • [Added] App: add option to material combobox to restore to original values from file (#1873)
  • [Added] Add support for PNG with alpha channel (#1886)
  • [Added] GUI: implements image widget (#1881)
  • [Added] GUI: added threading and loading dialog to app (#1896)
  • [Added] Integrates point cloud I/O progress into app loading progress bar (#1913)
  • [Added] Adds menu option on macOS to make Open3D viewer default for file types (#2031)
  • [Added] Implements python bindings for gui namespace (#2042)
  • [Added] Added gui::TreeView widget (#2081)
  • [Added] Adds ability to set button padding (#2082)
  • [Added] gui::TreeView now supports arbitrary widgets for its cells (#2105)
  • [Added] Added FBX to Open3DViewer dialog (#2204)
  • [Added] GUI changes for Open3D-ML visualization (#2177)
  • [Added] Enable transparency for lit material (#2239)
  • [Added] Add shader for materials with transparency (#2258)
  • [Added] Unconditionally take base color from MATKEY_COLOR_DIFFUSE (#2265)
  • [Added] Added unlitGradient shader for colormaps and LUT (#2263)
  • [Added] Expose method to update vertex attributes (#2282)
  • [Added] Added ability to change downsample threshold in Open3DScene (#2349)
  • [Added] Faster Filament geometry creation for TPointCloud (sometimes up to 90%) (#2351)
  • [Added] Better algorithm for downsampling (#2355)
  • [Added] Add bounding-box-only mode for rotation. (#2371)
  • [Added] Add "__visualization_scalar" handling to FilamentScene::UpdateGeometry (#2376)
  • [Added] Enable python to render to image (#2413)
  • [Added] Added ability to set the preferred with of gui::NumberEdit (#2373)
  • [Added] Expose caching related functions in Python (#2409)
  • [Added] TPointCloud support for new Scene class (#2213)
  • [Added] Downsample point clouds with by using a different index array (#2318)
  • [Added] Added unlitSolidColor shader (#2352)
  • [Added] Added special name for TPointCloud rendering to create UV arrays from scalar on C++ side (#2363)
  • [Added] Add has_alpha to pybind for Material (#2383)
  • [Added Add alpha to baseColor of shader (and simplify some shader calculations) (#2396)
  • [Changed] update_progress callbacks for ReadPointCloud and WritePointCloud (#1907)
  • [Changed] only update single geometry in Visualizer::AddGeometry and Visualizer::RemoveGeometry (#1945)
  • [Changed] Updated Info.plist file for app to claim it edits and is the default type for the file associations. Also adds .pcd as a supported file type. (#2001)
  • [Changed] overload draw_geometries (#1997)
  • [Changed] Visualization refactor: Open3DViewer and rendering::Scene (#2125)
  • [Changed] Disable MTL file saving for OBJ files with no UVs and textures (issue #1974) (#2164)
  • [Changed] Upgrade Open3D to use Filament 1.8.1 (#2165)
  • [Changed] Improve UI responsiveness when viewing large models (#2384)
  • [Changed] Force scene redraw when layout changes (#2412)
  • [Fixed] Fix window showing buffer from last resize when a window is moved on macOS (#2076)
  • [Fixed] Fixed crash when create an autosizing window with no child windows (which would autosize to (0, 0), which doesn't go over well) (#2098)
  • [Fixed] Fixed hidpi on Linux (#2133)
  • [Fixed] Tell macOS that Python using GUI on macOS works like an app (#2143)
  • [Fixed] Fix GUI to build with Windows (#2153)
  • [Fixed] Model loading and rendering (#2194)
  • [Fixed] Fix rendering anomalies with ao/rough/metal texture (#2243)
  • [Fixed] Fix vis-gui.py not being able to load any geometry (#2273)
  • [Fixed] fix screen rendering in offscreen mode (#2257)
  • [Fixed] Fix 'All' option in file dialog in vis-gui.py (#2274)
  • [Fixed] Fix left side of checkboxes in a treeview on the left not being clickable (#2301)
  • [Fixed] Fix checkboxes in treeview not always redrawing when clicked (#2314)
  • [Fixed] Fix crash on Abandoned FBX model (#2339)
  • [Fixed] Fixes for UI anomalies caused by responsiveness changes (#2397)
  • [Fixed] Force redraw when menu visibility changes (#2416)
  • [Fixed] Fix Scene::SetBackgroundColor() not working if ShowSkybox() not previously called (#2452)
  • [Fixed] Caching Related Bug Fixes (#2451)
  • [Fixed] Clean up Filament to avoid crashes. (#2348)
  • [Removed] Eliminate union in MaterialParameter as it was being used incorrectly (#1879)

Documentation, tutorials, and examples

  • [Added] jupyter tutorial on compute_point_cloud_distance (#1884)
  • [Added] add cmake 3.12+ installation docs (#1914)
  • [Added] Docs updated for build with CUDA (#2055)
  • [Added] improved doc for ml layers and ops (#2296)
  • [Added] added documentation about the ml build options (#2401)
  • [Added] add docs for arm build (#2445)
  • [Changed] Update docker-gui.rst (#1868)
  • [Changed] Docs: disable multiprocessing for sphinx-build (#1951)
  • [Changed] doxygen: fix for reorg; cleanup namespaces (#1975)

Open3D 0.10.0 is out!

Open3D 0.10.0 Release Notes

We are proud to present the 0.10.0 release of Open3D!

For this release, the Open3D team set its focus on the theme of Visualization and Rendering. For starters, we upgraded Open3D rendering capabilities, adding a new real-time renderer based on Filament. This renderer brings support for spatially-varying BRDFs, the Cook-Torrance model, Image-Based Lighting, and Physically-based rendering, among many other improvements. Overall, this translates into a much better rendering quality, endowing 3D models of a higher realism and beauty.

[Warning] As a consequence, we are deprecating the traditional rendering system in favor of the new one. But do not panic, the new rendering system and the traditional system will live together until the 0.12.0 release of Open3D when it will be officially removed from the project.

In order to improve the process of 3D visualization, Open3D has incorporated a new GUI module. It was decided to base the new GUI module on the successful Dear ImGui project due to its compact size and the possibilities of its immediate mode. This new GUI module will help 3D developers to build tailored nice-looking graphical applications with minimum effort.

As an example of what can be done with the GUI module, the Open3D team has developed a new standalone application for 3D visualization, in combination with the new rendering engine. The Open3D 3D visualizer is the quickest and easiest way of making your models look outstanding! Try it yourself by downloading it here (MacOSX).

It is believed that one of the most critical aspects of an open-source project is the quality of its documentation. For this reason, in every release, the team makes a big effort to bring you documentation of the highest quality possible. On this occasion, we decided to upgrade our tutorials to make them interactive. This allows users to directly play and experiment with the concepts presented in each tutorial. The new tutorials, in Jupyter notebook format, can be found here.

Finally, the GPU support that many of you have been requesting has started to make its way into master. In this first step, Open3D brings experimental support for a new Tensor library, that can be transparently used in CPUs and GPUs. We will keep migrating the entire library step-by-step, so please be patient. Feel free to test it out and provide us with feedback.

We hope you find Open3D 0.10.0 useful. Happy coding!

Remember that you can reach out with questions, requests, or feedback through the following channels:

The Open3D team

Legend:

  • [Added]: Used to indicate the addition of new features
  • [Changed]: Updates of existing functionalities
  • [Deprecated]: Functionalities / features removed in future releases
  • [Removed]: Functionalities/features removed in this release
  • [Fixed]: For any bug fixes
  • [Breaking] This functionality breaks the previous API and you need to check your code

Installation and project structure

  • [Added] Enable /bigobj flag for Windows debug build (#1660)
  • [Fixed] Fix brew link problem for python/tbb on OSX for CI (#1440)
  • [Fixed] Windows MSVC compilation warnings (#1663)
  • [Fixed] Typo in make docs (#1806)

CORE features and applications

  • [Added] GPU-enabled Tensor and TensorList (#1399)
  • [Added] Python binding for Tensor and Numpy/Pytorch I/O (#1455)
  • [Added] Added cache variables and code for selecting the gpu arch (#1478)
  • [Added] project_valid_depth_only option to [PointCloudFactory/CreatePointCloud] (#1402)
  • [Added] TensorList pybind (#1505, #1557)
    Thanks, iory
  • [Added] [voxel_down_sample_and_trace] Always return point references (#1406). Thanks, iory
  • [Added] Tensor binary element-wise ops (#1460)
  • [Added] Enable building docs for pure python submodules (#1520)
  • [Added] Option for using the triangle normal for sampled points (#1539)
  • [Added] added get_surface_area to pybind module (#1540)
  • [Added] 3rdparty library cutlass (#1551)
  • [Added] Tensor unary ops sqrt, sin, cos, neg, exp ops (#1532)
  • [Added] Tensor::To for type casting (#1533)
  • [Added] Python slice for Tensor class (#1545)
  • [Added] Proper pybind for Vector2dVector (#1623)
  • [Added] Log error in PointCloud::SegmentPlane() if there are less than ransac n points (#1637)
  • [Added] Tensor::Abs and python bindings (#1620)
  • [Added] Seed argument to mesh sampling functions (#1682) (#1683). Thanks, rowoflo
  • [Added] unified regular and advanced indexing for Tensor, and pybind (#1613)
  • [Added] boolean dtype, logical ops, comparision ops (#1652)
  • [Added] microbenchmark framework (#1696)
  • [Added] Speeds up compilation (#1722)
  • [Added] reduction op support for cpu and gpu (#1730)
  • [Added] support for building TensorFlow ops (#1780)
  • [Added] Tensor creation shortcuts and scalar value op (#1779)
  • [Added] Tensor::Fill explicit specialization, reduce number of outputs (#1801)
  • [Added] Tensor::NonZero and boolean mask advanced indexing (#1681)
  • [Changed] Update travis configuration to support clang-7 and gcc 7.4. (#1471)
  • [Changed] Update VoxelGrid::CarveSilhouette and VoxelGrid::CarveDepthMap to support only carving voxels that project to image (#1441) (#1457). Thanks, jkerfs
  • [Changed] Avoid cstdlib random generators in ransac for global registration (#1486). Thanks, sambarluc
  • [Changed] Boolean expression in GlobalOptimization.cpp (#1509). Thanks, scimad
  • [Changed] Give sensible name for python argument in visualizer.cpp (#1518). Thanks,
  • [Changed] Moved 3rdparty packages down a level to not pollute the include space (#1499). Thanks, tykurtz
  • [Changed] Suppress developer warning for OpenGL preferred library with CMAKE_VERSION>= 3.11 (#1628). Thanks, akashsharma02
  • [Changed] Update tinygltf submodule to fix a bug with exported attributes (#1711). Thanks, mosra
  • [Changed] Binary op output must fit in the output tensor (#1777)
  • [Changed] Changed center parameter in Scale and Rotate (#1774)
  • [Changed] use lowest instead of min for smallest value (#1827)
  • [Fixed] Fix number of edge not showing on verbose message (#1498). Thanks, scimad
  • [Fixed] Bug in update_geometry (#1501). Thanks, Forest75
  • [Fixed] PyTorch import segfault, set CXX_ABI (#1262)
  • [Fixed] Function names remove_non_finite_points and select_by_index (#1630)
  • [Fixed] Alpha shape pybind (#1624)
  • [Fixed] Some cameras are flipped (in the z-axis) when the bounding_box center of the scene is not visible (#1447). Thanks, pablospe
  • [Fixed] SyntaxWarning: replace 'is' with '==' for literals. (#1664). Thanks, hzxie
  • [Fixed] Bug in open3d::geometry::TriangleMesh::ClusterConnectedTriangles (#1669). Thanks, Akella17
  • [Fixed] VoxelGrid.voxels bug #1535 (#1688). Thanks, kosuke55
  • [Fixed] Issue #1689 (#1690). Thanks, akashsharma02
  • [Fixed] Windows warnings (as errors) (#1739)
  • [Fixed] Typos in several Geometry classes (#1773). Thanks, roehling
  • [Fixed] Windows Kinect compile issue (#1796)
  • [Fixed] get_xyz_from_pts interpolation (#1799)
  • [Fixed] colormap segfault and refactor (#1813)
  • [Fixed] Oriented bounding box GetPointIndicesWithinBoundingBox (#1798)

Rendering and visualization

  • [Added] Key callback action event to handle PRESS, RELEASE, REPEAT (#1313). Thanks, sammo2828
  • [Added] Filament integration (#1331, #1512, #1514, #1519, )
  • [Added] GUI module (#1451, #1481, #1495, #1430, #1434, #1435, #1565)
  • [Added] Standalone Visualization application (#1470, #1562, #1572, #1573, #1569, #1583, #1584, #1586, #1585, #1587, #1588, #1591, #1590, #1595, #1593, #1596, #1602, #1601, #1604, #1607, #1608, #1609, #1610, #1611, etc.)
  • [Added] Supports multiple textures in .obj file (#1517)
  • [Fixed] Headless Rendering with traditional system (#1695)

Documentation, tutorials, and examples

  • [Added] Jupyter tutorial for point cloud (#1631, #1640)
  • [Added] Make documentation buildable without Git source tree (#1772). Thanks, roehling
  • [Changed] Contributions guidelines (#1465)
  • [Changed] CPP documentation (#1541)
  • [Fixed] Typos fixed in compilation.rst and visualization.rst (#1476, #1477). Thanks, pauljurczak
  • [Fixed] Minor typo in compilation.rst (#1513). Thanks, scimad
  • [Fixed] Consistency in documentation filenames (#1511). Thanks, scimad
  • [Fixed] filename error in capture_your_own_dataset.rst tutorial (#1525). Thanks, scimad
  • [Fixed] Pass correct parameter into function update_geometry()(#1528). Thanks, Forest75
  • [Fixed] Fix bug in non_blocking_visualization.rst example (#1537). Thanks, scimad
  • [Fixed] Incorrect file name in a ReconstructionSystem document (#1699). Thanks, muskie82

Open3D 0.9.0 is ready!

Open3D 0.9.0 Release Notes

The Open3D team and the Open Source Vision Foundation are proud to present the 0.9.0 release of the Open3D library.

This release brings two exciting algorithms for processing point clouds and meshes: Poisson surface reconstruction and as-rigid-as-possible deformation. You can find a reference for how to use these algorithms in the following examples:

The problems related to headless mode rendering have also been solved in this release, among other bug fixes!

This is the last release of Open3D with support for Python 2.7.

On behalf of the Open3D team, we would like to thank our technical writer, Rohan Rathi and the Google season of docs organization for their help in the critical task of improving Open3D documentation. Your contribution has served to make Open3D more accessible to new users.

We are also happy to announce our new Discourse forum, which becomes the official way to discuss issues related to Open3D.

In an effort to improve our communication with the Open3D community and all the developers that use this library, we have created a new mailing list: open3d-all@osvf.org. Here developers and contributors can obtain first-hand information about the development progress of Open3D, the library’s roadmap, and information on how to proceed to implement new features. You can also join the mailing list via Google groups

Take a look at our documentation Open3D docs to see all the details, and send us feedback at open3d-info@osvf.org. You can also join our Discourse forum or the Discord network to participate in the development discussions.

Enjoy!

The Open3D team


Legend:

  • [Added]: Used to indicate the addition of new features
  • [Changed]: Updates of existing functionalities
  • [Deprecated]: Functionalities / features removed in future releases
  • [Removed]: Functionalities/features removed in this release
  • [Fixed]: For any bug fixes
  • [Breaking] This functionality breaks the previous API and you need to check your code

Installation and project structure

  • [Added] Add optional flag to install-deps-ubuntu.sh script #1191
  • [Changed] Restructure to expose python package at top level #1251
  • [Changed] avoid duplicate -O3 flag at Release build #1280
  • [Changed] CMake Option to use system installed libjpeg-turbo #1294
  • [Fixed] fix link warning #1223
  • [Breaking] Upgrade compiler #1327
  • [Deprecated] Support for Python 2.7

CORE features and applications

  • [Added] Implement image flip functions #1186
  • [Added] Merge close vertices #1189
  • [Added] Support rendering textured triangle mesh #1194
  • [Added] Add some Python init functions to geometry classes #1228
  • [Added] Cluster TriangleMesh Connected Components #1272
  • [Added] Support for Large PTS File IO #1279
  • [Added] Deform TriangleMesh using as-rigid-as-possible #1312
  • [Added] Add geometry without resetting bounding box #1315 (Thanks sammo2828!)
  • [Added] Poisson Surface Reconstruction #1317
  • [Added] Implementation of Alpha Shapes #1320
  • [Added] New ClearGeometries for Visualizer #1338 (Thanks sammo2828!)
  • [Added] Added VisualizerWithVertexSelection #1390
  • [Changed] std::unordered_map for voxelgrid structure #1180
  • [Changed] New Mesh Class Structure #1184
  • [Changed] Warning if no normals in ColoredICP #1187
  • [Changed] Update type check for open3d PointCloud #1193
  • [Changed] TexturedTriangleMesh clean up #1208
  • [Changed] LogFatal to throw exception rather than exit() #1209
  • [Changed] OrientedBoundingBox parameter update and crop #1218
  • [Changed] Polish global optimization #1224
  • [Changed] Proper LogError and LogWarning #1237
  • [Changed] Refactor Image::Prepare() in RealSense.cpp #1277
  • [Changed] Expose get_rotation_matrixfrom* directly in open3d.geometry #1355
  • [Changed] Expose RenderOption.mesh_show_wireframe to Python API #1388 (Thanks sammo2828)
  • [Changed] Only update single geometry in Visualizer::AddGeometry and Visualizer::RemoveGeometry #1392 (Thanks sammo2828)
  • [Changed] Improve numeric stability of TriangleTriangle3d #1177
  • [Fixed] fopen wrapper to enable unicode paths in Windows #1190
  • [Fixed] Fix read_rgbd_image in make_fragments.py #1192
  • [Fixed] Fix operator+ of AxisAlignedBoundingBox #1205
  • [Fixed] fixed maybe-uninitialized warning in TetraMesh.cpp #1212
  • [Fixed] Fast Global Registration does not populate fitness, inlier_rmse, and `corres #1001 #1221
  • [Fixed] fix control may reach end warning for VFatal #1222
  • [Fixed] fix control may reach end warning for VError #1288
  • [Fixed] Quick fix to colored icp #1292
  • [Fixed] fix write ply color values clamped #1306
  • [Fixed] osMesa headless rendering fixed #1358
  • [Fixed] Fix BPA memory leak #1363

Documentation, tutorials, and examples

  • [Changed] Improve docs for color map #1270 (Thanks RohanRathi)
  • [Changed] Improve docs for camera #1271(Thanks RohanRathi)
  • [Changed] Improve docs on Bounding Boxes for CPP api #1282 (Thanks RohanRathi)
  • [Changed] Update python bindings & add docs for Bounding Box #1319 (Thanks RohanRathi)
  • [Changed] Add script details in docs #1342 (Thanks RohanRathi)

Open3D 0.8.0 is here!

Open3D Version 0.8.0 (released 2019-09-06)

The Open3D team and the Open Source Vision Foundation are excited to share with the community Open3D 0.8.0!

Starting from this release, we'll be using the open3d package name instead of open3d-python on PyPI. You can now install Open3D with:

# Pip
pip install open3d

# Conda
conda install -c open3d-admin open3d

In this release, we bring support for the brand new Azure Kinect sensor. Users can enjoy the benefits of this RGB-D sensor through the simple Python and C++ APIs provided by Open3D.

We bring in a new geometry type, the Tetrahedral Mesh, which supports Delaunay triangulation from PointCloud, isosurface extraction to TriangleMesh and visualization. We also bring in two algorithm implementations, check out Ball Pivoting and DBSCAN.

As usual, we received many contributions from the community. Thank you all for your contribution and support! We also worked extensively on fixing issues brought up by the community. Please, have a look at our documentation Open3D docs to see all the details, and send us feedback at info@open3d.org. You can also join our Discord network to participate in the development discussions.

Enjoy!
The Open3D team


 

Legend:

  • [Added]: Used to indicate the addition of new features
  • [Changed]: Updates of existing functionalities
  • [Deprecated]: Functionalities / features removed in future releases
  • [Removed]: Functionalities/features removed in this release
  • [Fixed]: For any bug fixes
  • [Breaking] This functionality breaks the previous API and you need to check your code

Installation and project structure

  • [Added] Make include directories in Open3DConfig.cmake relative again #1025 (Thanks pezcode!)
  • [Changed] Replace libjpeg with libjpeg-turbo #1097
  • [Deprecated] libjpeg dependency #1097
  • [Fixed] empty bdist_wheel #1012  #970 #780 #905
  • [Fixed] master build error, fix yapf==0.28.0 #1071
  • [Fixed] Warning compile flags and fixing warning #1077

CORE features and applications

  • [Added] Expose CaptureDepthPointCloud to python interface #1014 (Thanks JackLangerman)
  • [Added] FileOBJ for TriangleMesh #1021
  • [Added] Option to remove NaN points in ReadPointCloud#1022
  • [Added] FileOFF for TriangleMesh #1035 (Thanks kongsgard)
  • [Added] DBSCAN clustering algorithm #1038
  • [Added] VoxelGrid Carving #1048
  • [Added] Add flags to the write triangle mesh methods #1051 (Thanks kongsgard)
  • [Added] function is_watertight() to TriangleMesh #1053  (Thanks kongsgard)
  • [Added] Triangulation by ear clipping #1060  (Thanks kongsgard)
  • [Added] FileGLTF for TriangleMesh #1082 (Thanks kongsgard)
  • [Added] Kinect recorder #1094
  • [Added] visualization of RGBD images #1107
  • [Added] Azure Kinect support with python interface #1118
  • [Changed] TriangleMesh Filter improvements, GetBounds improvements #1010
  • [Changed] Logging/Print #1069
  • [Removed] unary_function from hash_eigen #1023
  • [Removed] remove TSDFVoxelGrid class #1079
  • [Fixed] PointCloud EstimateNormals fix #1011
  • [Fixed] Check for mesh normals before saving STL file #1041 (Thanks kongsgard)
  • [Fixed] Set z_near_ close to 0 #1080
  • [Fixed] internal texture format in RGBDImageShader #1111
  • [Fixed] Control flows and improve performance #1112

 

Documentation, tutorials, examples and tests

  • [Added] Documentation to build docs #1036 (Thanks RohanRathi)
  • [Added] Support multiple documentation version in open3d.org/docs #1055
  • [Changed] Update file_io.rst #1020 (Thanks kongsgard)
  • [Changed] Python and C++ docs for Camera PinholeCameraIntrinsic #1039 (Thanks RohanRathi)
  • [Changed] getting_started.rst #1113
  • [Fixed] python unit test #1031
  • [Fixed] correct typo #1088 (Thanks JackLangerman)

It is here: Open3D 0.7.0!

Open3D Version 0.7.0 (released 2019-06-05)

The Open3D team and the Open Source Vision Foundation are proud to present the 0.7.0 release of the Open3D library.

This release is focused on extending the functionality of Open3D data types such as Octree, VoxelGrid, and Mesh. Among the main novelties we would like to highlight:

  • New generic Octree data type with arbitrary leaves
  • Upgraded VectorGrid data type
  • Conversion functionalities from Point Cloud to VectorGrid and Octree
  • Upgraded Mesh data type
  • Visualization support for Octree and VectorGrid
  • New sampling methods for Triangle mesh
  • New Mesh filter functionalities: Sharpen, Smooth, Taubin
  • Upgraded TSDFVolume generation

We also tackled a set of issues brought up by the community, including support of finer control over the geometry of the Visualizer. Now it is possible to add and remove geometries dynamically!

Please, have a look at our documentation (Open3D docs) to see all the details, and send us feedback at info@open3d.org. You can also join our Discord network to participate in the development discussions.

Full list of changes below.

Enjoy!

The Open3D team


Legend:

  • [Added]: Used to indicate the addition of new features
  • [Changed]: Updates of existing functionalities
  • [Deprecated]: Functionalities / features removed in future releases
  • [Removed]: Functionalities/features removed in this release
  • [Fixed]: For any bug fixes
  • [Breaking] This functionality breaks the previous API and you need to check your code

Installation and project structure

  • [Added] Googletest as a submodule #981
  • [Changed] Standardize headers #902
  • [Changed] Remove dummy semicolon after empty functions #908
  • [Changed]  appveyor build badge to master branch #925
  • [Changed] Avoid import star (from open3d import *) #982
  • [Changed] Open3D-3rdparty repository into the main repository #967
  • [Removed] Duplicated sort includes #930
  • [Fixed] Eigen::floor compiler error issue #935 #952
  • [Fixed] Build docs on make -j #960

CORE features and applications

  • [Added] Support for Octree, OctreeNode, OctreeLeafNode, and OctreeNodeInfo #903 #946 #959
  • [Added] Octree python bindings #947
  • [Added] Visualizer remove geometry #904
  • [Added] Uniform point sampling from triangle mesh #907
  • [Added] Octree I/O support for json #911
  • [Added] Octree to VoxelGrid conversion #914
  • [Added] Voxel grid to octree #983
  • [Added] Remove non-manifold edges from triangle mesh #985
  • [Added] CuboidShader for rendering VoxelGrid and Octree in OpenGL3.1+ #918
  • [Added] Octree visualization support and refactor cuboid shader #924
  • [Added] Mesh filtering functionalities (Sharpen, Smooth, Laplacian, Taubin) #926
  • [Added] Method to check if TriangleMesh is watertight #929
  • [Added] Mesh Simplification method #945
  • [Added] Loop Subdivision method #954
  • [Added] Poisson Disk Sampling of TriangleMesh #955
  • [Added] Basic Transformation Methods (Translate, Scale, Rotate) to Geometry3D #956
  • [Added] Functionality to compute convex hulls from TriangleMesh and PointCloud #965
  • [Added] Extension of mesh properties to check if a triangle mesh is orientable,  #977
  • [Added] TUM trajectory format #953 [Thanks martinruenz]
  • [Added] Center parameter to rotate method #994
  • [Changed] Refactor UniformTSDFVolume to use VoxelGrid #971
  • [Changed] Small AttributeError problem in pointcloud.py #987 [Thanks #janfelixklein]
  • [Breaking]  Update of VoxelGrid data type #933

Documentation, tutorials, and examples

  • [Fixed] Point cloud dist function docs #899
  • [Fixed] doc string of PinholeCameraTrajectory #923
  • [Fixed] misc fixes for reconstruction docs #997
  • [Changed] Improve doc for TriangleMesh, LineSet and PointCloud #980
  • [Changed] Docs update on unit test and python style #989

 

Open3D is Joining 2019 Google Season of Docs

Open3D is Joining 2019 Google Season of Docs

News: We're proud to announce that Open3D is selected as one of the participating open-source projects for 2019 Google Season of Docs (GSoD) program. We're recruiting 1-2 technical writers for this project via the program. By participating in GSoD with Open3D, you'll spend three months working closely with the Open3D team, learn about this state-of-the-art 3D data processing library, build up your open-source contribution, and receive stipends. Star Open3D on GitHub and apply today! Please read this blog post for project ideas. To apply, please (1) fill this application survey form and (2) visit GSoD official site for GSoD application instructions. Contact us if you have any questions! 

 

Links:
(1) Google Season of Docs (GSoD): https://developers.google.com/season-of-docs
(2) Timelines: https://developers.google.com/season-of-docs/docs/timeline
(3) Stipends ($6,000 USD equivalent): https://developers.google.com/season-of-docs/docs/tech-writer-stipends
(4) Open3D blog post for project ideas: http://www.open3d.org/index.php/2019/04/11/season-of-docs-for-open3d
(5) Fill out this survey from: https://docs.google.com/forms/d/e/1FAIpQLSdYZJuYTsBV8C0Ta6cXPJgWqTsnd0l19rIAR9Xr7dBPt0Ftqw/viewform?usp=sf_link . You'll also need to apply through the GSoD official site as well.

 

 

1. Project description

Open3D is an open-source library that supports rapid development of software that deals with 3D data. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The backend is highly optimized and is set up for parallelization. Open3D was developed from a clean slate with a small and carefully considered set of dependencies. It can be set up on different platforms and compiled from source with minimal effort. The code is clean, consistently styled, and maintained via a clear code review mechanism. Open3D has been used in a number of published research projects and is actively deployed in the cloud. We welcome contributions from the open-source community.

You can see the progress of Open3D through the different video releases we have published:

 

2. Organization

Open3D lives under the umbrella of the non-profit Open Source Vision Foundation (OSVF.org). OSVF provides support with the administration and coordination of the resources needed for the development of Open3D. The Open3D project has originally created within the Intelligent Systems Lab (ISL) at Intel, and the development of Open3D is still done in collaboration with ISL.

The main contributors of Open3D are:

The management of the project is done by German Ros and Vladlen Koltun.

3. Relevant links

  • Github repository [link]
  • Documentation page [link]
  • Contact e-mail [link]
  • Chat with us via Discord [link]
  • YouTube channel [link]

4. Project ideas

Below you can find our proposed ideas to improve Open3D documentation. Please, feel free to contact us to propose alternative ideas or changes to the current ideas. During the 3-month period, you're expected to complete 3 or more of the following projects.

  • Project 1 name: Upgrade and extend Open3D contributor’s guide
  • Description: Contributor’s guides are the main entry point to collaborate in an open source project. This project requires the creation of a new contributor’s guide that explains step-by-step how contributors can send their contributions to Open3D. These steps include:
    • How to find the current road map of Open3D and which features may be interesting
    • How to prepare a pull request to Open3D
    • How to interact with reviewers
    • What are the standards used by Open3D
  • Related material:
    • The current version of the contributor’s guide can be found here.
  • Project 2 name: Complete Python API documentation
  • Description: Open3D is a multi-language library, that has support for both C++ and Python. There is an initial version of the Python documentation done using Sphinx, which contains basic docstrings for each method and class of Open3D. In this project, we would like to extend the docstrings in a way that makes the functionality clearer, by rephrasing and extending the existing.
  • Related material:
    • The current version of the Python API documentation can be found here.
  • Project 3 name: Complete C++ API documentation
  • Description: Open3D is a multi-language library, that has support for both C++ and Python. There is an initial version of the Python documentation done using Sphinx http://www.open3d.org/docs/index.html#python-api-index. However, C++ documentation has not been completed for the most part of the library. C++ documentation is generated by Doxygen with docstring in the source code. In this project, we would like to fill in missing C++ docstrings, with the reference of Python docstrings.
  • Related material:
  • Project 4 name: High-level docs of core data structures
  • Description: Open3D implements several core data structures, such as PointCloud, TriangleMesh, VoxelGrid, LineSet, Octree, camera parameters and etc. Making sure that users understand the main concepts and usage of the data structures is central to the Open3D library. The current documentation we have is organized as tutorials, which is not well-structured for reference. The scope of this project includes:
    • Review current tutorial documentation at http://www.open3d.org/docs/tutorial/Basic/index.html and get familiar with the basic data structures.
    • Refactor the tutorials structured around each data structure.
    • For each data structure, provide a high-level overview, data structure API and example usage details.
  • Related material:
    • The current version of the contributor’s guide can be found here.
  • Project 5 name: Documentation of high-level users’ use cases, aka How-to do X using Open3D
  • Description: We would like to provide a section in our official documentation explaining how to perform basic functionalities using the Open3D library. Most of this information already exists within the current documentation, but it needs to be refactored and adapted to follow a common format. Examples of these functionalities would be:
    • How to load and visualize a point cloud using Open3D?
    • How to create an Octree from a Point cloud?
    • How to use your own camera poses for point cloud visualization?
    • Etc.
  • Related material:
    • Examples of these use cases can be seen here.

5. Mentors and point of contact

  • Technical writers will be mentored by two key contributors to Open3D, Yixing Lao, and Qian-Yi Zhou. Both Yixing and Qian-Yi have a deep understanding of the Open3D project as well as the process of automatic generation of documentation. They are both recognized industry leaders and their mentoring will definitely be a positive influence for technical writers.
  • If you would like to help us to improve our documentation, please contact German Ros [mail]

Open3D 0.6.0 release

Open3D Version 0.6.0 (released 2019-04-01)

The Open3D team and the Open Source Vision Foundation are excited to announce the 0.6.0 release of the Open3D library.

In this release, we focused our efforts on improving the quality of Open3D documentation and paving the way for upcoming GPU support.

Documentation is a critical aspect of any software project, but it becomes especially critical in open-source projects. This is one of the main ways we engage with the community. For this reason, we improved the internal infrastructure to automatically generate documentation in a new format, which makes the Python API more readable and easy to understand. Please take a look at Open3D docs.

The team has also been working on bringing multi-GPU support to Open3D. We will start rolling this out in upcoming releases. In the meantime, feedback and suggestions are welcomed. Please check our GPU integration branch hereThis release also includes new data types that serve as the foundation for new meshing algorithms that will be rolled out in our next release.

The full list of changes can be seen below. Please send us feedback at info@open3d.org and join our Discord network to participate in the discussions.

 

Enjoy!

The Open3D team


 

Legend:

  • [Added]: Used to indicate addition of new features
  • [Changed]: Updates of existing functionalities
  • [Deprecated]: Functionalities / features removed in future releases
  • [Removed]: Functionalities / features removed in this release
  • [Fixed]: For any bug fixes
  • [Breaking] This functionality breaks the previous API and you need to check your code

Installation and project structure

  • [Changed] simplified cmake include directory structure  #839
  • [Changed] new installation default behavior: don’t install 3rd party header except Eigen and GL #840
  • [Braking] new project directory structure #842 #850 #855

CORE features and applications

  • [Added] Travis build docs, use 16.04, and other fixes #885
  • [Added] update adjacency list after mesh operations #843
  • [Added] HalfEdgeTriangleMesh data type support #851 #868
  • [Added] STL file support #786
  • [Added] Compute vertex adjacency map #830
  • [Changed] Standardize API of SolveLinearSystemPSD #821
  • [Changed] upgraded pybind11 #837
  • [Changed] Upgrade OpenGL GLSL version #854
  • [Fixed] path in the comments of python_binding.py #878
  • [Fixed] clang format discrepancy and links #793 #795 #816
  • [Fixed] autocomplete for python modules #799
  • [Fixed] intrinsic parameters for Kinect2 #801
  • [Fixed] initializers for FastGlobalRegistration class #807 #808
  • [Fixed] Travis fails when unit tests fail in a docker container #810
  • [Fixed] ColorMap divergency and other issues #819 #860
  • [Fixed] add minus sign in SolveJacobianSystemAndObtainExtrinsicMatrixArray #822
  • [Fixed] STL mesh write vertex index #829

Documentation, tutorials, and examples

  • [Added] pybind docs parser and Google-style docstring generator #864
  • [Added] Expandible docs sidebar #832
  • [Changed] extended Python documentation #859 #861 #862 #869 #877 #881
  • [Changed] C++ project documentation for Windows #809
  • [Fixed] issues in the documentation building process #845
  • [Fixed] namespace typo in examples #856
  • [Fixed] small issues in RegistrationRansac example #800 #802

 

Testing and benchmarking

  • [Removed] visualization unit tests #857

 

Introducing Open3D 0.5.0

Open3D Version 0.5.0 (released 2019-01-17)

The Open3D team and the Open Source Vision Foundation (http://www.osvf.org) are excited to announce the 0.5.0 release of the Open3D library.

In this release we show the power of Open3D as a core tool to create machine learning solutions for 3D data. We introduce a re-implementation of the PointNet++ architecture to perform point cloud semantic segmentation using Open3D and TensorFlow. Our Open3D-PointNet++ is able to produce highly accurate results in the Semantic3D benchmark, surpassing the results of the original PointNet++ implementation. Even more exciting is the fact that our re-designed Open3D-PointNet++ is able to perform real-time inference (+10 FPS) on the KITTI dataset. We show how to perform training and inference of Open3D-PointNet++ in both Semantic3D and KITTI. Check out this blog post for more information!

We have also added a new VoxelGrid representation and tooling to convert from point clouds to a VoxelGrid structure. This functionality is extremely useful to produce representations that are easier to digest by neural networks.

We have also done significant improvements to our internal infrastructure, including a simplified CI testing mechanism via docker images, enhanced testing coverage, and easier installation of the library.

Full list of changes below. Please send us feedback at info@open3d.org and join our Discord network [link] to participate in the discussions.

Enjoy!

The Open3D team


 

Legend:

  • [Added]: Used to indicate addition of new features
  • [Changed]: Updates of existing functionalities
  • [Deprecated]: Functionalities / features removed in future releases
  • [Removed]: Functionalities / features removed in this release
  • [Fixed]: For any bug fixes
  • [Breaking] This functionality breaks the previous API and you need to check your code

Installation and project structure

  • [Added] docker images for Open3D in dockerhub
  • [Added] option to disable jupyter build
  • [Added] new way of detecting conda active environment
  • [Added] option to link to static Windows runtime
  • [Changed] 3rdparty folder moved to Open3D-3rdparty repository
  • [Changed] bug_report.md to improve communication with users when issues are reported
  • [Fixed] Conda and Pip packaging issues to build platform-specific targets
  • [Fixed] conda dependency conflicts resulting in forced downgrade
  • [Fixed] python 2.7 import JVisulizer
  • [Fixed] Disabled conda executable check (conda command could be a bash function instead of an executable, CMake may complain)
  • [Fixed] Windows compilation warning with py::ssize_t
  • [Removed] mac flag -Wno-expansion-to-defined in CI

CORE features and applications

  • [Added] New Open3D Point cloud semantic segmentation architecture based on PointNet++
  • [Added] New training code for Point cloud semantic segmentation
  • [Added] New real-time inference code for Point cloud semantic segmentation
  • [Added] New compatibility with TensorFlow operators
  • [Added] New function for building Jacobian matrices that follows RGBDOdometry structure
  • [Added] Non-rigid optimization for more than 6 variables (6D camera pose + anchor points)
  • [Added] A new general purpose image processing function: CreateDepthBoundaryMask
  • [Added] "shift + +/-" key event that can change width of LineSet for the visualization
  • [Added] line_width in RenderOption and corresponding Python binding (Applies to C++/Python API)
  • [Added] I/O functions for LineSet
  • [Added] "lineset" option into ViewGeometry application
  • [Added] New box primitive
  • [Added] VoxelGrid structure
  • [Added] I/O functions for VoxelGrid
  • [Added] Utility function to transform point clouds to voxels
  • [Added] new shader to render voxel clouds
  • [Added] warning output for "degenerated" TriangleMeshes
  • [Added] Promote compiled extension for pycharm autocomplete
  • [Changed] Image class to use namespace directive in order to reduce code line length
    [Changed] Image class to remove global variables
    [Changed] Image class to shorten local variables names
    [Changed] Image class to simplify comparisons using unit_test::ExpectEQ(...)
  • [Changed] KDTreeFlann class to use namespace directive in order to reduce code line length
  • [Changed] KDTreeFlann class to simplify comparisons using unit_test::ExpectEQ(...)
  • [Changed] TriangleMesh class to use namespace directive in order to reduce code line length
  • [Changed] TriangleMesh class to simplify comparisons using unit_test::ExpectEQ(...)
  • [Changed] Relative paths in CMake package config
  • [Changed] Factorization of internal functions in ColormapOptimization module as public functions
  • [Changed] RGBDImage class to use namespace directive in order to reduce code line length
  • [Changed] RGBDImage class to simplified comparisons using unit_test::ExpectEQ(...)
  • [Changed] RGBDImage class to fixed Rand float/double to return unscaled values between 0.0 and 1.0
  • [Changed] PointCloud class to use namespace directive in order to reduce code line length
  • [Changed] PointCloud class to simplify comparisons using unit_test::ExpectEQ(...)
  • [Changed] LineSet class to use namespace directive in order to reduce code line length
  • [Changed] LineSet class to simplify comparisons using unit_test::ExpectEQ(...)
  • [Changed] Vector3dvector and other vector Eigen bindings to improve performance (speedup of 40-200x)
  • [Fixed] Bug due to PinholeCameraIntrinsic constructor not initializing member data
  • [Fixed]  Bug in PinholeCameraTrajectory
  • [Fixed] Bug in ConvertToJsonValue
  • [Fixed] Bug in ConvertFromJsonValue
  • [Fixed] Bug in TransformationEstimationPointToPlane::ComputeRMSE
  • [Fixed] typos in FilePLY.cpp: from ply_poincloud_reader to ply_pointcloud_reader
  • [Fixed] parameter name of create_window
  • [Removed] Unneeded std::move calls

Documentation and tutorials

  • [Added] New tutorial on how to perform real-time PointCloud semantic segmentation using Open3D
  • [Added] Documentation on supported point cloud formats

 

Testing and benchmarking

  • [Added] Test case for IJsonConvertible
  • [Added] Test case for Core/Utility/Eigen
  • [Added] Test case for Core/Utility/FileSystem
  • [Added] Test case for PinholeCameraTrajectory
  • [Added] Test case for PinholeCameraIntrinsic
  • [Added] Test case for RGBDOdometryJacobianFromHybridTerm
  • [Added] Test case for RGBDOdometryJacobianFromColorTerm
  • [Added] New reference data for RGBDImage based on fixes to Rand float/double
  • [Added] New utilities for generating input data for the unit tests
  • [Changed] UnitTest/Utility moved to its own folder
  • [Changed] unit_test:ExpectEQ to removed unused code