ARM support

Open3D provides experimental support for 64-bit ARM architecture (arm64 or aarch64) on Linux. Open3D needs to be compiled from source to run on ARM.

System requirements

  • 64-bit ARM processor and 64-bit Linux operating system. Check the output of uname -p and it should show aarch64.

  • Full OpenGL (not OpenGL ES) is needed for Open3D GUI. If OpenGL is not available, the Open3D GUI will compile but it won’t run. In this case, we recommend setting -DBUILD_GUI=OFF during the cmake configuration step.

Building Open3D on ARM64

Note: If you encounter build issues, check the arm64 section of .github/workflows/openblas.yml for the full CI build scripts on ARM64.

Install dependencies

Install the following system dependencies:

sudo apt-get update -y
sudo apt-get install -y apt-utils build-essential git cmake
sudo apt-get install -y python3 python3-dev python3-pip
sudo apt-get install -y xorg-dev libglu1-mesa-dev
sudo apt-get install -y libblas-dev liblapack-dev liblapacke-dev
sudo apt-get install -y libsdl2-dev libc++-7-dev libc++abi-7-dev libxi-dev
sudo apt-get install -y clang-7

Optionally, virtualenv and ccache are recommended. Note that conda does not support ARM.

sudo apt-get install -y python3-virtualenv ccache

If the Open3D build system complains about CMake xxx or higher is required, refer to one of the following options:

  • Compile CMake from source

  • Install with snap: sudo snap install cmake --classic

  • Install with pip (run inside a Python virtual environment): pip install cmake

Build

# Optional: create and activate virtual environment
virtualenv --python=$(which python3) ${HOME}/venv
source ${HOME}/venv/bin/activate

# Clone
git clone --recursive https://github.com/isl-org/Open3D
cd Open3D
git submodule update --init --recursive
mkdir build
cd build

# Configure
# > Set -DBUILD_CUDA_MODULE=ON if CUDA is available (e.g. on Nvidia Jetson)
# > Set -DBUILD_GUI=ON if OpenGL is available (e.g. on Nvidia Jetson)
# > We don't support TensorFlow and PyTorch on ARM officially
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_CUDA_MODULE=OFF \
    -DBUILD_GUI=OFF \
    -DBUILD_TENSORFLOW_OPS=OFF \
    -DBUILD_PYTORCH_OPS=OFF \
    -DBUILD_UNIT_TESTS=ON \
    -DCMAKE_INSTALL_PREFIX=~/open3d_install \
    ..

# Build C++ library
make -j$(nproc)

# Run tests (optional)
make tests -j$(nproc)
./bin/tests --gtest_filter="-*Reduce*Sum*"

# Install C++ package (optional)
make install

# Install Open3D python package (optional)
make install-pip-package -j$(nproc)
python -c "import open3d; print(open3d)"

# Run Open3D GUI (optional, available on when -DBUILD_GUI=ON)
./bin/Open3D/Open3D

Nvidia Jetson

Nvidia Jetson computers with 64-bit processor and OS are supported. You can compile Open3D with -DBUILD_CUDA_MODULE=ON and -DBUILD_GUI=ON and the Open3D GUI app should be functional. We support CUDA v10.x, but other versions should work as well.

Raspberry Pi 4

Raspberry Pi 4 has 64-bit processor and supports OpenGL ES (not OpenGL). To build Open3D on Raspberry Pi 4, compile with -DBUILD_GUI=OFF.