Build documentation

The main documentation and Python documentation is written in reStructuredText and generated by sphinx. The C++ API documentation is generated by Doxygen.

Documentation can be built on Ubuntu or macOS. Building documentation on Windows may also be possible but it is not officially tested.

If you’re building documentation on a computer without a display, please use Headless rendering, otherwise the Jupyter tutorials will fail to execute.


1. Install system dependencies


sudo apt-get -y install doxygen texlive texlive-latex-extra ghostscript pandoc


First, install a TeX distribution such as MacTeX.

brew install ghostscript pandoc doxygen

2. Install Python dependencies

pip install -r docs/requirements.txt


First, clone and build Open3D from source and install the Open3D Python package. Visit Build from source for details. After configuration, install the Open3D Python package with:

make install-pip-package -j$(nproc)
cd docs

# Run `python --help` to usage of the flags.
python --help

# Example: build .rst and C++ docs only, skip notebooks.
python --execute_notebooks=never --sphinx --doxygen

# Example: build .rst and C++ docs only, skip notebooks, with parallel build.
python --execute_notebooks=never --sphinx --doxygen --parallel

# Example: build .rst and c++ docs, execute notebooks when it has not been executed.
python --execute_notebooks=auto --sphinx --doxygen

The docs html will be saved in docs/_out folder.


Open docs/_out/html/index.html in a web browser to preview the docs.

google-chrome docs/_out/html/index.html