Building 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

# Install deps
pip install -U "sphinx==3.1.2" "sphinx-rtd-theme==0.5.0" "nbsphinx==0.7.1" "Pillow==7.2.0"

# Patched m2r:
pip install -U -q git+


First, clone and build Open3D from source and install the Open3D Python package. Visit Compiling from source for details.

cd docs

# Run `python --help` to usage of the flags.
python --clean_notebooks --execute_notebooks=auto --sphinx --doxygen

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