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 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.

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

Building C++ documentation#

If you only want to build C++ API documentation, clone the Open3D repo and run doxygen.

git clone
cd open3d/docs

Start browsing the generated C++ API documentation from the file docs/doxygen/html/index.html. Read on if you want to build the full documentation (including Python API and tutorials).

Install or Build Open3D#

pip install open3d

To instead build Open3D from source, see Build from source.

Install Python dependencies#

pip install -r docs/requirements.txt

Build docs#

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