参考:
https://github.com/intel-isl/Open3D/issues/1367
修改:
Open3D-0.9.0/src/Open3D/Visualization/Visualizer
VisualizerRender.cpp
Visualizer.h
然后通过如下代码验证:
import numpy as np
import matplotlib.pyplot as plt
import open3d as o3d
mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
vis = o3d.visualization.Visualizer()
vis.create_window(visible=False)
vis.add_geometry(mesh)
vis.poll_events()
vis.update_renderer()
color = vis.capture_screen_float_buffer(True)
depth = vis.capture_depth_float_buffer(True)
vis.destroy_window()
color = np.asarray(color)
depth = np.asarray(depth)
plt.imshow(color)
plt.show()
plt.imshow(depth)
plt.show()
下载ubuntu16.04
git clone --recursive https://github.com/intel-isl/Open3D
如果子模块不好git,一个一个通过界面下载
util/scripts/install-deps-ubuntu.sh
source anacoda/bin/activate root
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<open3d_install_directory> ..
CMakeLists.txt
# config options
option(BUILD_SHARED_LIBS "Build shared libraries" OFF)
option(WITH_OPENMP "Use OpenMP multi-threading" ON)
option(ENABLE_HEADLESS_RENDERING "Use OSMesa for headless rendering" OFF)
option(BUILD_CPP_EXAMPLES "Build the Open3D example programs" ON)
option(BUILD_UNIT_TESTS "Build the Open3D unit tests" OFF)
option(BUILD_EIGEN3 "Use the Eigen3 that comes with Open3D" ON)
option(BUILD_GLEW "Build glew from source" OFF)
option(BUILD_GLFW "Build glfw from source" OFF)
option(BUILD_JSONCPP "Build json from source" OFF)
option(BUILD_PNG "Build png from source" OFF)
option(BUILD_JPEG "Build jpeg-turbo from source" ON)
option(BUILD_PYBIND11 "Build pybind11 from source" ON)
option(BUILD_PYTHON_MODULE "Build the python module" ON)
option(BUILD_LIBREALSENSE "Build support for Intel RealSense camera" OFF)
option(BUILD_AZURE_KINECT "Build support for Azure Kinect sensor" OFF)
option(BUILD_TINYFILEDIALOGS "Build tinyfiledialogs from source" ON)
option(BUILD_QHULL "Build qhull from source" ON)
option(ENABLE_JUPYTER "Enable Jupyter support for Open3D" OFF)
option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime" OFF)
我这边没有全部的jupyter环境,加上这个install会error
去掉,反正也不需要,下面随便选一个
make install-pip-package
make python-package
make pip-package
make conda-package
make install-pip-package
cd Open3D-0.9.0/build/lib/python_package
python setup.py build
python setup.py install
ubuntu20.04+open3d0.13.0
遇到问题
#!/usr/bin/env bash
# Install Open3D build dependencies from Ubuntu repositories
# CUDA (v10.1) and CUDNN (v7.6.5) are optional dependencies and are not
# installed here
# Use: install_deps_ubuntu.sh [ assume-yes ]
set -ev
SUDO=${SUDO:=sudo} # SUDO=command in docker (running as root, sudo not available)
if [ "$1" == "assume-yes" ]; then
APT_CONFIRM="--assume-yes"
else
APT_CONFIRM=""
fi
dependencies=(
# Open3D deps
xorg-dev
libglu1-mesa-dev
python3-dev
# Filament build-from-source deps
libsdl2-dev
libc++-7-dev
libc++abi-7-dev
ninja-build
libxi-dev
# ML deps
libtbb-dev
# Headless rendering deps
libosmesa6-dev
# RealSense deps
libudev-dev
autoconf
libtool
)
$SUDO apt-get update
for package in "${dependencies[@]}"; do
$SUDO apt-get install "$APT_CONFIRM" "$package"
done
apt-get install -y clang++-7 libc++abi-7-dev libc++-7-dev
位置:
-- CLANG_LIBDIR: /usr/lib/x86_64-linux-gnu
-- CPP_LIBRARY: /usr/lib/x86_64-linux-gnu/libc++.so
-- CPPABI_LIBRARY: /usr/lib/x86_64-linux-gnu/libc++abi.so