一、概述
Open3D is an open-source library that supports rapid development of software that deals with 3D data. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The backend is highly optimized and is set up for parallelization. We welcome contributions from the open-source community.
Core features of Open3D include:
- 3D data structures
- 3D data processing algorithms
- Scene reconstruction
- Surface alignment
- 3D visualization
- Physically based rendering (PBR)
- 3D machine learning support with PyTorch and TensorFlow
- GPU acceleration for core 3D operations
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二、模块
Geometry
- Mesh
- RGBD images
- KDTree
- File IO
- Point cloud outlier removal
- Voxelization
- Octree
- Surface reconstruction
- Transformation
- Mesh deformation
- Intrinsic shape signatures (ISS)
- Ray Casting
- Distance Queries
- Python Interface
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Pipelines
- Robust kernels
- Colored point cloud registration
- Global registration
- Multiway registration
- RGBD integration
- RGBD Odometry
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Pipelines (Tensor)
- Point-To-Point ICP Registration
- Point-to-Plane ICP Registration
- Colored ICP Registration
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Visualization
- Customized visualization
- Interactive visualization
- Non-blocking visualization
- Headless rendering
- Web visualizer and Jupyter
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Core
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Dataset
- TriangleMesh
- Image
- RGBDImage
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Reconstruction system
- Make fragments
- Register fragments
- Refine registration
- Integrate scene
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Reconstruction system (Tensor)
- TSDF Integration
- Customized Integration
- Ray Casting in a Voxel Block Grid
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Sensor
- RealSense with Open3D
Reference