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

• Available in C++ and Python

  二、模块

  Geometry

• Point cloud

• 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

• Working with NumPy

  Pipelines

• ICP registration

• Robust kernels
• Colored point cloud registration
• Global registration
• Multiway registration
• RGBD integration
• RGBD Odometry

• Color Map Optimization

  Pipelines (Tensor)

• ICP registration

• Point-To-Point ICP Registration
• Point-to-Plane ICP Registration
• Colored ICP Registration

• Robust Kernel

  Visualization

• Visualization

• Customized visualization
• Interactive visualization
• Non-blocking visualization
• Headless rendering
• Web visualizer and Jupyter

• Open3D for TensorBoard

  Core

• Tensor

• Hash map

  Dataset

• PointCloud

• TriangleMesh
• Image
• RGBDImage

• Demo

  Reconstruction system

• System overview

• Make fragments
• Register fragments
• Refine registration
• Integrate scene

• Capture your own dataset

  Reconstruction system (Tensor)

• Voxel Block Grid

• TSDF Integration
• Customized Integration
• Ray Casting in a Voxel Block Grid

• Dense RGB-D SLAM

  Sensor

• Azure Kinect with Open3D

• RealSense with Open3D

  Reference