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https://github.com/isl-org/Open3D

Open3D: A Modern Library for 3D Data Processing
https://github.com/isl-org/Open3D

3d 3d-perception arm computer-graphics cpp cuda gpu gui machine-learning mesh-processing odometry opengl pointcloud python pytorch reconstruction registration rendering tensorflow visualization

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Open3D: A Modern Library for 3D Data Processing

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# Open3D: A Modern Library for 3D Data Processing





    Homepage |

    Docs |

    Quick Start |

    Compile |

    Python |

    C++ |

    Open3D-ML |

    Viewer |

    Contribute |

    Demo |

    Forum




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.



[![Ubuntu CI](https://github.com/isl-org/Open3D/actions/workflows/ubuntu.yml/badge.svg)](https://github.com/isl-org/Open3D/actions?query=workflow%3A%22Ubuntu+CI%22)

[![macOS CI](https://github.com/isl-org/Open3D/actions/workflows/macos.yml/badge.svg)](https://github.com/isl-org/Open3D/actions?query=workflow%3A%22macOS+CI%22)

[![Windows CI](https://github.com/isl-org/Open3D/actions/workflows/windows.yml/badge.svg)](https://github.com/isl-org/Open3D/actions?query=workflow%3A%22Windows+CI%22)



**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



Here's a brief overview of the different components of Open3D and how they fit

together to enable full end to end pipelines:



![Open3D_layers](https://github.com/isl-org/Open3D/assets/41028320/e9b8645a-a823-4d78-8310-e85207bbc3e4)



For more, please visit the [Open3D documentation](https://www.open3d.org/docs).



## Python quick start



Pre-built pip packages support Ubuntu 18.04+, macOS 10.15+ and Windows 10+

(64-bit) with Python 3.8-3.11.



```bash

# Install

pip install open3d       # or

pip install open3d-cpu   # Smaller CPU only wheel on x86_64 Linux (v0.17+)



# Verify installation

python -c "import open3d as o3d; print(o3d.__version__)"



# Python API

python -c "import open3d as o3d; \

           mesh = o3d.geometry.TriangleMesh.create_sphere(); \

           mesh.compute_vertex_normals(); \

           o3d.visualization.draw(mesh, raw_mode=True)"



# Open3D CLI

open3d example visualization/draw

```



To get the latest features in Open3D, install the

[development pip package](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip).

To compile Open3D from source, refer to

[compiling from source](https://www.open3d.org/docs/release/compilation.html).



## C++ quick start



Checkout the following links to get started with Open3D C++ API



-   Download Open3D binary package: [Release](https://github.com/isl-org/Open3D/releases) or [latest development version](https://www.open3d.org/docs/latest/getting_started.html#c)

-   [Compiling Open3D from source](https://www.open3d.org/docs/release/compilation.html)

-   [Open3D C++ API](https://www.open3d.org/docs/release/cpp_api.html)



To use Open3D in your C++ project, checkout the following examples



-   [Find Pre-Installed Open3D Package in CMake](https://github.com/isl-org/open3d-cmake-find-package)

-   [Use Open3D as a CMake External Project](https://github.com/isl-org/open3d-cmake-external-project)



## Open3D-Viewer app






Open3D-Viewer is a standalone 3D viewer app available on Debian (Ubuntu), macOS

and Windows. Download Open3D Viewer from the

[release page](https://github.com/isl-org/Open3D/releases).



## Open3D-ML






Open3D-ML is an extension of Open3D for 3D machine learning tasks. It builds on

top of the Open3D core library and extends it with machine learning tools for

3D data processing. To try it out, install Open3D with PyTorch or TensorFlow and check out

[Open3D-ML](https://github.com/isl-org/Open3D-ML).



## Communication channels



-   [GitHub Issue](https://github.com/isl-org/Open3D/issues): bug reports,

    feature requests, etc.

-   [Forum](https://github.com/isl-org/Open3D/discussions): discussion on the usage of Open3D.

-   [Discord Chat](https://discord.gg/D35BGvn): online chats, discussions,

    and collaboration with other users and developers.



## Citation



Please cite [our work](https://arxiv.org/abs/1801.09847) if you use Open3D.



```bib

@article{Zhou2018,

    author    = {Qian-Yi Zhou and Jaesik Park and Vladlen Koltun},

    title     = {{Open3D}: {A} Modern Library for {3D} Data Processing},

    journal   = {arXiv:1801.09847},

    year      = {2018},

}

```