Open3D: A Modern Library for 3D Data Processing

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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.

Home Work Assignments :

• C++ function open3d::IdenticallyColoredConnectedComponents
• Python binding foropen3d.geometry.TriangleMesh.identically_colored_connected_components
• “Open3D/examples/Cpp/solution.cpp”
• “Open3D/examples/Python/Basic/solution.py”
• “results.txt” shall be formatted the same way as specified in the “Example triangle mesh” section
• C++ and Python unit tests integrated with Open3D’s unit test system
• Document your code, the algorithm used, how to build and run, and etc

Build steps

• git clone --recursive https://github.com/scifiswapnil/Open3d-homeWork Open3d
• cd Open3d
• dependencies setup
  • for ubuntu : .util/scripts/install-deps-ubuntu.sh
  • for macOS : util/scripts/install-deps-os
• mkdir build && cd build
• cmake -DCMAKE_INSTALL_PREFIX=<open3d_install_directory> -DPYTHON_EXECUTABLE=<python_executable_directory> -DPYTHON_LIBRARIES=<python_library_directory> ..
• make
  • for ubuntu : make-j$(nproc)
  • for macOS : make -j$(sysctl -n hw.physicalcpu)
• sudo make install
• For python-pip package use make install-pip-package

Function implementation, bindings and algorithm used

• C++ function definition
• C++ function implementation
• Python binding

Algorithm used :

- getConnectComponentSearch()
    - read the mesh file
    - check the size and color of vertices in mesh file 
    - initialize an array 'visited' of size as same vertices in mesh file and set every element to false
    - traverse each element 'v' in the array and do :
        - if 'v' is not visited before, call DepthFirstSearchConnectedComponentSearch(v,vertex_color(v)) 
        - sort the results of DFSCCSearch(v,vertex_color(v)) and pushback to result
    - return result
- DFSCCSearch(v,vertex_color(v))
    - Mark 'v' as visited.
    - pusback element to queue
    - get the adjacent elements 
    - visit each adjacent elements and check the color as of root element
    - If adjacent elements is not visited, then recursively call DFSCCSearch(v,vertex_color(v))

Example solution usage

• solution.cpp
  • Usage :

      - cd  ~/Open3D/build/bin/examples
      - ./solution 
      or 
      - ./solution <input_mesh_file> <output_result_file>

• solution.py
  • Usage :
    ```
    • cd ~/Open3D/examples/Python/Basic
    • python solution .py
      or
    • python solution .py

Note :

• If you directly run the executable without any arguments the code fetchs the test_mesh.ply form ~/Open3d/examples/TestData and writes the results.txt in the same directory.
• C++ solution code is added to build system, after build use the above steps to run the solution code for cpp and python.

Unit tests

• C++ unit tests

  • unit tests are added to the build system and can be directly used once built
  • usage ./Open3d/build/bin/unitTests

• python unit tests

  • usage pytest ~/Open3d/src/UnitTest/Python

Note :

• C++ and python unit tests are added to the existing build system.
• You need to set BUILD_UNIT_TESTS flag to true during the cmake for the build system to make the executables

Citation

Please cite our work if you use Open3D.

@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},
}