Install Realsense SDK on WIN: Intel.RealSense.SDK-WIN10-
1. Installation
Then, install open3D (9d0cfc8) on Ubuntu (22.04 for me), WIN or tensorflow supoort could see full turtorial.
GCC 5+ and Clang 7+: sudo apt update && sudo apt install gcc clang
CMake: 3.24+: official APT repository
CUDA 11.8: Download deb(local). Open3D make install corruptted at CUDA-12
Then set cuda path
# Add to bash or zsh
# Open3D cuda-11.8
export PATH="/usr/local/cuda-11.8/bin:$PATH"
export LD_LIBRARY_PATH="/usr/local/cuda-11.8/lib64:$LD_LIBRARY_PATH"
Install librealsense from git-doc, hwloc for open3d compile with realsense
sudo apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
sudo apt-get -y install hwloc
Torch(optional): virtual env recommended
Import error on python3.9+ at issues
sudo apt-get install build-essential gdb lcov pkg-config \
libbz2-dev libffi-dev libgdbm-dev \
libgdbm-compat-dev liblzma-dev \
libncurses5-dev libreadline6-dev libsqlite3-dev libssl-dev \
lzma lzma-dev tk-dev uuid-dev zlib1g-dev libmpdec-dev
wget https://www.python.org/ftp/python/3.9.8/Python-3.9.8.tgz
tar -xf Python-3.9.8.tgz
cd Python-3.9.8
./configure --enable-optimizations
make && sudo make install
# /usr/local/bin/python3.9
# 1. Clone Open3D and Open3D-ML
cd
git clone https://github.com/isl-org/Open3D.git
git clone https://github.com/isl-org/Open3D-ML.git
# Optional: create open3d venv for python
# missing 'yapf' in making wheel
virtualenv -p python3.9 venv/open3d
source venv/open3d/bin/activate
pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
pip3 install yapf
# 2. Config
[Nano Build blog](https://zenn.dev/ijiwarunahello/scraps/fee9925b443478)
cd Open3D
./util/install_deps_ubuntu.sh
mkdir build
cd build
cmake -DBUILD_CUDA_MODULE=ON \
-DBUILD_SHARED_LIBS=ON \
-DPython3_ROOT=$HOME/venv/open3d/bin/python3 \
-DCMAKE_INSTALL_PREFIX=$HOME/open3d_install \
-DGLIBCXX_USE_CXX11_ABI=OFF \
-DBUILD_PYTORCH_OPS=ON \
-DBUILD_TENSORFLOW_OPS=OFF \
-DBUNDLE_OPEN3D_ML=ON \
-DOPEN3D_ML_ROOT=$HOME/Open3D-ML \
-DBUILD_LIBREALSENSE=ON \
-DUSE_SYSTEM_LIBREALSENSE=ON \
..
# 3. Make and install
make -j$(nproc) && make install
# 4.a Build python wheel to install open3d-binding
# wheel loc in ~/Open3D/build/lib/python_package/pip_package
make pip-package
cd lib/python_package/pip_package
pip3 install open3d-xxx.whl
# 4.b Install in current env
make install-pip-package
2. Reconstrcution
~/venv/open3d/bin/activate
cp -r ~/venv/open3d/lib/python3.9/site-packages/open3d/examples Project\open3d-exp
python reconstruction_system/run_system.py --make --register --refine --integrate --config 'reconstruction_system/config/realsense.json' --device cuda:0