Build fixes

Windows MSVC revert to fmt 6
gcc-12 maybe-uninitialized warning
set VTK compatible version
documentation for draw

3rdparty/find_dependencies.cmake

@@ -256,6 +256,8 @@ endfunction()
 #        finding the package is quiet
 #    PACKAGE <pkg>
 #        the name of the queried package <pkg> forwarded to find_package()
+#    VERSION <version>
+#        the compatible version (single or range) required for the package forwarded to find_package()
 #    PACKAGE_VERSION_VAR <pkg_version>
 #        the variable <pkg_version> where to find the version of the queried package <pkg> find_package().
 #        If not provided, PACKAGE_VERSION_VAR will default to <pkg>_VERSION.
@@ -269,7 +271,8 @@ endfunction()
 #        If <pkg> also defines targets, use them instead and pass them via TARGETS option.
 #
 function(open3d_find_package_3rdparty_library name)
-    cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET" "PACKAGE;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
+    cmake_parse_arguments(arg "PUBLIC;HEADER;REQUIRED;QUIET"
+        "PACKAGE;VERSION;PACKAGE_VERSION_VAR" "TARGETS;INCLUDE_DIRS;LIBRARIES" ${ARGN})
     if(arg_UNPARSED_ARGUMENTS)
         message(STATUS "Unparsed: ${arg_UNPARSED_ARGUMENTS}")
         message(FATAL_ERROR "Invalid syntax: open3d_find_package_3rdparty_library(${name} ${ARGN})")
@@ -281,6 +284,9 @@ function(open3d_find_package_3rdparty_library name)
         set(arg_PACKAGE_VERSION_VAR "${arg_PACKAGE}_VERSION")
     endif()
     set(find_package_args "")
+    if(arg_VERSION)
+        list(APPEND find_package_args ${arg_VERSION})
+    endif()
     if(arg_REQUIRED)
         list(APPEND find_package_args "REQUIRED")
     endif()
@@ -1455,7 +1461,7 @@ endif()
 # VTK
 if(USE_SYSTEM_VTK)
     open3d_find_package_3rdparty_library(3rdparty_vtk
-        PACKAGE VTK
+        PACKAGE VTK VERSION 9.1
         TARGETS
             VTK::FiltersGeneral
             VTK::FiltersSources

3rdparty/fmt/fmt.cmake

@@ -2,9 +2,8 @@ include(ExternalProject)
 
 set(FMT_LIB_NAME fmt)
 
-if (MSVC AND MSVC_VERSION VERSION_LESS 1930 OR
-        CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
-    # MSVC 17.x required for building fmt >6
+if (MSVC OR CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
+    # MSVC has errors when building fmt >6, up till 9.1
     # SYCL / DPC++ needs fmt ver <=6 or >= 9.2: https://github.com/fmtlib/fmt/issues/3005
     set(FMT_VER "6.0.0")
     set(FMT_SHA256

3rdparty/possionrecon/possionrecon.cmake

@@ -3,8 +3,8 @@ include(ExternalProject)
 ExternalProject_Add(
     ext_poisson
     PREFIX poisson
-    URL https://github.com/isl-org/Open3D-PoissonRecon/archive/fd273ea8c77a36973d6565a495c9969ccfb12d3b.tar.gz
-    URL_HASH SHA256=917d98e037982d57a159fa166b259ff3dc90ffffe09c6a562a71b400f6869ddf
+    URL https://github.com/isl-org/Open3D-PoissonRecon/archive/90f3f064e275b275cff445881ecee5a7c495c9e0.tar.gz
+    URL_HASH SHA256=1310df0c80ff0616b8fcf9b2fb568aa9b2190d0e071b0ead47dba339c146b1d3
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/poisson"
     SOURCE_DIR "poisson/src/ext_poisson/PoissonRecon" # Add extra directory level for POISSON_INCLUDE_DIRS.
     UPDATE_COMMAND ""

docs/conf.in.py

@@ -73,7 +73,7 @@ def get_git_short_hash():
     'm2r2',
 ]
 
-if os.environ["skip_notebooks"] == "true":
+if os.environ.get("skip_notebooks", "false") == "true":
     print("Skipping Jupyter notebooks")
     extensions = [e for e in extensions if e != "nbsphinx"]
 
@@ -96,7 +96,7 @@ def get_git_short_hash():
 
 # General information about the project.
 project = u"Open3D"
-copyright = u"2018 - 2021, www.open3d.org"
+copyright = u"2018 - 2023, www.open3d.org"
 author = u"www.open3d.org"
 
 # The version info for the project you're documenting, acts as replacement for

examples/python/io/realsense_io.py

@@ -16,8 +16,8 @@
     print(rscam.get_metadata())
     for fid in range(5):
         rgbd_frame = rscam.capture_frame()
-        o3d.io.write_image(f"color{fid:05d}.jpg", rgbd_frame.color.to_legacy())
-        o3d.io.write_image(f"depth{fid:05d}.png", rgbd_frame.depth.to_legacy())
+        o3d.t.io.write_image(f"color{fid:05d}.jpg", rgbd_frame.color)
+        o3d.t.io.write_image(f"depth{fid:05d}.png", rgbd_frame.depth)
         print("Frame: {}, time: {}s".format(fid, rscam.get_timestamp() * 1e-6))
 
     rscam.stop_capture()

examples/python/reconstruction_system/opencv_pose_estimation.py

@@ -178,7 +178,7 @@ def estimate_3D_transform_RANSAC(pts_xyz_s, pts_xyz_t):
         if (n_inlier > max_inlier) and (np.linalg.det(R_approx) != 0.0) and \
                 (R_approx[0,0] > 0 and R_approx[1,1] > 0 and R_approx[2,2] > 0):
             Transform_good[:3, :3] = R_approx
-            Transform_good[:3, 3] = [t_approx[0], t_approx[1], t_approx[2]]
+            Transform_good[:3, 3:] = t_approx
             max_inlier = n_inlier
             inlier_vec = [id_iter for diff_iter, id_iter \
                     in zip(diff, range(n_points)) \

examples/python/reconstruction_system/run_system.py

@@ -86,7 +86,7 @@
             initialize_config(config)
             check_folder_structure(config['path_dataset'])
     else:
-        # load deafult dataset.
+        # load default dataset.
         config = dataset_loader(args.default_dataset)
 
     assert config is not None

examples/python/t_reconstruction_system/dense_slam.py

@@ -16,7 +16,8 @@
 import time
 
 from config import ConfigParser
-from common import get_default_dataset, load_rgbd_file_names, save_poses, load_intrinsic, extract_trianglemesh, get_default_testdata, extract_rgbd_frames
+from common import (get_default_dataset, load_rgbd_file_names, save_poses,
+                    load_intrinsic, extract_trianglemesh, extract_rgbd_frames)
 
 
 def slam(depth_file_names, color_file_names, intrinsic, config):

python/open3d/visualization/draw.py

@@ -36,6 +36,115 @@ def draw(geometry=None,
          on_animation_frame=None,
          on_animation_tick=None,
          non_blocking_and_return_uid=False):
+    """Draw 3D geometry types and 3D models. This is a high level interface to
+    O3DVIsualizer.
+
+    The initial view may be specified either as a combination of (lookat, eye,
+    up, and field of view) or (intrinsic matrix, extrinsic matrix) pair. A
+    simple pinhole camera model is used.
+
+    Args:
+        geometry (List[geometry type] or List[Dict]): The 3D data to be
+            displayed can be provided in different types:
+            - A list of Open3D geometry types (``PointCloud``, ``TriangleMesh``,
+              ``LineSet`` or ``TriangleMeshModel``).
+            - A list of dictionaries with geometry data and additional
+              metadata. The following keys are used:
+                - name (str): Geometry name.
+                - geometry (geometry type): Open3D geometry type as above.
+                - material (``MaterialRecord``): PBR material for the
+                      geometry.
+                - is_visible (bool): Show this geometry?
+        title (str): Window title.
+        width (int): Viewport width.
+        height (int): Viewport height.
+        actions (List[(str, Callable)]): A list of pairs of action names and the
+            corresponding functions to execute. These actions are presented as
+            buttons in the settings panel. Each callable receives the window
+            (`O3DVisualizer`) as an argument.
+        lookat (array of shape (3,)): Camera principal axis direction.
+        eye (array of shape (3,)): Camera location.
+        up (array of shape (3,)): Camera up direction.
+        field_of_view (float): Camera horizontal field of view (degrees).
+        intrinsic_matrix (array of shape (3,3)): Camera intrinsic matrix.
+        extrinsic_matrix (array of shape (4,4)): Camera extrinsic matrix (world
+            to camera transformation).
+        bg_color (array of shape (4,)): Background color float with range [0,1],
+            default white.
+        bg_image (open3d.geometry.Image): Background image.
+        ibl (open3d.geometry.Image): Environment map for image based lighting
+            (IBL).
+        ibl_intensity (float): IBL intensity.
+        show_skybox (bool): Show skybox as scene background (default False).
+        show_ui (bool): Show settings user interface (default False). This can
+            be toggled from the Actions menu.
+        raw_mode (bool): Use raw mode for simpler rendering of the basic
+            geometry (Default false).
+        point_size (int): 3D point size (default 3).
+        line_width (int): 3D line width (default 1).
+        animation_time_step (float): Duration in seconds for each animation
+            frame. ???
+        animation_duration (float): Total animation duration in seconds. ???
+        rpc_interface (bool): Start an RPC interface at localhost:51454 and
+            listen for drawing requests. The requests can be made with
+            :class:`open3d.visualization.ExternalVisualizer`.
+        on_init (Callable): Extra initialization procedure for the underlying
+            GUI window. The procedure receives a single argument of type
+            :class:`open3d.visualization.O3DVisualizer`.
+        on_animation_frame (Callable): Callback for each animation frame update.
+            ???
+        on_animation_tick (Callable): Callback for each animation time step. ???
+        non_blocking_and_return_uid (bool): Do not block waiting for the user to
+            close the window. Instead return the window ID. This is useful for
+            embedding the visualizer and is used in the WebRTC interface and
+            Tensorboard plugin.
+
+    Example:
+
+    See `examples/python/visualization/draw.py` for examples of advanced
+    usage. The ``actions()`` example from that file is shown below::
+
+        import open3d as o3d
+        import open3d.visualization as vis
+
+        SOURCE_NAME = "Source"
+        RESULT_NAME = "Result (Poisson reconstruction)"
+        TRUTH_NAME = "Ground truth"
+
+        bunny = o3d.data.BunnyMesh()
+        bunny_mesh = o3d.io.read_triangle_mesh(bunny.path)
+        bunny_mesh.compute_vertex_normals()
+
+        bunny_mesh.paint_uniform_color((1, 0.75, 0))
+        bunny_mesh.compute_vertex_normals()
+        cloud = o3d.geometry.PointCloud()
+        cloud.points = bunny_mesh.vertices
+        cloud.normals = bunny_mesh.vertex_normals
+
+        def make_mesh(o3dvis):
+            mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
+                cloud)
+            mesh.paint_uniform_color((1, 1, 1))
+            mesh.compute_vertex_normals()
+            o3dvis.add_geometry({"name": RESULT_NAME, "geometry": mesh})
+            o3dvis.show_geometry(SOURCE_NAME, False)
+
+        def toggle_result(o3dvis):
+            truth_vis = o3dvis.get_geometry(TRUTH_NAME).is_visible
+            o3dvis.show_geometry(TRUTH_NAME, not truth_vis)
+            o3dvis.show_geometry(RESULT_NAME, truth_vis)
+
+        vis.draw([{
+            "name": SOURCE_NAME,
+            "geometry": cloud
+        }, {
+            "name": TRUTH_NAME,
+            "geometry": bunny_mesh,
+            "is_visible": False
+        }],
+             actions=[("Create Mesh", make_mesh),
+                      ("Toggle truth/result", toggle_result)])
+    """
     gui.Application.instance.initialize()
     w = O3DVisualizer(title, width, height)
     w.set_background(bg_color, bg_image)

python/setup.py

@@ -178,6 +178,9 @@ def finalize_options(self):
     description="@PROJECT_DESCRIPTION@",
     long_description=long_description,
     long_description_content_type="text/x-rst",
+    # Metadata below is valid but currently ignored by pip (<=v23)
+    obsoletes=["open3d_python"],
+    provides=["open3d", "open3d_cpu"],  # For open3d-cpu
 )
 
 setup(**setup_args)