Build fixes MSVC and gcc (#6039)

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

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

@@ -71,7 +71,7 @@ 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"]
 
@@ -94,7 +94,7 @@ 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

docs/tutorial/visualization/non_blocking_visualization.rst

@@ -39,8 +39,6 @@ The full script implementing this idea is displayed below.
 
 .. literalinclude:: ../../../examples/python/visualization/non_blocking_visualization.py
    :language: python
-   :lineno-start: 27
-   :lines: 27-
    :linenos:
 
 The following sections explain this script.
@@ -50,8 +48,8 @@ Prepare example data
 
 .. literalinclude:: ../../../examples/python/visualization/non_blocking_visualization.py
    :language: python
-   :lineno-start: 35
-   :lines: 35-46
+   :lineno-start: 14
+   :lines: 14-27
    :linenos:
 
 This part reads two point clouds and downsamples them. The source point cloud is intentionally transformed for the misalignment. Both point clouds are flipped for better visualization.
@@ -61,8 +59,8 @@ Initialize Visualizer class
 
 .. literalinclude:: ../../../examples/python/visualization/non_blocking_visualization.py
    :language: python
-   :lineno-start: 47
-   :lines: 47-59
+   :lineno-start: 29
+   :lines: 29-35
    :linenos:
 
 These lines make an instance of the visualizer class, open a visualizer window, and add two geometries to the visualizer.
@@ -72,8 +70,8 @@ Transform geometry and visualize it
 
 .. literalinclude:: ../../../examples/python/visualization/non_blocking_visualization.py
    :language: python
-   :lineno-start: 59
-   :lines: 59-72
+   :lineno-start: 37
+   :lines: 37-49
    :linenos:
 
 This script calls ``registration_icp`` for every iteration. Note that it explicitly forces only one ICP iteration via ``ICPConvergenceCriteria(max_iteration = 1)``. This is a trick to retrieve a slight pose update from a single ICP iteration. After ICP, source geometry is transformed accordingly.

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):

examples/python/visualization/draw.py

@@ -319,6 +319,8 @@ def main():
     multi_objects()
     actions()
     selections()
+    groups()
+    time_animation()
 
 
 if __name__ == "__main__":

python/open3d/visualization/draw.py

@@ -36,6 +36,121 @@ 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
+    :class:`open3d.visualization.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] or List[Dict]): The 3D data to be displayed can be provided in different types:
+            - A list of any 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): Open3D geometry to be drawn.
+                - **material** (:class:`open3d.visualization.rendering.MaterialRecord`): PBR material for the geometry.
+                - **group** (str): Assign the geometry to a group. Groups are shown in the settings panel and users can take take joint actions on a group as a whole.
+                - **time** (float): If geometry elements are assigned times, a time bar is displayed and the elements can be animated.
+                - **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 http://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
+            with signature::
+
+                Callback(O3DVisualizer, double time) -> None
+
+        on_animation_tick (Callable): Callback for each animation time step with
+            signature::
+
+                Callback(O3DVisualizer, double tick_duration, double time) -> TickResult
+
+            If the callback returns ``TickResult.REDRAW``, the scene is redrawn.
+            It should return ``TickResult.NOCHANGE`` if redraw is not required.
+        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/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)