isl-org · ssheorey · Sep 26, 2023 · Aug 17, 2023 · Aug 17, 2023 · Aug 18, 2023
diff --git a/README.md b/README.md
@@ -45,7 +45,7 @@ For more, please visit the [Open3D documentation](http://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 3.6-3.10.
+(64-bit) with Python 3.7-3.10.
 
 ```bash
 # Install

diff --git a/cpp/open3d/core/AdvancedIndexing.cpp b/cpp/open3d/core/AdvancedIndexing.cpp
@@ -206,7 +206,7 @@ void AdvancedIndexPreprocessor::RunPreprocess() {
  // If the indexed_shape_ contains a dimension of size 0 but the
  // replacement shape does not, the index is out of bounds. This is because
  // there is no valid number to index an empty tensor.
- // Normally, out of bounds is detected in the advanded indexing kernel. We
+ // Normally, out of bounds is detected in the advanced indexing kernel. We
  // detected here for more helpful error message.
  auto contains_zero = [](const SizeVector& vals) -> bool {
  return std::any_of(vals.begin(), vals.end(),

diff --git a/cpp/open3d/core/AdvancedIndexing.h b/cpp/open3d/core/AdvancedIndexing.h
@@ -49,7 +49,7 @@ class AdvancedIndexPreprocessor {
  const Tensor& tensor, const std::vector<Tensor>& index_tensors);
 
  /// Expand all tensors to the broadcasted shape, 0-dim tensors are ignored.
- /// Thorws exception if the common broadcasted shape does not exist.
+ /// Throws exception if the common broadcasted shape does not exist.
  static std::pair<std::vector<Tensor>, SizeVector>
  ExpandToCommonShapeExceptZeroDim(const std::vector<Tensor>& index_tensors);
 
@@ -127,7 +127,7 @@ class AdvancedIndexer {
  if (indexed_shape.size() != indexed_strides.size()) {
  utility::LogError(
  "Internal error: indexed_shape's ndim {} does not equal to "
- "indexd_strides' ndim {}",
+ "indexed_strides' ndim {}",
  indexed_shape.size(), indexed_strides.size());
  }
  num_indices_ = indexed_shape.size();

diff --git a/cpp/open3d/geometry/BoundingVolume.h b/cpp/open3d/geometry/BoundingVolume.h
@@ -21,7 +21,7 @@ class AxisAlignedBoundingBox;
 /// \brief A bounding box oriented along an arbitrary frame of reference.
 ///
 /// The oriented bounding box is defined by its center position, rotation
-/// maxtrix and extent.
+/// matrix and extent.
 class OrientedBoundingBox : public Geometry3D {
 public:
  /// \brief Default constructor.

diff --git a/cpp/open3d/geometry/VoxelGrid.h b/cpp/open3d/geometry/VoxelGrid.h
@@ -242,7 +242,7 @@ class VoxelGrid : public Geometry3D {
 public:
  /// Size of the voxel.
  double voxel_size_ = 0.0;
- /// Coorindate of the origin point.
+ /// Coordinate of the origin point.
  Eigen::Vector3d origin_ = Eigen::Vector3d::Zero();
  /// Voxels contained in voxel grid
  std::unordered_map<Eigen::Vector3i,

diff --git a/cpp/open3d/ml/impl/continuous_conv/ContinuousConvBackpropFilter.cuh b/cpp/open3d/ml/impl/continuous_conv/ContinuousConvBackpropFilter.cuh
@@ -45,7 +45,7 @@ namespace impl {
 /// \param texture_alignment The texture alignment in bytes. This is used
 /// for allocating segments within the temporary memory.
 ///
-/// \param filter_backrop Output array for the computed filter gradient
+/// \param filter_backprop Output array for the computed filter gradient
 /// with shape [depth,height,width, inp channels, out channels]
 ///
 /// \param filter_dims The sizes of the filter dimensions. The size of

diff --git a/cpp/open3d/ml/tensorflow/misc/BuildSpatialHashTableOps.cpp b/cpp/open3d/ml/tensorflow/misc/BuildSpatialHashTableOps.cpp
@@ -78,7 +78,7 @@ The following example shows how **build_spatial_hash_table** and
 
  radius = 1.0
 
- # build the spatial hash table for fixex_radius_search
+ # build the spatial hash table for fixed_radius_search
  table = ml3d.ops.build_spatial_hash_table(points,
  radius,
  points_row_splits=torch.LongTensor([0,5]),

diff --git a/cpp/open3d/t/geometry/BoundingVolume.cpp b/cpp/open3d/t/geometry/BoundingVolume.cpp
@@ -318,7 +318,7 @@ OrientedBoundingBox::OrientedBoundingBox(const core::Tensor &center,
  utility::LogError(
  "Invalid oriented bounding box. Please make sure the values of "
  "extent are all positive and the rotation matrix is "
- "othogonal.");
+ "orthogonal.");
  }
 }
 

diff --git a/cpp/open3d/t/geometry/BoundingVolume.h b/cpp/open3d/t/geometry/BoundingVolume.h
@@ -146,7 +146,7 @@ class AxisAlignedBoundingBox : public Geometry, public DrawableGeometry {
  const utility::optional<core::Tensor> &center = utility::nullopt);
 
  /// \brief Add operation for axis-aligned bounding box.
- /// The device of ohter box must be the same as the device of the current
+ /// The device of other box must be the same as the device of the current
  /// box.
  AxisAlignedBoundingBox &operator+=(const AxisAlignedBoundingBox &other);
 
@@ -223,7 +223,7 @@ class AxisAlignedBoundingBox : public Geometry, public DrawableGeometry {
 /// \brief A bounding box oriented along an arbitrary frame of reference.
 ///
 /// - (center, rotation, extent): The oriented bounding box is defined by its
-/// center position, rotation maxtrix and extent.
+/// center position, rotation matrix and extent.
 /// - Usage
 /// - OrientedBoundingBox::GetCenter()
 /// - OrientedBoundingBox::SetCenter(const core::Tensor &center)

diff --git a/cpp/open3d/visualization/gui/Window.cpp b/cpp/open3d/visualization/gui/Window.cpp
@@ -707,7 +707,7 @@ Widget::DrawResult DrawChild(DrawContext& dc,
  const char* name,
  std::shared_ptr<Widget> child,
  Mode mode) {
- // Note: ImGUI's concept of a "window" is really a moveable child of the
+ // Note: ImGUI's concept of a "window" is really a movable child of the
  // OS window. We want a child to act like a child of the OS window,
  // like native UI toolkits, Qt, etc. So the top-level widgets of
  // a window are drawn using ImGui windows whose frame is specified

diff --git a/docs/index.rst b/docs/index.rst
@@ -34,13 +34,13 @@ Open3D: A Modern Library for 3D Data Processing
  :maxdepth: 2
  :caption: Tutorial
 
+ tutorial/core/index
  tutorial/geometry/index
  tutorial/t_geometry/index
+ tutorial/data/index
+ tutorial/visualization/index
  tutorial/pipelines/index
  tutorial/t_pipelines/index
- tutorial/visualization/index
- tutorial/core/index
- tutorial/data/index
  tutorial/reconstruction_system/index
  tutorial/t_reconstruction_system/index
  tutorial/sensor/index

diff --git a/docs/jupyter/core/hashmap.ipynb b/docs/jupyter/core/hashmap.ipynb
@@ -88,19 +88,23 @@
  "Next we show how to insert a batch of (key, value) pairs. You'll need to prepare two tensors:\n",
  "\n",
  "The `keys` tensor contains all keys. \n",
+ "\n",
  "- The `keys` tensor must be on the same device as the hash map. \n",
  "- The shape of the `keys` tensor is `key_elment_shape` with `N` prefixed to the front. \n",
  "\n",
  "For example \n",
+ " \n",
  "1. if `key_element_shape == ()`, `keys.shape == (N,)`; \n",
  "2. if `key_element_shape == (3,)`, `keys.shape == (N, 3).`; \n",
  "3. if `key_element_shape == (8, 8, 8)`, `keys.shape == (N, 8, 8, 8).`\n",
  " \n",
  "The `vals` tensor contains all values. \n",
+ " \n",
  "- The `vals` tensor must be on the same device as the hash map. \n",
  "- The shape of the `vals` tensor is `val_elment_shape` with `N` prefixed to the front. \n",
  "\n",
  "For example \n",
+ "\n",
  "1. if `val_elment_shape == ()`, `vals.shape == (N,)`; \n",
  "2. if `val_elment_shape == (3,)`, `vals.shape == (N, 3).`;\n",
  "3. if `val_elment_shape == (8, 8, 8)`, `vals.shape == (N, 8, 8, 8).`"

diff --git a/docs/tutorial/reconstruction_system/integrate_scene.rst b/docs/tutorial/reconstruction_system/integrate_scene.rst
@@ -21,9 +21,9 @@ Integrate RGBD frames
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/integrate_scene.py
  :language: python
- :lineno-start: 38
- :lines: 27,40-72
+ :pyobject: scalable_integrate_rgb_frames
  :linenos:
+ :lineno-match:
 
 This function first reads the alignment results from both
 :ref:`reconstruction_system_make_fragments` and

diff --git a/docs/tutorial/reconstruction_system/make_fragments.rst b/docs/tutorial/reconstruction_system/make_fragments.rst
@@ -25,9 +25,9 @@ Register RGBD image pairs
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/make_fragments.py
  :language: python
- :lineno-start: 46
- :lines: 27,47-76
+ :pyobject: register_one_rgbd_pair
  :linenos:
+ :lineno-match:
 
 The function reads a pair of RGBD images and registers the ``source_rgbd_image``
 to the ``target_rgbd_image``. The Open3D function ``compute_rgbd_odometry`` is
@@ -45,9 +45,9 @@ Multiway registration
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/make_fragments.py
  :language: python
- :lineno-start: 76
- :lines: 27,77-123
+ :pyobject: make_posegraph_for_fragment
  :linenos:
+ :lineno-match:
 
 This script uses the technique demonstrated in
 :ref:`/tutorial/pipelines/multiway_registration.ipynb`. The function
@@ -61,9 +61,9 @@ function ``optimize_posegraph_for_fragment``.
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/optimize_posegraph.py
  :language: python
- :lineno-start: 51
- :lines: 27,52-63
+ :pyobject: optimize_posegraph_for_fragment
  :linenos:
+ :lineno-match:
 
 This function calls ``global_optimization`` to estimate poses of the RGBD images.
 
@@ -74,24 +74,13 @@ Make a fragment
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/make_fragments.py
  :language: python
- :lineno-start: 124
- :lines: 27,125-146
+ :pyobject: integrate_rgb_frames_for_fragment
  :linenos:
+ :lineno-match:
 
-Once the poses are estimates, :ref:`/tutorial/pipelines/rgbd_integration.ipynb`
+Once the poses are estimated, :ref:`/tutorial/pipelines/rgbd_integration.ipynb`
 is used to reconstruct a colored fragment from each RGBD sequence.
 
-Batch processing
-``````````````````````````````````````
-
-.. literalinclude:: ../../../examples/python/reconstruction_system/make_fragments.py
- :language: python
- :lineno-start: 181
- :lines: 27,182-205
- :linenos:
-
-The main function calls each individual function explained above.
-
 .. _reconstruction_system_make_fragments_results:
 
 Results

diff --git a/docs/tutorial/reconstruction_system/refine_registration.rst b/docs/tutorial/reconstruction_system/refine_registration.rst
@@ -20,9 +20,9 @@ Fine-grained registration
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/refine_registration.py
  :language: python
- :lineno-start: 63
- :lines: 27,64-136
  :linenos:
+ :pyobject: multiscale_icp
+ :lineno-match:
 
 Two options are given for the fine-grained registration. The ``color`` option is
 recommended since it uses color information to prevent drift. See [Park2017]_
@@ -33,9 +33,9 @@ Multiway registration
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/refine_registration.py
  :language: python
- :lineno-start: 40
- :lines: 27,41-63
  :linenos:
+ :pyobject: update_posegraph_for_scene
+ :lineno-match:
 
 This script uses the technique demonstrated in :ref:`/tutorial/pipelines/multiway_registration.ipynb`. Function ``update_posegraph_for_scene`` builds a pose graph for multiway registration of all fragments. Each graph node represents a fragment and its pose which transforms the geometry to the global space.
 
@@ -44,21 +44,20 @@ for multiway registration.
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/optimize_posegraph.py
  :language: python
- :lineno-start: 63
- :lines: 27,64-73
  :linenos:
+ :pyobject: optimize_posegraph_for_scene
+ :lineno-match:
 
 Main registration loop
 ``````````````````````````````````````
 
-The function ``make_posegraph_for_refined_scene`` below calls all the functions
- introduced above.
+The function ``make_posegraph_for_refined_scene`` below calls all the functions introduced above.
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/refine_registration.py
  :language: python
- :lineno-start: 173
- :lines: 27,174-223
  :linenos:
+ :pyobject: make_posegraph_for_refined_scene
+ :lineno-match:
 
 The main workflow is: pairwise local refinement -> multiway registration.
 

diff --git a/docs/tutorial/reconstruction_system/register_fragments.rst b/docs/tutorial/reconstruction_system/register_fragments.rst
@@ -20,9 +20,9 @@ Preprocess point cloud
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/register_fragments.py
  :language: python
- :lineno-start: 41
- :lines: 27,42-54
+ :pyobject: preprocess_point_cloud
  :linenos:
+ :lineno-match:
 
 This function downsamples a point cloud to make it sparser and regularly
 distributed. Normals and FPFH feature are precomputed. See
@@ -36,9 +36,9 @@ Compute initial registration
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/register_fragments.py
  :language: python
- :lineno-start: 85
- :lines: 27,86-114
+ :pyobject: compute_initial_registration
  :linenos:
+ :lineno-match:
 
 This function computes a rough alignment between two fragments. If the fragments
 are neighboring fragments, the rough alignment is determined by an aggregating
@@ -53,9 +53,9 @@ Pairwise global registration
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/register_fragments.py
  :language: python
- :lineno-start: 54
- :lines: 27,55-85
+ :pyobject: register_point_cloud_fpfh
  :linenos:
+ :lineno-match:
 
 This function uses :ref:`/tutorial/pipelines/global_registration.ipynb#RANSAC` or :ref:`/tutorial/pipelines/global_registration.ipynb#fast-global-registration` for pairwise global registration.
 
@@ -66,9 +66,9 @@ Multiway registration
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/register_fragments.py
  :language: python
- :lineno-start: 114
- :lines: 27,115-137
+ :pyobject: update_posegraph_for_scene
  :linenos:
+ :lineno-match:
 
 This script uses the technique demonstrated in
 :ref:`/tutorial/pipelines/multiway_registration.ipynb`. The function
@@ -81,9 +81,9 @@ called for multiway registration.
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/optimize_posegraph.py
  :language: python
- :lineno-start: 63
- :lines: 27,64-73
+ :pyobject: optimize_posegraph_for_scene
  :linenos:
+ :lineno-match:
 
 Main registration loop
 ``````````````````````````````````````
@@ -94,9 +94,9 @@ multiway registration.
 
 .. literalinclude:: ../../../examples/python/reconstruction_system/register_fragments.py
  :language: python
- :lineno-start: 167
- :lines: 27,168-210
+ :pyobject: make_posegraph_for_scene
  :linenos:
+ :lineno-match:
 
 Results
 ``````````````````````````````````````

diff --git a/docs/tutorial/reconstruction_system/system_overview.rst b/docs/tutorial/reconstruction_system/system_overview.rst
@@ -48,7 +48,7 @@ Getting the example code
 
 .. code-block:: sh
 
- # Activate your conda enviroment, where you have installed open3d pip package.
+ # Activate your conda environment, where you have installed open3d pip package.
  # Clone the Open3D github repository and go to the example.
  cd examples/python/reconstruction_system/
 
@@ -69,7 +69,7 @@ Running the example with default dataset.
  python run_system.py --make --register --refine --integrate
 
 Changing the default dataset.
-One may change the default dataset to other avaialble datasets. 
+One may change the default dataset to other available datasets.
 Currently the following datasets are available:
 
 1. Lounge (keyword: ``lounge``) (Default)