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Changelog

Open3D

Open3D: A Modern Library for 3D Data Processing

NewJanuary 8, 2025

v0.19 release

Happy new year to all! The Open3D team and many amazing community members bring to you the latest and best Open3D with many new features and bug fixes. Here are the highlights of this release:

Support for Python 3.12 and Numpy 2.
Experimental cross-platform GPU support through sycl. Use your integrated GPU to accelerate Open3D! Try out the preview Python 3.10 sycl wheel on Ubuntu 22.04+. For more details, see the documentation.
The preview wheel also features GPU accelerated raycasting with Embree (Intel GPUs) for fast geometry computation. docs. Contributed by @lumurillo

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cd docker
# Build open3d and open3d-cpu wheels for Python 3.10 with Tensorflow support
export BUILD_PYTORCH_OPS=OFF BUILD_TENSORFLOW_OPS=ON
./docker_build.sh cuda_wheel_py310

Fix .desktop entry when installing in a UNIX system by @EwingKang in https://github.com/isl-org/Open3D/pull/6599
Fix printing tensor bug - regression introduced in #6444 by @saurabheights in https://github.com/isl-org/Open3D/pull/6595
Bump jinja2 from 3.1.2 to 3.1.3 in /docs by @dependabot in https://github.com/isl-org/Open3D/pull/6597
Make plane segmentation from point cloud deterministic by @jkuck in https://github.com/isl-org/Open3D/pull/6580
Add Python pathlib support for file IO by @sitic in https://github.com/isl-org/Open3D/pull/6619
make sure assimp is built with exporter by @benjaminum in https://github.com/isl-org/Open3D/pull/6650
Fix TriangleMesh::SamplePointsUniformly not sampling triangles unifor… in https://github.com/isl-org/Open3D/pull/6653
Update CHANGELOG.md in https://github.com/isl-org/Open3D/pull/6655
fixed typo by @mone27 in https://github.com/isl-org/Open3D/pull/6630
Update behavior of FromLegacy to make more flexible with materials by @errissa in https://github.com/isl-org/Open3D/pull/6672
Fix log error message for "probability" argument validation in PointCloud::SegmentPlane by @true-real-michael in https://github.com/isl-org/Open3D/pull/6622
Reduce Google cloud CI costs, update Open3D project email by @ssheorey in https://github.com/isl-org/Open3D/pull/6684
Upgrade embree to 4.3.1 by @lumurillo in https://github.com/isl-org/Open3D/pull/6665
improved t.io.read_triangle_mesh documentation by @ADAWG208 in https://github.com/isl-org/Open3D/pull/6675
Bug fix in RGBD based reconstruction system example by @bell-one in https://github.com/isl-org/Open3D/pull/6660
Implement t::geometry::TriangleMesh::RemoveUnreferencedVertices by @nsaiapova in https://github.com/isl-org/Open3D/pull/6640
[Fix] threthold tolerance error (#6550) by @chunibyo-wly in https://github.com/isl-org/Open3D/pull/6608
Misc. CI updates and fixes by @ssheorey in https://github.com/isl-org/Open3D/pull/6716
Fix typos in NearestNeighborSearch.h by @mone27 in https://github.com/isl-org/Open3D/pull/6705
Switched QHull ImGUI and GoogleTest to use FetchContent by @dbs4261 in https://github.com/isl-org/Open3D/pull/6645
Update ispc binary path on Windows, update civetweb to v1.16 by @AhmedZero in https://github.com/isl-org/Open3D/pull/6577
Add macOS arm64 CI runner, fix macOS arm64 builds by @sitic in https://github.com/isl-org/Open3D/pull/6695
Fix check in ConvertFromPinholeCameraParameters function from ViewControl by @lumurillo in https://github.com/isl-org/Open3D/pull/6711
Fixes and improvements for point selection in O3DVisualizer (fixes #6725) by @danrauch in https://github.com/isl-org/Open3D/pull/6733
Simplify data_ and data_interface_ in KDTreeFlann. by @PieroV in https://github.com/isl-org/Open3D/pull/6734
Convert triangle mesh model to tmesh map by @ssheorey in https://github.com/isl-org/Open3D/pull/6758
Switch hosting of devel packages from Google cloud to Github releases by @ssheorey in https://github.com/isl-org/Open3D/pull/6784
Robust image I/O by @ssheorey in https://github.com/isl-org/Open3D/pull/6765
Add Mouse Callback to VisualizerWithKeyCallback by @organic-nailer in https://github.com/isl-org/Open3D/pull/6760
Fix segfault (infinite recursion) of PointCloud::DetectPlanarPatches … by @nicolaloi in https://github.com/isl-org/Open3D/pull/6794
Add SYCL copy support to tensor by @lumurillo in https://github.com/isl-org/Open3D/pull/6764
Fix ransac update of the iteration number by @nicolaloi in https://github.com/isl-org/Open3D/pull/6789
Camera coordinate frame visualization with LineSet by @ssheorey in https://github.com/isl-org/Open3D/pull/6796
Add security policy, GITHUB_TOKEN access restrictions. by @ssheorey in https://github.com/isl-org/Open3D/pull/6814
add support to fmt-v10 by @daizhirui in https://github.com/isl-org/Open3D/pull/6783
Fix segfault (lambda reference capture) of VisualizerWithCustomAnimation::Play by @nicolaloi in https://github.com/isl-org/Open3D/pull/6804
Implement ComputeTriangleAreas, GetNonManifoldEdges and RemoveNonManifoldEdges in t::geometry::TriangleMesh by @nsaiapova in https://github.com/isl-org/Open3D/pull/6657
cmake: add llvm version deps for c++ by @rurban in https://github.com/isl-org/Open3D/pull/6832
Job level token permissions for github actions by @ssheorey in https://github.com/isl-org/Open3D/pull/6830
add cstdint header to fix missing uint8_t type on ubuntu 24.04 by @benjaminum in https://github.com/isl-org/Open3D/pull/6847
Update Assimp to fix compilation with gcc 13 by @benjaminum in https://github.com/isl-org/Open3D/pull/6846
Fix triangle area and non-manifold edge tests for CUDA by @ssheorey in https://github.com/isl-org/Open3D/pull/6859
Bump certifi from 2023.7.22 to 2024.7.4 in /python in the pip group across 1 directory by @dependabot in https://github.com/isl-org/Open3D/pull/6857
VTK based implementation of extract trianglemesh by @intelshashi in https://github.com/isl-org/Open3D/pull/6648
add missing initialization for compute_vertex_normals() by @benjaminum in https://github.com/isl-org/Open3D/pull/6873
Support numpy v2. by @ssheorey in https://github.com/isl-org/Open3D/pull/6874
add numpy version warning to documentation by @rxba in https://github.com/isl-org/Open3D/pull/6879
Fix links to release links of main-devel tag by @benjaminum in https://github.com/isl-org/Open3D/pull/6883
fix pip install statement for latest dev whl on getting started page by @benjaminum in https://github.com/isl-org/Open3D/pull/6890
Copy examples for building user projects with Open3D to Open3D repo by @ssheorey in https://github.com/isl-org/Open3D/pull/6884
Add O3DVisualizer API to enable collapse control of verts in the side panel by @EwingKang in https://github.com/isl-org/Open3D/pull/6865
Adapted find_dependencies.cmake to build with CUDA >= 12.0 with dynamic libraries as well by @davconde in https://github.com/isl-org/Open3D/pull/6815
Fix color update in gpu by @cdh981009 in https://github.com/isl-org/Open3D/pull/6886
Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests by @nicolaloi in https://github.com/isl-org/Open3D/pull/6898
Update min OS to Ubuntu 20.04 by @ssheorey in https://github.com/isl-org/Open3D/pull/6902
upgrade embree to v4.3.3 and fix fmt formatter for RTCError by @daizhirui in https://github.com/isl-org/Open3D/pull/6901
Split pybind declarations and definitions by @timohl in https://github.com/isl-org/Open3D/pull/6869
fix projection of point cloud with no positions attribute to image by @rxba in https://github.com/isl-org/Open3D/pull/6880
bug fix at AddPerpPlaneQuadric by @liuchunlin in https://github.com/isl-org/Open3D/pull/6911
Update Intel libraries (MKL, TBB, IPP). Remove parallelSTL / oneDPL. by @ssheorey in https://github.com/isl-org/Open3D/pull/6809
Add color for sampling from mesh by @nikste in https://github.com/isl-org/Open3D/pull/6842
[Mesh] TriangleMesh's "+=" operator appends UVs regardless of the presence of existing features by @cdbharath in https://github.com/isl-org/Open3D/pull/6728
Support lowercase types (i, u, f) when reading PCD files by @nicolaloi in https://github.com/isl-org/Open3D/pull/6930
Updated delocate-fuse to delocate-merge. by @timohl in https://github.com/isl-org/Open3D/pull/6940
Expose minimal oriented bounding box to python api by @sharon-br in https://github.com/isl-org/Open3D/pull/6946
Update summary.py by @owenonline in https://github.com/isl-org/Open3D/pull/6960
Always pre-transform vertices while reading with Assimp. by @ssheorey in https://github.com/isl-org/Open3D/pull/6959
fix build with fmt-v11 by @daizhirui in https://github.com/isl-org/Open3D/pull/6969
Missing build byproducts by @dbs4261 in https://github.com/isl-org/Open3D/pull/6971
fix visualization/draw ICP example and add warnings by @rxba in https://github.com/isl-org/Open3D/pull/6933
Add remote visualizer example. Allow changing rpc address in draw. by @ssheorey in https://github.com/isl-org/Open3D/pull/6973
Replace conda with pyenv to fix incorrect libstdc++ use in jammy CI. by @ssheorey in https://github.com/isl-org/Open3D/pull/6966
jinja2 CVE fix by @ssheorey in https://github.com/isl-org/Open3D/pull/6992
Faster CPU (Arg-)Reductions by @manuelvogel12 in https://github.com/isl-org/Open3D/pull/6989
Support python 312 by @swheaton in https://github.com/isl-org/Open3D/pull/6717
Add Tensor-based implementation of FarthestPointDownSample by @manuelvogel12 in https://github.com/isl-org/Open3D/pull/6948
Missing build byproducts for VTK when downloaded by @dbs4261 in https://github.com/isl-org/Open3D/pull/7007
fix alpha shape reconstruction if alpha too small for point scale by @rxba in https://github.com/isl-org/Open3D/pull/6998
fix render to depth image on Apple Retina displays by @rxba in https://github.com/isl-org/Open3D/pull/7001
Fix tensor EstimatePointWiseNormalsWithFastEigen3x3 by @nicolaloi in https://github.com/isl-org/Open3D/pull/6980
CI fixes post Python 3.12 support by @ssheorey in https://github.com/isl-org/Open3D/pull/7020
[CodeStyle] Update license header by @BeingGod in https://github.com/isl-org/Open3D/pull/7011
Unified cloud initializer pipeline for ICP (fixes segfault colored ICP) by @nicolaloi in https://github.com/isl-org/Open3D/pull/6942
fix infinite loop in segment_plane if num_points < ransac_n by @rxba in https://github.com/isl-org/Open3D/pull/7032
SamplePointsUniformly, Chamfer Distance, Hausdorff Distance and F-Score by @ssheorey in https://github.com/isl-org/Open3D/pull/7056
Enable Embree build with SYCL support and OneAPI 2024.1.0 by @lumurillo in https://github.com/isl-org/Open3D/pull/6808
fix bug when compile with native cuda arch by @USTCKAY in https://github.com/isl-org/Open3D/pull/7059
Bump lxml-html-clean from 0.2.2 to 0.4.0 in /docs in the pip group by @dependabot in https://github.com/isl-org/Open3D/pull/7064
add another example for create_isosurfaces() by @benjaminum in https://github.com/isl-org/Open3D/pull/7068
Add select_by_index method to Feature class by @nicolaloi in https://github.com/isl-org/Open3D/pull/7039
Upgrade stdgpu to latest version by @stotko in https://github.com/isl-org/Open3D/pull/7083
FarthestPointDownSample: arg to specify start index to start downsampling from by @abhishek47kashyap in https://github.com/isl-org/Open3D/pull/7076
Docstring updates for NearestNeighborSearch and compute_metrics by @benjaminum in https://github.com/isl-org/Open3D/pull/7081
Fixes for pybind11-stubgen errors by @timohl in https://github.com/isl-org/Open3D/pull/6896
Fix CI tests - macOS, Ubuntu, SYCL by @ssheorey in https://github.com/isl-org/Open3D/pull/7087
Changed o3c.Tensor.arange signature to be like np.arange. by @timohl in https://github.com/isl-org/Open3D/pull/7095
Changed draw_geometries to use default args instead of overload by @timohl in https://github.com/isl-org/Open3D/pull/7097
Copy SampleCount when making a copy of FilamentView by @patrikhuber in https://github.com/isl-org/Open3D/pull/7072
[Typo] Fix torch furthest_point_sampling argument typo by @BeingGod in https://github.com/isl-org/Open3D/pull/7025
Changed lambda to lambda_penalty in orient_normals_consistent_tangent_plane by @timohl in https://github.com/isl-org/Open3D/pull/7096
Add feature to choose voxel color mode when creating VoxelGrid from PointCloud by @rxba in https://github.com/isl-org/Open3D/pull/6937
Nix build by @netogallo in https://github.com/isl-org/Open3D/pull/6854
Changed namespace fix to use Sphinx autodoc-process-* events by @timohl in https://github.com/isl-org/Open3D/pull/7103
increase voxel size to improve ICP test reliability by @benjaminum in https://github.com/isl-org/Open3D/pull/7107
Fix Documentation CI + General CI Cleanup by @timohl in https://github.com/isl-org/Open3D/pull/7105
Bump jinja2 from 3.1.4 to 3.1.5 in /docs in the pip group by @dependabot in https://github.com/isl-org/Open3D/pull/7112
Pin maturin to 1.7.8 to fix Windows CI for Python 3.8, 3.12 by @ssheorey in https://github.com/isl-org/Open3D/pull/7120
Create albedo texture for a model from calibrated images by @ssheorey in https://github.com/isl-org/Open3D/pull/6806
Fix python package-DLLs not being found by @fegorsch in https://github.com/isl-org/Open3D/pull/7108
[Preview] Integrated GPU / Intel GPU support through SYCL. by @ssheorey in https://github.com/isl-org/Open3D/pull/7114
Update to latest GLFW by @errissa in https://github.com/isl-org/Open3D/pull/6587
Version bump to v0.19 by @ssheorey in https://github.com/isl-org/Open3D/pull/7121
Build fixes for v0.19 by @ssheorey in https://github.com/isl-org/Open3D/pull/7128

@jkuck made their first contribution in https://github.com/isl-org/Open3D/pull/6580
@mone27 made their first contribution in https://github.com/isl-org/Open3D/pull/6630
@true-real-michael made their first contribution in https://github.com/isl-org/Open3D/pull/6622
@lumurillo made their first contribution in https://github.com/isl-org/Open3D/pull/6665
@ADAWG208 made their first contribution in https://github.com/isl-org/Open3D/pull/6675
@bell-one made their first contribution in https://github.com/isl-org/Open3D/pull/6660
@AhmedZero made their first contribution in https://github.com/isl-org/Open3D/pull/6577
@danrauch made their first contribution in https://github.com/isl-org/Open3D/pull/6733
@organic-nailer made their first contribution in https://github.com/isl-org/Open3D/pull/6760
@nicolaloi made their first contribution in https://github.com/isl-org/Open3D/pull/6794
@daizhirui made their first contribution in https://github.com/isl-org/Open3D/pull/6783
@rurban made their first contribution in https://github.com/isl-org/Open3D/pull/6832
@intelshashi made their first contribution in https://github.com/isl-org/Open3D/pull/6648
@rxba made their first contribution in https://github.com/isl-org/Open3D/pull/6879
@davconde made their first contribution in https://github.com/isl-org/Open3D/pull/6815
@cdh981009 made their first contribution in https://github.com/isl-org/Open3D/pull/6886
@timohl made their first contribution in https://github.com/isl-org/Open3D/pull/6869
@liuchunlin made their first contribution in https://github.com/isl-org/Open3D/pull/6911
@nikste made their first contribution in https://github.com/isl-org/Open3D/pull/6842
@cdbharath made their first contribution in https://github.com/isl-org/Open3D/pull/6728
@owenonline made their first contribution in https://github.com/isl-org/Open3D/pull/6960
@manuelvogel12 made their first contribution in https://github.com/isl-org/Open3D/pull/6989
@swheaton made their first contribution in https://github.com/isl-org/Open3D/pull/6717
@BeingGod made their first contribution in https://github.com/isl-org/Open3D/pull/7011
@USTCKAY made their first contribution in https://github.com/isl-org/Open3D/pull/7059
@abhishek47kashyap made their first contribution in https://github.com/isl-org/Open3D/pull/7076
@patrikhuber made their first contribution in https://github.com/isl-org/Open3D/pull/7072
@netogallo made their first contribution in https://github.com/isl-org/Open3D/pull/6854
@fegorsch made their first contribution in https://github.com/isl-org/Open3D/pull/7108
@OloOcki made their first contribution
@ccoulombe made their first contribution
@john-philipp made their first contribution in https://github.com/isl-org/Open3D-ML/pull/665

Open3D

v0.19 release

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v0.19 release

Known Issues

Acknowledgment

What's Changed

Open3D-ML updates:

New Contributors

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