Merge branch 'main' into bu/support-python-312-mirror

isl-org · Sep 18, 2024 · 8fc1bd7 · 8fc1bd7
2 parents 267df1a + 85981ff
commit 8fc1bd7
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Showing 10 changed files with 97 additions and 38 deletions.
diff --git a/3rdparty/boringssl/boringssl.cmake b/3rdparty/boringssl/boringssl.cmake
@@ -48,7 +48,9 @@ ExternalProject_Add(
     CONFIGURE_COMMAND ""
     BUILD_COMMAND ""
     INSTALL_COMMAND ""
-    BUILD_BYPRODUCTS ""
+    BUILD_BYPRODUCTS
+        <SOURCE_DIR>/$<$<BOOL:${WIN32}>:$<IF:$<CONFIG:Debug>,Debug,Release>/>lib/${CMAKE_STATIC_LIBRARY_PREFIX}ssl${CMAKE_STATIC_LIBRARY_SUFFIX}
+        <SOURCE_DIR>/$<$<BOOL:${WIN32}>:$<IF:$<CONFIG:Debug>,Debug,Release>/>lib/${CMAKE_STATIC_LIBRARY_PREFIX}crypto${CMAKE_STATIC_LIBRARY_SUFFIX}
 )
 
 ExternalProject_Get_Property(ext_boringssl SOURCE_DIR)

diff --git a/3rdparty/curl/curl.cmake b/3rdparty/curl/curl.cmake
@@ -51,6 +51,7 @@ if(BUILD_CURL_FROM_SOURCE)
             ${ExternalProject_CMAKE_ARGS_hidden}
         BUILD_BYPRODUCTS
             <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}${curl_lib_name}${CMAKE_STATIC_LIBRARY_SUFFIX}
+            <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}${curl_lib_name}-d${CMAKE_STATIC_LIBRARY_SUFFIX}
     )
 
     ExternalProject_Get_Property(ext_curl INSTALL_DIR)
@@ -79,7 +80,9 @@ else()
         CONFIGURE_COMMAND ""
         BUILD_COMMAND ""
         INSTALL_COMMAND ""
-        BUILD_BYPRODUCTS ""
+        BUILD_BYPRODUCTS
+            <SOURCE_DIR>/lib/${CMAKE_STATIC_LIBRARY_PREFIX}${curl_lib_name}${CMAKE_STATIC_LIBRARY_SUFFIX}
+            <SOURCE_DIR>/lib/${CMAKE_STATIC_LIBRARY_PREFIX}${curl_lib_name}-d${CMAKE_STATIC_LIBRARY_SUFFIX}
     )
 
     ExternalProject_Get_Property(ext_curl SOURCE_DIR)

diff --git a/3rdparty/ipp/ipp.cmake b/3rdparty/ipp/ipp.cmake
@@ -35,6 +35,20 @@ else()
     set(IPP_SUBPATH "")
 endif()
 
+# Threading layer libs must be linked first.
+# https://www.intel.com/content/www/us/en/docs/ipp/developer-guide-reference/2021-11/ipp-performace-benefits-with-tl-functions.html
+# Library dependency order:
+# https://www.intel.com/content/www/us/en/docs/ipp/developer-guide-reference/2021-11/library-dependencies-by-domain.html
+if (WIN32)
+    set(IPP_LIBRARIES ipp_iw ippcvmt_tl_tbb ippcvmt ippimt_tl_tbb ippimt ippccmt_tl_tbb ippccmt ippsmt ippvmmt ippcoremt_tl_tbb ippcoremt)
+else()
+    set(IPP_LIBRARIES ipp_iw ippcv_tl_tbb ippcv ippi_tl_tbb ippi ippcc_tl_tbb ippcc ipps ippvm ippcore_tl_tbb ippcore)
+endif()
+
+foreach(item IN LISTS IPP_LIBRARIES)
+    list(APPEND IPP_BUILD_BYPRODUCTS <SOURCE_DIR>/${IPP_SUBPATH}lib/${CMAKE_STATIC_LIBRARY_PREFIX}${item}${CMAKE_STATIC_LIBRARY_SUFFIX})
+endforeach()
+
 ExternalProject_Add(ext_ipp
     PREFIX ipp
     URL ${IPP_URL} 
@@ -45,16 +59,10 @@ ExternalProject_Add(ext_ipp
     CONFIGURE_COMMAND ""
     BUILD_COMMAND ""
     INSTALL_COMMAND ""
-    )
+    BUILD_BYPRODUCTS
+        ${IPP_BUILD_BYPRODUCTS}
+)
+
 ExternalProject_Get_Property(ext_ipp SOURCE_DIR)
 set(IPP_INCLUDE_DIR "${SOURCE_DIR}/${IPP_SUBPATH}include/")
-# Threading layer libs must be linked first.
-# https://www.intel.com/content/www/us/en/docs/ipp/developer-guide-reference/2021-11/ipp-performace-benefits-with-tl-functions.html
-# Library dependency order:
-# https://www.intel.com/content/www/us/en/docs/ipp/developer-guide-reference/2021-11/library-dependencies-by-domain.html
-if (WIN32)
-    set(IPP_LIBRARIES ipp_iw ippcvmt_tl_tbb ippcvmt ippimt_tl_tbb ippimt ippccmt_tl_tbb ippccmt ippsmt ippvmmt ippcoremt_tl_tbb ippcoremt)
-else()
-    set(IPP_LIBRARIES ipp_iw ippcv_tl_tbb ippcv ippi_tl_tbb ippi ippcc_tl_tbb ippcc ipps ippvm ippcore_tl_tbb ippcore)
-endif()
 set(IPP_LIB_DIR "${SOURCE_DIR}/${IPP_SUBPATH}lib")
diff --git a/3rdparty/uvatlas/uvatlas.cmake b/3rdparty/uvatlas/uvatlas.cmake
@@ -52,7 +52,7 @@ ExternalProject_Add(
         -Ddirectxmath_DIR=<INSTALL_DIR>
     DEPENDS ext_directxheaders ext_directxmath
     BUILD_BYPRODUCTS
-        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}uvatlas${CMAKE_STATIC_LIBRARY_SUFFIX}
+        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}UVAtlas${CMAKE_STATIC_LIBRARY_SUFFIX}
 )
 
 

diff --git a/3rdparty/vtk/vtk_build.cmake b/3rdparty/vtk/vtk_build.cmake
@@ -26,13 +26,13 @@ set(VTK_LIBRARIES
     vtksys-${VTK_VERSION}${VTK_LIB_SUFFIX}
 )
 
-foreach(item IN LISTS VTK_LIBRARIES)
-    list(APPEND VTK_BUILD_BYPRODUCTS <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${item}${CMAKE_STATIC_LIBRARY_SUFFIX})
-endforeach()
-
 
 if(BUILD_VTK_FROM_SOURCE)
 
+    foreach(item IN LISTS VTK_LIBRARIES)
+        list(APPEND VTK_BUILD_BYPRODUCTS <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}${item}${CMAKE_STATIC_LIBRARY_SUFFIX})
+    endforeach()
+
     ExternalProject_Add(
         ext_vtk
         PREFIX vtk
@@ -294,6 +294,10 @@ if(BUILD_VTK_FROM_SOURCE)
 
 else() #### download prebuilt vtk
 
+    foreach(item IN LISTS VTK_LIBRARIES)
+        list(APPEND VTK_BUILD_BYPRODUCTS <SOURCE_DIR>/lib/${item}${CMAKE_STATIC_LIBRARY_SUFFIX})
+    endforeach()
+
     if(LINUX_AARCH64)
         message(FATAL "No precompiled vtk for platform. Enable BUILD_VTK_FROM_SOURCE")
     elseif(APPLE_AARCH64)
@@ -334,7 +338,8 @@ else() #### download prebuilt vtk
         CONFIGURE_COMMAND ""
         BUILD_COMMAND ""
         INSTALL_COMMAND ""
-        BUILD_BYPRODUCTS ""
+        BUILD_BYPRODUCTS
+            ${VTK_BUILD_BYPRODUCTS}
     )
 
     ExternalProject_Get_Property(ext_vtk SOURCE_DIR)

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -46,6 +46,7 @@
 -   Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)
 -   Fix projection of point cloud to Depth/RGBD image if no position attribute is provided (PR #6880)
 -   Support lowercase types when reading PCD files (PR #6930)
+-   Fix visualization/draw ICP example and add warnings (PR #6933)
 
 ## 0.13
 

diff --git a/cpp/open3d/t/geometry/RaycastingScene.cpp b/cpp/open3d/t/geometry/RaycastingScene.cpp
@@ -1174,4 +1174,21 @@ uint32_t RaycastingScene::INVALID_ID() { return RTC_INVALID_GEOMETRY_ID; }
 
 }  // namespace geometry
 }  // namespace t
-}  // namespace open3d
+
+
+namespace fmt {
+template <>
+struct formatter<RTCError> {
+    template <typename FormatContext>
+    auto format(const RTCError& c, FormatContext& ctx) const {
+        const char* name = rtcGetErrorString(c);
+        return format_to(ctx.out(), name);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+}  // namespace fmt
+
diff --git a/cpp/open3d/utility/IJsonConvertible.h b/cpp/open3d/utility/IJsonConvertible.h
@@ -86,7 +86,7 @@ namespace fmt {
 template <>
 struct formatter<Json::Value> {
     template <typename FormatContext>
-    auto format(const Json::Value &value, FormatContext &ctx)
+    auto format(const Json::Value &value, FormatContext &ctx) const
             -> decltype(ctx.out()) {
         return format_to(ctx.out(), "{}", open3d::utility::JsonToString(value));
     }

diff --git a/cpp/open3d/visualization/rendering/RendererHandle.h b/cpp/open3d/visualization/rendering/RendererHandle.h
@@ -164,7 +164,7 @@ struct formatter<
                          char>> {
     template <typename FormatContext>
     auto format(const open3d::visualization::rendering::REHandle_abstract& uid,
-                FormatContext& ctx) -> decltype(ctx.out()) {
+                FormatContext& ctx) const -> decltype(ctx.out()) {
         return format_to(ctx.out(), "[{}, {}, hash: {}]",
                          open3d::visualization::rendering::REHandle_abstract::
                                  TypeToString(uid.type),

diff --git a/examples/python/visualization/draw.py b/examples/python/visualization/draw.py
@@ -11,6 +11,7 @@
 import open3d.visualization as vis
 import os
 import random
+import warnings
 
 pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 test_data_path = os.path.join(os.path.dirname(pyexample_path), 'test_data')
@@ -142,30 +143,46 @@ def selections():
     source_name = "Source (yellow)"
     target_name = "Target (blue)"
 
-    def do_icp_one_set(o3dvis):
+    def _prep_correspondences(o3dvis, two_set=False):
         # sets: [name: [{ "index": int, "order": int, "point": (x, y, z)}, ...],
         #        ...]
         sets = o3dvis.get_selection_sets()
-        source_picked = sorted(list(sets[0][source_name]),
-                               key=lambda x: x.order)
-        target_picked = sorted(list(sets[0][target_name]),
-                               key=lambda x: x.order)
-        source_indices = [idx.index for idx in source_picked]
-        target_indices = [idx.index for idx in target_picked]
-
-        t = get_icp_transform(source, target, source_indices, target_indices)
-        source.transform(t)
-
-        # Update the source geometry
-        o3dvis.remove_geometry(source_name)
-        o3dvis.add_geometry({"name": source_name, "geometry": source})
+        if not sets:
+            warnings.warn(
+                "Empty selection sets. Select point correspondences for initial rough transform.",
+                RuntimeWarning)
+            return [], []
+        if source_name not in sets[0]:
+            warnings.warn(
+                "First selection set should contain Source (yellow) points.",
+                RuntimeWarning)
+            return [], []
 
-    def do_icp_two_sets(o3dvis):
-        sets = o3dvis.get_selection_sets()
         source_set = sets[0][source_name]
-        target_set = sets[1][target_name]
+        if two_set:
+            if not len(sets) == 2:
+                warnings.warn(
+                    "Two set registration requires exactly two selection sets of corresponding points.",
+                    RuntimeWarning)
+                return [], []
+            target_set = sets[1][target_name]
+        else:
+            if target_name not in sets[0]:
+                warnings.warn(
+                    "Selection set should contain Target (blue) points.",
+                    RuntimeWarning)
+                return [], []
+            target_set = sets[0][target_name]
         source_picked = sorted(list(source_set), key=lambda x: x.order)
         target_picked = sorted(list(target_set), key=lambda x: x.order)
+        if len(source_picked) != len(target_picked):
+            warnings.warn(
+                f"Registration requires equal number of corresponding points (current selection: {len(source_picked)} source, {len(target_picked)} target).",
+                RuntimeWarning)
+            return [], []
+        return source_picked, target_picked
+
+    def _do_icp(o3dvis, source_picked, target_picked):
         source_indices = [idx.index for idx in source_picked]
         target_indices = [idx.index for idx in target_picked]
 
@@ -176,6 +193,12 @@ def do_icp_two_sets(o3dvis):
         o3dvis.remove_geometry(source_name)
         o3dvis.add_geometry({"name": source_name, "geometry": source})
 
+    def do_icp_one_set(o3dvis):
+        _do_icp(o3dvis, *_prep_correspondences(o3dvis))
+
+    def do_icp_two_sets(o3dvis):
+        _do_icp(o3dvis, *_prep_correspondences(o3dvis, two_set=True))
+
     vis.draw([{
         "name": source_name,
         "geometry": source