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Open3D Build Instructions

Before proceeding with building & installing from source, please make sure that you have removed any existing installations of Open3D from your Python path (e.g. run pip uninstall open3d or equivalent). We found that if you have open3d installed via official channels, even if the version matches our requirement exactly, there may be minor differences in the Open3D binaries that will not allow you to import the nnrt Python extension library.

Ubuntu / MacOS

Configuring CMake

From the source/repository root, make & enter a build folder:

mkdir build && cd build

Run CMake with the following arguments:

cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_CUDA_MODULE=ON ..

On Ubuntu , you may have to pass the (full) path to your Python 3 executable to CMake, e.g. -DPYTHON_EXECUTABLE=/usr/bin/python3.8 CMake option.

If you'd like to install to a custom folder {install_folder} (recommended), don't forget to add -DCMAKE_INSTALL_PREFIX={install_folder} to the list above.

Note: if you choose to install to a custom folder, you'll later have to provide the location of the Open3DConfig.cmake file to the CMake script of the NNRT project, by adding -DOpen3D_DIR={install folder}/lib/cmake/Open3D to CMake arguments.

Alternatively, the cmake-gui ..command can be used to graphically configure the parameters. We highly recommend using that with the "Grouped" and "Advanced" options checked if you're new to CMake or are trying to resolve any CMake configuration errors.

Ubuntu CMake CPPABI_LIBRARY Error

If you're on Ubuntu, you might get a configuration error that looks like this:

Could not find CPPABI_LIBRARY using the following names: c++abi

This is a known issue documented here. You can resolve it by running the following in the shell, and then re-running CMake:

sudo apt install libc++-[YOUR ACTIVE GCC VERSION]-dev libc++abi-[YOUR ACTIVE GCC VERSION]-dev

Building & Installing

You'll want to build the Open3D C++ library and the Python pip package. Modify -j4 to reflect however many cores you would like to use for the build.

Build the C++ library with:

make -j4

(Replace "4" with desired number of processes to launch the build with.)

Install with:

make install

-or (Ubuntu only, recommended only if you aren't installing to a custom folder)-

checkinstall --exclude=/home

Prepend with sudo as needed. checkinstall allows you to package the library for easy removal (relevant for system-wide installations), and can be installed using:

sudo apt install checkinstall

Next, build and install the pip package with:

cmake --build . --target install-pip-package -- -j4

Windows

  1. Make a build folder inside the downloaded project root.
  2. Run the CMake (GUI) app:
    1. Specify the absolute path to the build folder
    2. Specify the absolute path to the source folder (downloaded source / checked-out repo root).
    3. Hit Configure, choose the Visual Studio version and x64 architecture, and resolve errors (if any) in the configuration.
    4. Check BUILD_CUDA_MODULE on.
    5. Hit Generate and make sure there are no new errors in the configuration process.
  3. Open up the resulting solution file in Visual Studio. Build the INSTALL and install_pip_package targets.

Additional Details

For additional details, please refer to official Open3D compilation instructions. Note that we are not using virtualenv for any of the packages described here, so if you choose to use virtualenv, please make the necessary adjustments to your specific installation process.