open3d=0.9.0 ubuntu16.04 截图显示全黑(ubuntu20.04+open3d0.13.0)

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最新推荐文章于 2025-02-25 19:40:39 发布

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该文介绍了如何在Ubuntu 16.04和20.04上安装Open3D 0.9.0和0.13.0版本，包括依赖安装、源码编译和配置头less渲染。针对0.9.0版本，提到了修改VisualizerRender.cpp和Visualizer.h文件，并展示了用于验证渲染效果的Python代码。对于0.13.0版本，给出了安装脚本和依赖项列表，但遇到了CUDA和CUDNN安装的问题。

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参考:

https://github.com/intel-isl/Open3D/issues/1367

修改:

Open3D-0.9.0/src/Open3D/Visualization/Visualizer

VisualizerRender.cpp

Visualizer.h

然后通过如下代码验证:

import numpy as np 
import matplotlib.pyplot as plt 
import open3d as o3d 

mesh = o3d.geometry.TriangleMesh.create_coordinate_frame() 
vis = o3d.visualization.Visualizer() 
vis.create_window(visible=False) 
vis.add_geometry(mesh) 
vis.poll_events() 
vis.update_renderer() 

color = vis.capture_screen_float_buffer(True) 
depth = vis.capture_depth_float_buffer(True) 
vis.destroy_window() 
color = np.asarray(color) 
depth = np.asarray(depth) 
plt.imshow(color) 
plt.show() 
plt.imshow(depth) 
plt.show()

下载ubuntu16.04

git clone --recursive https://github.com/intel-isl/Open3D

如果子模块不好git,一个一个通过界面下载

util/scripts/install-deps-ubuntu.sh

source anacoda/bin/activate root

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<open3d_install_directory> ..

CMakeLists.txt

# config options
option(BUILD_SHARED_LIBS "Build shared libraries" OFF)
option(WITH_OPENMP "Use OpenMP multi-threading" ON)
option(ENABLE_HEADLESS_RENDERING "Use OSMesa for headless rendering" OFF)
option(BUILD_CPP_EXAMPLES "Build the Open3D example programs" ON)
option(BUILD_UNIT_TESTS "Build the Open3D unit tests" OFF)
option(BUILD_EIGEN3 "Use the Eigen3 that comes with Open3D" ON)
option(BUILD_GLEW "Build glew from source" OFF)
option(BUILD_GLFW "Build glfw from source" OFF)
option(BUILD_JSONCPP "Build json from source" OFF)
option(BUILD_PNG "Build png from source" OFF)
option(BUILD_JPEG "Build jpeg-turbo from source" ON)
option(BUILD_PYBIND11 "Build pybind11 from source" ON)
option(BUILD_PYTHON_MODULE "Build the python module" ON)
option(BUILD_LIBREALSENSE "Build support for Intel RealSense camera" OFF)
option(BUILD_AZURE_KINECT "Build support for Azure Kinect sensor" OFF)
option(BUILD_TINYFILEDIALOGS "Build tinyfiledialogs from source" ON)
option(BUILD_QHULL "Build qhull from source" ON)
option(ENABLE_JUPYTER "Enable Jupyter support for Open3D" OFF)
option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime" OFF)

我这边没有全部的jupyter环境,加上这个install会error

去掉,反正也不需要,下面随便选一个

make install-pip-package

~~make python-package~~

~~make pip-package~~

~~make conda-package~~

~~make install-pip-package~~

cd Open3D-0.9.0/build/lib/python_package

python setup.py build

python setup.py install

ubuntu20.04+open3d0.13.0

遇到问题

#!/usr/bin/env bash
# Install Open3D build dependencies from Ubuntu repositories
# CUDA (v10.1) and CUDNN (v7.6.5) are optional dependencies and are not
# installed here
# Use: install_deps_ubuntu.sh [ assume-yes ]

set -ev

SUDO=${SUDO:=sudo} # SUDO=command in docker (running as root, sudo not available)
if [ "$1" == "assume-yes" ]; then
    APT_CONFIRM="--assume-yes"
else
    APT_CONFIRM=""
fi

dependencies=(
    # Open3D deps
    xorg-dev
    libglu1-mesa-dev
    python3-dev
    # Filament build-from-source deps
    libsdl2-dev
    libc++-7-dev
    libc++abi-7-dev
    ninja-build
    libxi-dev
    # ML deps
    libtbb-dev
    # Headless rendering deps
    libosmesa6-dev
    # RealSense deps
    libudev-dev
    autoconf
    libtool
)

$SUDO apt-get update
for package in "${dependencies[@]}"; do
    $SUDO apt-get install "$APT_CONFIRM" "$package"
done

apt-get install -y clang++-7 libc++abi-7-dev libc++-7-dev

位置：

-- CLANG_LIBDIR: /usr/lib/x86_64-linux-gnu
-- CPP_LIBRARY: /usr/lib/x86_64-linux-gnu/libc++.so
-- CPPABI_LIBRARY: /usr/lib/x86_64-linux-gnu/libc++abi.so