The Open3D tutorials in C++

I wrote this tutorial to help you get started with Open3D using C++.

The original tutorial is here. That was writen in Python.

Installed Open3D Package in CMake

This is one of the two CMake examples showing how to use Open3D in your CMake project:

• Find Pre-Installed Open3D Package in CMake
• Use Open3D as a CMake External Project
• For more details, check out the Open3D repo and Open3D docs.

Step 1: Compile and install Open3D

Follow the Open3D compilation guide, compile and install Open3D in your preferred location. You can specify the installation path with CMAKE_INSTALL_PREFIX and the number of parallel jobs to speed up compilation.

On Ubuntu/macOS:

git clone --recursive https://github.com/intel-isl/Open3D.git
cd Open3D
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=${HOME}/open3d_install ..
cmake --build . --config Release --parallel 12 --target install
cd ../..

Note: -DBUILD_SHARED_LIBS=ON is recommended if -DBUILD_CUDA_MODULE=ON.

If error:

• please install dependencies:

util/install_deps_ubuntu.sh

• and add to .bashrc file as,

export CUDA_HOME=/usr/local/cuda

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64

export PATH=$PATH:$CUDA_HOME/bin

In my case, I downloaded the source code to

/home/dinhnambkhn/Open3D

After install on my Ubuntu 18.04, I got the HOME folder is:

/home/dinhnambkhn/Open3D_install

Step 2: The topics are covered in this tutorial:

copy the test_data folder to the Open3D folder

+ How to config cmake with open3D
+ PCL with open3D
+ Image
+ Transformation
+ RGB-D image
  ![Screenshot](./images/rgbd_img.png)

+ RGB-D odometry
  ![Screenshot](./images/RGBD_odom.png)

+ Geometry primitives
  ![Screenshot](./images/geometry.png)

+ KDTree
  ![Screenshot](./images/kdtree.png)

+ ICP registration
  ![Screenshot](./images/icp.png)