Open3D: A Modern Library for 3D Data Processing

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Open3D is an open-source library that supports rapid development of software that deals with 3D data. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The backend is highly optimized and is set up for parallelization. We welcome contributions from the open-source community.

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Home Work Assignments :

• C++ function open3d::geometry::TriangleMesh::IdenticallyColoredConnectedComponents :heavy_check_mark:
• Python binding foropen3d.geometry.TriangleMesh.identically_colored_connected_components ✔️
• "Open3D/examples/Cpp/solution.cpp" ✔️
• "Open3D/examples/Python/Basic/solution.py" ✔️
• "results.txt" shall be formatted the same way as specified in the "Example triangle mesh" section ✔️
• C++ and Python unit tests integrated with Open3D's unit test system ✔️
• Document your code, the algorithm used, how to build and run, and etc ✔️

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Build steps

• git clone --recursive https://github.com/scifiswapnil/Open3d-homeWork Open3d
• cd Open3d
• dependencies setup
  • for ubuntu : .util/scripts/install-deps-ubuntu.sh
  • for macOS : util/scripts/install-deps-os
• mkdir build && cd build
• cmake -DCMAKE_INSTALL_PREFIX=<open3d_install_directory> -DPYTHON_EXECUTABLE=<python_executable_directory> -DPYTHON_LIBRARIES=<python_library_directory> ..
• make
  • for ubuntu : make-j$(nproc)
  • for macOS : make -j$(sysctl -n hw.physicalcpu)
• sudo make install
• For python-pip package use make install-pip-package

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Function implementation, bindings and algorithm used

• C++ function definition
• C++ function implementation
• Python binding

Algorithm used :

- getConnectComponentSearch()
	- read the mesh file
	- check the size and color of vertices in mesh file 
	- initialize an array 'visited' of size as same vertices in mesh file and set every element to false
	- traverse each element 'v' in the array and do :
		- if 'v' is not visited before, call DepthFirstSearchConnectedComponentSearch(v,vertex_color(v)) 
		- sort the results of DFSCCSearch(v,vertex_color(v)) and pushback to result
	- return result

- DFSCCSearch(v,vertex_color(v))
	- Mark 'v' as visited.
	- pusback element to queue
	- get the adjacent elements 
	- visit each adjacent elements and check the color as of root element
	- If adjacent elements is not visited, then recursively call DFSCCSearch(v,vertex_color(v))

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Example solution usage

• solution.cpp
  • Usage :

   	- cd  ~/Open3D/build/bin/examples
   	- ./solution 
   	or 
   	- ./solution <input_mesh_file> <output_result_file>
  

• solution.py
  • Usage :

   	- cd  ~/Open3D/examples/Python/Basic
   	- python solution .py
   	or 
   	- python solution .py <input_mesh_file> <output_result_file>
  
  

Note :

• If you directly run the executable without any arguments the code fetchs the test_mesh.ply form ~/Open3d/examples/TestData and writes the results.txt in the same directory.
• C++ solution code is added to build system, after build use the above steps to run the solution code for cpp and python.

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Unit tests

• C++ unit tests

  • unit tests are added to the build system and can be directly used once built
  • usage ./Open3d/build/bin/unitTests

• python unit tests

  • usage pytest ~/Open3d/src/UnitTest/Python

Note :

• C++ and python unit tests are added to the existing build system.
• You need to set BUILD_UNIT_TESTS flag to true during the cmake for the build system to make the executables

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Citation

Please cite our work if you use Open3D.

@article{Zhou2018,
	author    = {Qian-Yi Zhou and Jaesik Park and Vladlen Koltun},
	title     = {{Open3D}: {A} Modern Library for {3D} Data Processing},
	journal   = {arXiv:1801.09847},
	year      = {2018},
}