Merge branch 'main' into typing-fixes

3rdparty/embree/embree.cmake

@@ -67,8 +67,8 @@ endif()
 ExternalProject_Add(
     ext_embree
     PREFIX embree
-    URL https://github.com/embree/embree/archive/refs/tags/v4.3.1.tar.gz
-    URL_HASH SHA256=824edcbb7a8cd393c5bdb7a16738487b21ecc4e1d004ac9f761e934f97bb02a4
+    URL https://github.com/embree/embree/archive/refs/tags/v4.3.3.tar.gz
+    URL_HASH SHA256=8a3bc3c3e21aa209d9861a28f8ba93b2f82ed0dc93341dddac09f1f03c36ef2d
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/embree"
     UPDATE_COMMAND ""
     CMAKE_ARGS

CHANGELOG.md

@@ -40,6 +40,7 @@
 -   Fix build with fmt v10.2.0 (#6783)
 -   Fix segmentation fault (lambda reference capture) of VisualizerWithCustomAnimation::Play (PR #6804)
 -   Add O3DVisualizer API to enable collapse control of verts in the side panel (PR #6865)
+-   Split pybind declarations/definitions to avoid C++ types in Python docs (PR #6869)
 -   Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)
 -   Split pybind declarations/definitions to avoid C++ types in Python docs (PR #6869)
 

cpp/open3d/t/geometry/RaycastingScene.cpp

@@ -1180,31 +1180,7 @@ template <>
 struct formatter<RTCError> {
     template <typename FormatContext>
     auto format(const RTCError& c, FormatContext& ctx) {
-        const char* name = nullptr;
-        switch (c) {
-            case RTC_ERROR_NONE:
-                name = "RTC_ERROR_NONE";
-                break;
-            case RTC_ERROR_UNKNOWN:
-                name = "RTC_ERROR_UNKNOWN";
-                break;
-            case RTC_ERROR_INVALID_ARGUMENT:
-                name = "RTC_ERROR_INVALID_ARGUMENT";
-                break;
-            case RTC_ERROR_INVALID_OPERATION:
-                name = "RTC_ERROR_INVALID_OPERATION";
-                break;
-            case RTC_ERROR_OUT_OF_MEMORY:
-                name = "RTC_ERROR_OUT_OF_MEMORY";
-                break;
-            case RTC_ERROR_UNSUPPORTED_CPU:
-                name = "RTC_ERROR_UNSUPPORTED_CPU";
-                break;
-            case RTC_ERROR_CANCELLED:
-                name = "RTC_ERROR_CANCELLED";
-                break;
-        }
-        // return formatter<string_view>::format(name, ctx);
+        const char* name = rtcGetErrorString(c);
         return format_to(ctx.out(), name);
     }
 

cpp/pybind/visualization/rendering/rendering.cpp

@@ -242,9 +242,9 @@ void pybind_rendering_definitions(py::module &m) {
                  "parameter is optional and is True if the image is in the "
                  "sRGB colorspace and False otherwise")
             .def("update_texture",
-                 (bool (Renderer::*)(TextureHandle,
-                                     const std::shared_ptr<geometry::Image>,
-                                     bool)) &
+                 (bool(Renderer::*)(TextureHandle,
+                                    const std::shared_ptr<geometry::Image>,
+                                    bool)) &
                          Renderer::UpdateTexture,
                  "texture"_a, "image"_a, "is_sRGB"_a = false,
                  "Updates the contents of the texture to be the new image, or "
@@ -316,21 +316,20 @@ void pybind_rendering_definitions(py::module &m) {
     auto cam = static_cast<py::class_<Camera, std::shared_ptr<Camera>>>(
             m_rendering.attr("Camera"));
     cam.def("set_projection",
-            (void (Camera::*)(double, double, double, double,
-                              Camera::FovType)) &
+            (void(Camera::*)(double, double, double, double, Camera::FovType)) &
                     Camera::SetProjection,
             "field_of_view"_a, "aspect_ratio"_a, "near_plane"_a, "far_plane"_a,
             "field_of_view_type"_a, "Sets a perspective projection.")
             .def("set_projection",
-                 (void (Camera::*)(Camera::Projection, double, double, double,
-                                   double, double, double)) &
+                 (void(Camera::*)(Camera::Projection, double, double, double,
+                                  double, double, double)) &
                          Camera::SetProjection,
                  "projection_type"_a, "left"_a, "right"_a, "bottom"_a, "top"_a,
                  "near"_a, "far"_a,
                  "Sets the camera projection via a viewing frustum. ")
             .def("set_projection",
-                 (void (Camera::*)(const Eigen::Matrix3d &, double, double,
-                                   double, double)) &
+                 (void(Camera::*)(const Eigen::Matrix3d &, double, double,
+                                  double, double)) &
                          Camera::SetProjection,
                  "intrinsics"_a, "near_plane"_a, "far_plane"_a, "image_width"_a,
                  "image_height"_a,
@@ -538,15 +537,15 @@ void pybind_rendering_definitions(py::module &m) {
                  "Sets the camera with the given name as the active camera for "
                  "the scene")
             .def("add_geometry",
-                 (bool (Scene::*)(
+                 (bool(Scene::*)(
                          const std::string &, const geometry::Geometry3D &,
                          const MaterialRecord &, const std::string &, size_t)) &
                          Scene::AddGeometry,
                  "name"_a, "geometry"_a, "material"_a,
                  "downsampled_name"_a = "", "downsample_threshold"_a = SIZE_MAX,
                  "Adds a Geometry with a material to the scene")
             .def("add_geometry",
-                 (bool (Scene::*)(
+                 (bool(Scene::*)(
                          const std::string &, const t::geometry::Geometry &,
                          const MaterialRecord &, const std::string &, size_t)) &
                          Scene::AddGeometry,

docs/builddocs.rst

@@ -97,3 +97,22 @@ Open ``docs/_out/html/index.html`` in a web browser to preview the docs.
 .. code-block:: bash
 
     google-chrome docs/_out/html/index.html
+
+
+Create Python stubs (type hints) for type checking and autocomplete
+-------------------------------------------------------------------
+
+You can get type checking and auto-complete features in editors and IDES (e.g.
+ VS Code, PyCharm, etc.) using type hints produced from Open3D. These can be
+ created with the pybind11-stubgen tool and placed alongside the Open3D files:
+
+.. code-block:: bash
+
+    # Install open3d and pybind11-stubgen
+    pip install pybind11-stubgen open3d
+    # Print location of install open3d library
+    pip show open3d
+    # This outputs a line like: 
+    # Location: path/to/venv/site-packages
+    # Create stubs and place them next to Open3D files
+    pybind11-stubgen -o <path/to/venv/site-packages/> --root-suffix "" open3d

examples/python/benchmark/benchmark_fgr.py

@@ -8,6 +8,7 @@
 import os
 import sys
 import numpy as np
+import open3d as o3d
 
 pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(pyexample_path)

examples/python/benchmark/benchmark_pre.py

@@ -8,6 +8,7 @@
 import os
 import sys
 import pickle
+import open3d as o3d
 
 pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(pyexample_path)

examples/python/benchmark/benchmark_ransac.py

@@ -8,6 +8,7 @@
 import os
 import sys
 import numpy as np
+import open3d as o3d
 
 pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(pyexample_path)

examples/python/benchmark/benchmark_tsdf.py

@@ -5,11 +5,11 @@
 # SPDX-License-Identifier: MIT
 # ----------------------------------------------------------------------------
 
-import open3d as o3d
 import numpy as np
 import time
 import os
 import sys
+import open3d as o3d
 
 pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(pyexample_path)