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ACloudViewer: A Modern Library for 3D Point Cloud Processing

ACloudViewer is a powerful open-source library for 3D point cloud and mesh processing, built on top of CloudCompare, Open3D, ParaView, and COLMAP.

Note

Latest Release: 3.9.4 | Download | GitHub

📚 Documentation Version:

Latest (main)

Switch between different documentation versions. Use the version selector in the sidebar for quick access.

Getting Started

• Introduction
• Installation
• Quick Start
• Building from Source
• Build documentation
• CloudViewer-ML

Tutorial

• Tutorial
  • Overview
  • Tutorial Structure
  • Getting Started
  • Complete Examples
• Core
  • Tensor
  • Hash map
• Geometry
  • Point cloud
  • Mesh
  • RGBD images
  • KDTree
  • Half Edge Mesh
  • File IO
  • Point cloud outlier removal
  • Voxelization
  • Octree
  • Surface reconstruction
  • Transformation
  • Mesh deformation
  • Intrinsic shape signatures (ISS)
  • Ray Casting
  • Distance Queries
  • UV Maps
  • Python Interface
  • Working with NumPy
• Geometry (Tensor)
  • PointCloud
• Dataset
  • PointCloud
  • TriangleMesh
  • TriangleModel with PBR texture
  • Texture material images
  • Image
  • RGBDImage
  • Demo
• Visualization
  • Visualization
  • Customized visualization
  • Interactive visualization
  • Non-blocking visualization
  • Headless rendering
  • CPU (Software) Rendering
  • Web visualizer and Jupyter
  • CloudViewer for TensorBoard
  • Simple geometry sequences
  • Rich 3D models with PBR materials
  • 3DML models training and inference
  • Custom properties and semantic segmentation
  • 3D object detection
  • Troubleshooting
• Pipelines
  • ICP registration
  • Robust kernels
  • Colored point cloud registration
  • Global registration
  • Multiway registration
  • RGBD integration
  • RGBD Odometry
  • Color Map Optimization
• Pipelines (Tensor)
  • ICP registration
  • Robust Kernel
• Reconstruction system
  • System overview
  • Make fragments
  • Register fragments
  • Refine registration
  • Integrate scene
  • Capture your own dataset
• Reconstruction system (Tensor)
  • Quick start
  • Capture your own dataset
  • Getting started with online reconstruction system
• Sensor
  • Supported Sensors
  • Overview
  • Key Features
  • Use Cases
• Advanced Topics
  • Current Resources
• Reference

Python API

• cloudViewer.camera
• cloudViewer.core
• cloudViewer.data
• cloudViewer.geometry
• cloudViewer.io
• cloudViewer.t
• cloudViewer.ml
• cloudViewer.pipelines
• cloudViewer.utility
• cloudViewer.visualization

Python Examples

• Camera
  • camera_trajectory.py
• Core
  • tensor.py
• Geometry
  • Geometry
  • Image
  • KD Tree
  • Octree
  • Point Cloud
  • Ray Casting
  • RGBD Image
  • Triangle Mesh
  • Voxel Grid
• IO
  • image_io.py
  • point_cloud_io.py
  • realsense_io.py
  • triangle_mesh_io.py
• Pipelines
  • colored_icp_registration.py
  • doppler_icp_registration.py
  • icp_registration.py
  • multiway_registration.py
  • pose_graph_optimization.py
  • registration_fgr.py
  • registration_ransac.py
  • rgbd_integration_uniform.py
  • rgbd_odometry.py
  • robust_icp.py
• Reconstruction
  • database.py
  • feature.py
  • gui.py
  • image.py
  • model.py
  • mvs.py
  • sfm.py
  • vocab_tree.py
• Utility
  • vector.py
• Visualization
  • add-geometry.py
  • all-widgets.py
  • customized_visualization.py
  • customized_visualization_key_action.py
  • demo_scene.py
  • draw.py
  • draw_webrtc.py
  • headless_rendering.py
  • headless_rendering_in_filament.py
  • interactive_visualization.py
  • line-width.py
  • load_save_viewpoint.py
  • mitsuba_material_estimation.py
  • mouse-and-point-coord.py
  • multiple-windows.py
  • non-english.py
  • non_blocking_visualization.py
  • online_processing.py
  • remote_visualizer.py
  • remove_geometry.py
  • render-to-image.py
  • tensorboard_pytorch.py
  • tensorboard_tensorflow.py
  • text3d.py
  • textured-model.py
  • textured_mesh.py
  • to_mitsuba.py
  • video.py
  • vis-gui.py
  • visualization.py

C++ Examples

• C++ Examples

C++ API

• C++ documentation

Developer Guide

• Contributing to ACloudViewer
• Docker Development
• CI/CD Pipeline

Resources

• Changelog
• Frequently Asked Questions
• Getting Support