open3d-four-view 0.0.1

Render PCD point clouds into a single Open3D four-view merge PNG.

open3d-four-view

Render one PCD into a single 2x2 four-view PNG with Open3D. The package renders top, front, right, and oblique views in memory, then writes only the final merge image.

Python API

from open3d_four_view import render_pcd_merge_view

render_pcd_merge_view(
    "input.pcd",
    output_path="output.png",
    title="merge-view",
    overlay_info={
        "Viewpoint": "Merged four views",
        "car_model_id": "CAR001",
        "branch": "main",
        "commit": "abc123",
        "soc": "soc2",
    },
    color_legend={
        "at128p_front": {"rgb": [255, 0, 0]},
        "lidar_right": {"rgb": [0, 255, 0]},
    },
    gpu=True,
)

output_path has the highest priority and is used exactly. Without output_path, the default single-file output is <input_dir>/<base>_merge.png. With output_dir, the output is <output_dir>/<base>_merge.png.

gpu=True requests GPU graphics rendering through Open3D OffscreenRenderer when available. It does not enable Open3D CUDA tensor point-cloud processing.

CLI

open3d-four-view --input_path input.pcd --output_path output.png
open3d-four-view --input_path input.pcd --output_path output.png --gpu
open3d-four-view --input_dir pcds --output_dir out --title merge-view
open3d-four-view --input_dir pcds --output_dir out --gpu

Overlay and legend data can be passed as JSON:

open3d-four-view \
  --input_path input.pcd \
  --output_path output.png \
  --overlay-json '{"car_model_id":"CAR001","branch":"main","commit":"abc123","soc":"soc2"}' \
  --color-legend-json '{"at128p_front":{"rgb":[255,0,0]}}'

--coverage defaults to 1.0, meaning full point-cloud range. Values must be from 0 to 1.

Rendering Backend Notes

Four-view rendering uses Open3D OffscreenRenderer with OpenGL/EGL graphics rendering. The --gpu flag asks Open3D to prefer GPU graphics rendering where the runtime supports it. It is intentionally not a CUDA tensor pipeline and does not run CUDA voxel/downsample operations.

When --gpu is used, the package removes known software-rendering environment variables such as LIBGL_ALWAYS_SOFTWARE=true, OPEN3D_CPU_RENDERING, and MESA_LOADER_DRIVER_OVERRIDE=llvmpipe/softpipe before importing Open3D. It keeps EGL_PLATFORM=surfaceless because that can be valid for headless EGL GPU rendering. If GPU rendering cannot be confirmed, a RuntimeWarning is emitted and rendering continues with the Open3D backend available in the current environment.

In current validation environments, Open3D 0.19.0 with CUDA 12.1 can use GPU rendering. On RTX 50 / Blackwell GPUs, avoid Open3D CUDA tensor point-cloud batch processing unless you are using a CUDA/Open3D build that explicitly supports Blackwell.

References:

• Open3D Tensor: https://www.open3d.org/docs/latest/tutorial/core/tensor.html
• Open3D CPU/Software Rendering: https://www.open3d.org/docs/latest/tutorial/visualization/cpu_rendering.html
• NVIDIA Blackwell Compatibility Guide: https://docs.nvidia.com/cuda/blackwell-compatibility-guide/